Operation of a remote medical navigation system using ultrasound image

• US 9,314,222 B2
• Filed: 09/05/2008
• Issued: 04/19/2016
• Est. Priority Date: 07/07/2005
• Status: Active Grant

• Current Assignee: Stereotaxis, Inc.
• Original Assignee: Stereotaxis, Inc.
• Inventors: Creighton, Francis M. IV, Ritter, Rogers C., Viswanathan, Raju R., Kastelein, Nathan, Garibaldi, Jeffrey M., Flickinger, William
• Primary Examiner(s): Chen, Tse
• Assistant Examiner(s): IP, JASON M
• Application Number:
  US12/205,137
• Publication Number:
  US 20090062646A1
• Time in Patent Office: 2,783 Days
• Field of Search: 600/424, 600/427, 600/437, 600/462, 600/466, 600/467, 128/899
• US Class Current: 1/1
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 8/0833 involving detecting or locating foreign bodies or organic structures
• CPC Class Codes: A61B 8/4416 related to combined acquisition of different diagnostic modalities, e.g. combination of ultrasound and X-ray acquisitions

Abstract

A method of operating a remote medical navigation system using ultrasound, employs ultrasound imaging from a medical device to supplement or to replace conventional x-ray imaging of the operating region during navigation.

Claims

1. A method of operating a remote navigation system that moves the distal end of a medical device in an operating region in a subject using as reference internally acquired ultrasound imaging with a localized ultrasound imaging catheter and system, the method comprising:

ultrasonically imaging the operating region using an ultrasound imaging system on an ultrasound imaging catheter in the operating region to obtain a generally planar ultrasound image;

registering the ultrasonic imaging system relative to the remote navigation system by using localization information corresponding to the ultrasound imaging catheter, and thence computing a spatial mapping between the remote navigation system and the ultrasound imaging system;

fusing the generally planar ultrasound image with three dimensional pre-operative data on the remote navigation system; and

using computer-controlled remote navigation to navigate the medical device to a target location selected on the generally planar ultrasound image.

2. A method of operating a remote navigation system that moves the distal end of a medical device in an operating region in a subject using as reference internally acquired ultrasound imaging from an ultrasound imaging system on an ultrasound imaging catheter, the method comprising:

automatically reorienting the ultrasound imaging catheter with a robotic mechanism as the medical device is steered by the remote navigation system to position the ultrasound imaging catheter such that the medical device stays within the imaging field-of-view of the ultrasound system on the ultrasound imaging catheter.

3. A method of operating a remote navigation system that moves the distal end of a medical device in an operating region in a subject using as reference internally acquired ultrasound imaging from an ultrasound imaging system on an ultrasound imaging catheter, the method comprising:

computing and displaying a re-orientation of the ultrasound imaging catheter that will maintain the medical device in the field-of-view of the ultrasound imaging system as the medical device is steered by the remote navigation system.

4. A method of operating a remote navigation system that moves the distal end of a medical device in an operating region in a subject using as reference internally acquired ultrasound imaging from an ultrasound imaging system on a localized ultrasound imaging catheter, the method comprising:

ultrasonically imaging the operating region with the ultrasound imaging system on the ultrasound catheter;

registering the ultrasonic imaging system relative to the remote navigation system by using localization information corresponding to the ultrasound imaging catheter, and thence computing a spatial mapping between the remote navigation system and the ultrasound imaging system;

fusing three dimensional pre-operative image data with the ultrasound image data to provide additional anatomical context; and

navigating the medical device remotely with the remote navigation system using the fused data as additional reference.

5. A method of operating a remote navigation system that orients the distal end of a medical device in an operating region in a subject using as reference internally acquired ultrasound imaging from an ultrasound imaging system on an ultrasound imaging catheter, the method comprising:

ultrasonically imaging the operating region with the ultrasound imaging system;

registering the ultrasonic imaging system relative to the remote navigation system by marking two points in the distal portion of the ultrasound catheter on a pair of X-ray images, as well as an additional third point in the pair of X-ray images, marking similar points in the ultrasound image, and thence determining a spatial mapping between the remote navigation system and the ultrasound imaging system;

fusing three dimensional pre-operative image data with the ultrasound image data to provide additional anatomical context; and

navigating the medical device remotely with the remote navigation system using the fused data as additional reference.

6. A method of operating a remote navigation system that moves the distal end of a medical device in an operating region in a subject using as reference internally acquired ultrasound imaging with an ultrasound imaging catheter and system, the method comprising:

automatically reorienting the ultrasound imaging catheter as the medical device is moved to anatomical targets of interest such that the medical device remains within the imaging field-of-view of the ultrasound imaging system.

7. A method of navigating the distal end of a medical device through a body lumen, the method comprising:

ultrasonically imaging a portion of the body lumen surrounding the distal end of the medical device; and

comparing the ultrasound image of the portion of the body lumen with a three dimensional reconstruction of the body lumen registered to a Cartesian frame of a remote navigation system to obtain a location of the distal end of the medical device relative to the three dimensional reconstruction;

using the location to obtain registration of the ultrasonic image with the Cartesian frame of the navigation system.

8. The method according to claim 7 further comprising using the extended length of the medical device to facilitate the comparison between the image of the portion of the body lumen and the three dimensional reconstruction of the body lumen.

9. The method according to claim 8 wherein the extended length of the medical device is used to identify locations in the three dimensional reconstruction for comparison with the image of the portion of the body lumen.

10. A method of navigating the distal end of a medical device through a body lumen, the method comprising:

ultrasonically imaging a portion of the body lumen surrounding the distal end of the medical device;

displaying an image of the portion of the body lumen surrounding the distal end of the medical device; and

placing the displayed image in anatomical context by comparing the image of the portion of the body lumen with a three dimensional reconstruction of the body lumen registered to the Cartesian frame of a remote navigation system to locate the distal end of the medical device relative to the three dimensional reconstruction;

using the location to obtain registration of the ultrasonic image with the Cartesian frame of the navigation system.

11. The method according to claim 10 further comprising using the extended length of the medical device to facilitate the comparison between the comparing the image of the portion of the body lumen with a three dimensional reconstruction of the body lumen.

12. The method according to claim 11 wherein the extended length of the medical device is used to identify locations in the three dimensional reconstruction for comparison with the image of the portion of the body lumen.

13. The method according to claim 12 further comprising displaying the current location of the distal end of the medical device in a three-dimensional model of the body lumen.

14. The method according to claim 12 further comprising accepting input of a selected direction of orientation by clicking on the displayed image of the portion of the body lumen surrounding the distal end of the medical device, and orienting the distal end of the medical device in the selected direction.