Method and system to measure cardiac motion using a cardiovascular navigation system

• US 9,314,191 B2
• Filed: 07/10/2014
• Issued: 04/19/2016
• Est. Priority Date: 11/19/2013
• Status: Active Grant

• Current Assignee: Pacesetter Incorporated (Abbott Laboratories Incorporated)
• Original Assignee: Pacesetter Incorporated (Abbott Laboratories Incorporated)
• Inventors: Razavi, Hoda, Nabutovsky, Yelena, Ryu, Kyungmoo
• Primary Examiner(s): Holmes, Rex R
• Application Number:
  US14/328,513
• Publication Number:
  US 20150141858A1
• Time in Patent Office: 649 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/066 Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
• CPC Class Codes: A61B 5/1107 Measuring contraction of parts of the body, e.g. organ, muscle apparatus for measuring work or force in general G01L
• CPC Class Codes: A61B 5/1114 Tracking parts of the body
• CPC Class Codes: A61B 5/1122 of movement trajectories
• CPC Class Codes: A61B 5/1128 using image analysis A61B5/1127 takes precedence
• CPC Class Codes: A61B 5/113 occurring during breathing
• CPC Class Codes: A61B 5/283 Invasive
• CPC Class Codes: A61B 5/316 Modalities, i.e. specific diagnostic methods
• CPC Class Codes: A61B 5/349 Detecting specific parameters of the electrocardiograph cycle
• CPC Class Codes: A61B 5/6852 Catheters
• CPC Class Codes: A61B 5/6869 Heart
• CPC Class Codes: A61B 5/721 using a separate sensor to detect motion or using motion information derived from signals other than the physiological signal to be measured
• CPC Class Codes: A61B 5/7289 Retrospective gating, i.e. associating measured signals or images with a physiological event after the actual measurement or image acquisition, e.g. by simultaneously recording an additional physiological signal during the measurement or image acquisition
• CPC Class Codes: A61B 5/7435 Displaying user selection data, e.g. icons in a graphical user interface
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/469 for selecting a region of interest [ROI]
• CPC Class Codes: A61B 6/487 involving fluoroscopy
• CPC Class Codes: A61B 6/501 : for diagnosis of the head, e.g. neuroimaging or craniography
• CPC Class Codes: A61B 6/527 : using data from a motion artifact sensor
• CPC Class Codes: A61B 6/5288 : involving retrospective matching to a physiological signal

Abstract

A method and system are provided to measure cardiac motion data using a cardiovascular navigation system. The method and system position a patient reference sensor (PRS) on a patient, wherein the PRS determines a position of the patient relative to a reference point. The method and system determine a reference orientation matrix based on an orientation of the PRS relative to a reference point and determining a normalization time based on an electrical signal. The method and system obtain point specific (PS) motion data for a plurality of map points. The PS motion data indicates a three dimensional trajectory that occurs at the corresponding map point on a wall of a heart of the patient during at least one cardiac cycle. Further the method and system compensate the PS motion data based on the PRS.

Claims

1. A method to measure cardiac motion using a cardiovascular navigation system, the method comprising:

positioning a patient reference sensor (PRS) on a patient, wherein the PRS may determine a position of the patient relative to a reference point;

determining a reference orientation matrix based on an orientation of the PRS relative to the reference point;

determining a normalization time based on an electrical signal;

obtaining point specific (PS) motion data for a plurality of map points, wherein the PS motion data indicates a three dimensional trajectory at the corresponding map point on a wall of a heart of the patient during at least one cardiac cycle; and

compensating the PS motion data based on the PRS.

2. The method of claim 1, further comprising applying a rotation technique to a motion waveform for the corresponding map point based on the normalization time, wherein the motion waveform is defined by the PS motion data.

3. The method of claim 2, wherein the motion waveform is an ensemble average based on PS motion data obtained during a plurality of cardiac cycles.

4. The method of claim 1, further comprising converting the PS motion data into a cardiac coordinate system based on the patient.

5. The method of claim 1, further applying a high-pass or band-stop filter to the PS motion data based on a respiratory frequency of the patient.

6. The method of claim 1, wherein the electrical signal is one or a subset of a 12-lead surface ECG from the patient.

7. The method of claim 1, wherein the PS motion data is obtained by a motion or an electrophysiological sensor.

8. The method of claim 1, wherein the compensating operation is further based on an instantaneous position and orientation of the PRS relative to the reference point, and the reference orientation matrix.

9. The method of claim 1, wherein the reference point is based on a C-arm support structure of an imaging system.

10. The method of claim 1, wherein the compensating operation is further based on a respiratory frequency of the patient.

11. The method of claim 1, wherein the normalization time is based on a peak of the electric signal and at least one of an earliest global electrical activation or a predetermined percentage of a cycle length.

12. A system for measuring cardiac motion comprising:

a patient reference sensor (PRS) configured to determine a position of a patient relative to a reference point;

a motion sensor configured to obtain point specific (PS) motion data for a plurality of map points, wherein the PS motion data indicates a three dimensional trajectory at the corresponding map point on a wall of a heart of the patient during at least one cardiac cycle;

an input configured to receive the position measurements of the PRS and the motion sensor; and

a processor configured to;

determine a reference orientation matrix based on an orientation of the PRS relative to the reference point;

determine a normalization time based on an electrical signal; and

compensate the PS motion data based on the PRS.

13. The system of claim 12, wherein the processor is further configured to apply a rotation technique to a motion waveform for the corresponding map point based on the normalization time, wherein the motion waveform is defined by the PS motion data.

14. The method of claim 13, wherein the motion waveform is an ensemble average based on PS motion data obtained during a plurality of cardiac cycles.

15. The system of claim 12, wherein the processor is further configured to convert the PS motion data into a cardiac coordinate system based on the patient.

16. The system of claim 12, wherein the processors is further configured to apply a high-pass or band-stop filter to the PS motion data based on a respiratory frequency of the patient.

17. The system of claim 12, further comprising an imaging system with a C-arm support structure, wherein the reference point is based on the C-arm support structure.

18. The system of claim 12, wherein the normalization time is based on a peak of the electric signal and at least one of an earliest global electrical activation or a predetermined percentage of a cycle length.

19. The system of claim 12, wherein the compensation operation by the processor is further based on an instantaneous position and orientation of the PRS relative to the reference point, and the reference orientation matrix.

20. The system of claim 12, wherein the compensation operation by the processor is further based on a respiratory frequency of the patient.