Co-use of endoluminal data and extraluminal imaging

• US 9,375,164 B2
• Filed: 06/18/2015
• Issued: 06/28/2016
• Est. Priority Date: 03/08/2007
• Status: Active Grant

• Current Assignee: Sync-Rx, Ltd. (Koninklijke Philips N.V.)
• Original Assignee: Sync-Rx, Ltd. (Koninklijke Philips N.V.)
• Inventors: Tolkowsky, David, Cohen, Ran, Klaiman, Eldad, Barzelay, Zohar
• Primary Examiner(s): Lamprecht, Joel
• Application Number:
  US14/742,996
• Publication Number:
  US 20150282737A1
• Time in Patent Office: 376 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 2090/3966 Radiopaque markers visible in an X-ray image
• CPC Class Codes: A61B 2576/00 Medical imaging apparatus involving image processing or analysis A61B1/00009, A61B6/52 and A61B8/52 take precedence; image processing per se G06T; details of algorithms for analysing medical images G06T7/0012
• CPC Class Codes: A61B 5/0066 Optical coherence imaging
• CPC Class Codes: A61B 5/0073 by tomography, i.e. reconstruction of 3D images from 2D projections A61B5/0066 takes precedence
• CPC Class Codes: A61B 5/0075 by spectroscopy, i.e. measuring spectra, e.g. Raman spectroscopy, infrared absorption spectroscopy A61B5/0071 takes precedence
• CPC Class Codes: A61B 5/0084 for introduction into the body, e.g. by catheters A61B5/1459 takes precedence
• CPC Class Codes: A61B 5/0086 using infrared radiation
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• 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 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00

Abstract

Apparatus and methods are described for use with an endoluminal data-acquisition device having a radiopaque portion coupled thereto, including, while the endoluminal data-acquisition device is being moved through the lumen, acquiring a plurality of endoluminal data points of the lumen using the endoluminal data-acquisition device. A combined extraluminal image of the lumen is generated that contains images of the radiopaque portion at first and second locations within the lumen, by co-registering first and second extraluminal images with each other. At least one location on the combined extraluminal image is identified as corresponding to a location within the lumen at which a given one of the endoluminal data points was acquired, by identifying the first and second locations of the radiopaque portion within the combined extraluminal image. An output is generated, in response thereto. Other applications are also described.

Claims

1. A method for use with an endoluminal data-acquisition device having a radiopaque portion coupled thereto, the method comprising:

while the endoluminal data-acquisition device is being moved through the lumen, acquiring a plurality of endoluminal data points of the lumen using the endoluminal data-acquisition device;

using an extraluminal imaging device, acquiring a first extraluminal image of the lumen, at a time associated with an acquisition of the first endoluminal data point by the endoluminal data-acquisition device, the first extraluminal image including an image of the radiopaque portion at a first location within the lumen;

using the extraluminal imaging device, acquiring a second extraluminal image of the lumen, at a time associated with an acquisition of the second endoluminal data point by the endoluminal data-acquisition device, the second extraluminal image including an image of the radiopaque portion at a second location within the lumen; and

using at least one processor;

generating a combined extraluminal image of the lumen that contains images of the radiopaque portion at the first and second locations within the lumen, by co-registering the first and second extraluminal images with each other;

identifying at least one location on the combined extraluminal image as corresponding to a location within the lumen at which a given one of the endoluminal data points was acquired, by identifying the first and second locations of the radiopaque portion within the combined extraluminal image; and

generating an output on an output device, in response thereto.

2. The method according to claim 1, wherein the endoluminal data-acquisition device includes an endoluminal imaging device, and wherein acquiring the plurality of endoluminal data points of the lumen using the endoluminal data-acquisition device comprises acquiring a plurality of endoluminal images using the endoluminal imaging device.

3. The method according to claim 1, wherein the endoluminal data-acquisition device includes an endoluminal data-acquisition device configured to acquire non-image data points, and wherein acquiring the plurality of endoluminal data points of the lumen using the endoluminal data-acquisition device comprises acquiring a plurality of non-image endoluminal data points using the endoluminal data-acquisition device.

4. The method according to claim 1, wherein identifying the at least one location on the combined extraluminal image as corresponding to the location within the lumen at which the given one of the endoluminal data points was acquired comprises identifying at least one location on the combined extraluminal image as corresponding to a location within the lumen at which a given one of the endoluminal data points was acquired between acquisitions of the first and second endoluminal data points, by interpolating between the first and second locations of the radiopaque portion on the combined extraluminal image.

5. The method according to claim 4, wherein interpolating between the first and second locations of the radiopaque portion on the combined extraluminal image comprises assuming that, between acquiring respective successive pairs of endoluminal data points between the acquisitions of the first and second endoluminal data points, the endoluminal data-acquisition device travelled equal distances.

6. The method according to claim 4, wherein interpolating between the first and second locations of the radiopaque portion on the combined extraluminal image comprises assuming that a rate of the movement of the endoluminal data-acquisition device was linear between the acquisitions of the first and second endoluminal data points.

7. The method according to claim 4, wherein interpolating between the first and second locations of the radiopaque portion on the combined extraluminal image comprises performing linear interpolation between the first and second locations of the radiopaque portion on the combined extraluminal image.

8. Apparatus comprising:

an endoluminal data-acquisition device configured to acquire a plurality of endoluminal data points of a lumen of a body of a subject at respective locations inside the lumen, while the endoluminal data-acquisition device is moved through the lumen, the endoluminal data-acquisition device having a radiopaque portion coupled thereto;

an extraluminal imaging device configured to (a) acquire a first extraluminal image of the lumen, at a time associated with an acquisition of a first endoluminal data point by the endoluminal data-acquisition device, and (b) acquire a second extraluminal image of the lumen, at a time associated with an acquisition of a second endoluminal data point by the endoluminal data-acquisition device;

a display; and

at least one processor, configured to;

generate a combined extraluminal image of the lumen that contains images of the radiopaque portion at the first and second locations within the lumen, by co-registering the first and second extraluminal images with each other;

identify at least one location on the combined extraluminal image as corresponding to a location within the lumen at which a given endoluminal data point was acquired, by identifying the first and second locations of the radiopaque portion within the combined extraluminal image;

drive the display to display an output, in response thereto.

9. The apparatus according to claim 8, wherein the endoluminal data-acquisition device comprises an endoluminal imaging device configured to acquire the plurality of endoluminal data points by acquiring a plurality of endoluminal images.

10. The apparatus according to claim 8, wherein the endoluminal data-acquisition device comprises an endoluminal data-acquisition device acquire configured to acquire the plurality of endoluminal data points by acquiring a plurality of non-image endoluminal data points.

11. The apparatus according to claim 8, wherein the processor is configured to identify at least one location on the combined extraluminal image as corresponding to a location within the lumen at which a given one of the endoluminal data points was acquired between acquisitions of the first and second endoluminal data points, by interpolating between the first and second locations of the radiopaque portion on the combined extraluminal image.

12. The apparatus according to claim 11, wherein the processor is configured to interpolate between the first and second locations of the radiopaque portion on the combined extraluminal image by assuming that, between acquiring respective successive pairs of endoluminal data points between the acquisitions of the first and second endoluminal data points, the endoluminal data-acquisition device travelled equal distances.

13. The apparatus according to claim 11, wherein the processor is configured to interpolate between the first and second locations of the radiopaque portion on the combined extraluminal image by assuming that a rate of the movement of the endoluminal data-acquisition device was linear between the acquisitions of the first and second endoluminal data points.

14. The apparatus according to claim 11, wherein the processor is configured to interpolate between the first and second locations of the radiopaque portion on the combined extraluminal image by performing linear interpolation between the first and second locations of the radiopaque portion on the combined extraluminal image.

15. A method for use with an endoluminal data-acquisition device having a radiopaque portion coupled thereto, the method comprising:

while the endoluminal data-acquisition device is being moved through the lumen, acquiring at least a first endoluminal data point of the lumen using the endoluminal data-acquisition device;

acquiring a plurality of extraluminal images of the lumen, using an extraluminal imaging device;

designating a first one of the extraluminal images of the lumen as a baseline image, the lumen having a given shape in the baseline image;

determining that a second one of the extraluminal images of the lumen was acquired at a time associated with the acquiring of the first endoluminal data point by the endoluminal data-acquisition device, the second extraluminal image including an image of the radiopaque portion at a given location within the lumen;

deforming the shape of the lumen in the second extraluminal image, such that the shape of the lumen in the second extraluminal image becomes more similar to the given shape of the lumen than when the lumen in the second extraluminal image is not deformed;

based upon the deforming of the second extraluminal image, determining a location upon the baseline image that corresponds to the location of the radiopaque portion within the second extraluminal image;

co-registering the first endoluminal data point to the baseline image, in response thereto; and

generating an output, in response to the co-registering.

16. The method according to claim 15, wherein the endoluminal data-acquisition device includes an endoluminal imaging device, and wherein acquiring the endoluminal data point of the lumen using the endoluminal data-acquisition device comprises acquiring one or more endoluminal images using the endoluminal imaging device.

17. The method according to claim 15, wherein the endoluminal data-acquisition device includes an endoluminal data-acquisition device configured to acquire non-image data points, and wherein acquiring the endoluminal data point of the lumen using the endoluminal data-acquisition device comprises acquiring one or more non-image endoluminal data points using the endoluminal data-acquisition device.

18. The method according to claim 15,

wherein acquiring at least the first endoluminal data point of the lumen using the endoluminal data-acquisition device comprises acquiring a plurality of endoluminal data points, using the endoluminal data-acquisition device, while the endoluminal data-acquisition device is moving through the lumen,

the method further comprising:

determining, with respect to the baseline image, a location of the radiopaque portion at a time at which a second endoluminal data point was acquired; and

co-registering the second endoluminal data point to the baseline image, in response thereto.

19. The method according to claim 18, further comprising determining that at least one location on the baseline image corresponds to an endoluminal data point acquired between the acquisitions of the first and second endoluminal data points, by interpolating between (a) the location of the radiopaque portion with respect to the baseline image at the time at which the first endoluminal data point was acquired, and (b) the location of the radiopaque portion with respect to the baseline image at the time at which the second endoluminal data point was acquired.

20. The method according to claim 19, wherein the interpolating comprises assuming that, between acquiring respective successive pairs of endoluminal data points between the acquisitions of the first and second data points, the endoluminal data-acquisition device travelled equal distances.

21. The method according to claim 19, wherein the interpolating comprises assuming that a rate of the movement of the endoluminal data-acquisition device was linear between the acquisitions of the first and second data points.

22. The method according to claim 19, wherein the interpolating comprises performing linear interpolation between (a) the location of the radiopaque portion with respect to the baseline image at the time at which the first endoluminal data point was acquired, and (b) the location of the radiopaque portion with respect to the baseline image at the time at which the second endoluminal data point was acquired.