Position sensing in intravascular imaging

• US 9,713,456 B2
• Filed: 12/30/2013
• Issued: 07/25/2017
• Est. Priority Date: 12/30/2013
• Status: Active Grant

• Current Assignee: ACIST Medical Systems Incorporated (Bracco SPA)
• Original Assignee: ACIST Medical Systems Incorporated (Bracco SPA)
• Inventors: Wilson, Robert F., Hiltner, Jason F., Nystrom, Sidney D.
• Primary Examiner(s): Chen, Tse
• Assistant Examiner(s): HOFFMAN, JOANNE M
• Application Number:
  US14/143,801
• Publication Number:
  US 20150182190A1
• Time in Patent Office: 1,303 Days
• CPC Class Codes: A61B 2090/0811 for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• CPC Class Codes: A61B 2090/3735 Optical coherence tomography [OCT]
• CPC Class Codes: A61B 2090/3782 transmitter or receiver in catheter or minimal invasive instrument
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 5/0066 Optical coherence imaging
• CPC Class Codes: A61B 5/0084 for introduction into the body, e.g. by catheters A61B5/1459 takes precedence
• CPC Class Codes: A61B 5/02007 Evaluating blood vessel condition, e.g. elasticity, compliance
• 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 5/743 Displaying an image simultaneously with additional graphical information, e.g. symbols, charts, function plots
• CPC Class Codes: A61B 8/0891 for diagnosis of blood vessels
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4254 using sensors mounted on the probe
• CPC Class Codes: A61B 8/4263 using sensors not mounted on the probe, e.g. mounted on an external reference frame
• CPC Class Codes: A61B 8/445 Details of catheter construction
• CPC Class Codes: A61B 8/4483 characterised by features of the ultrasound transducer
• CPC Class Codes: A61B 8/461 Displaying means of special interest
• CPC Class Codes: A61B 8/5207 involving processing of raw data to produce diagnostic data, e.g. for generating an image reconstruction G06T11/00

Abstract

An intravascular imaging system can include a catheter, a position sensor, and an intravascular imaging engine for receiving information from the catheter and the position sensor. The position sensor can include a reference element and a movable element, which can have a movable element position that is correlated to the position of an imaging transducer in the catheter. The relative position between the movable element and a reference element can be determined and can correspond to the relative movement of the transducer within a patient'"'"'s vasculature. The imaging engine can receive position information from the position sensor and image information from the catheter and generate a display using the received information. Because relative movement of the transducer can be determined, spatial relationships between sets of imaging data can be determined, and image data from multiple transducer locations can be combined into one image.

Claims

1. An intravascular system comprising:

(a) an intravascular imaging catheter including a proximal end and a distal end, a transducer located in a transducer position near the distal end of the intravascular imaging catheter, a first telescoping portion, and a second telescoping portion, the first telescoping portion being configured to telescope within the second telescoping portion to facilitate motion of the transducer;

(b) a position sensor including a movable element positioned on the first telescoping portion of the catheter and a reference element positioned on the second telescoping portion of the catheter, the movable element having a movable element position that is correlated to the transducer position, the position sensor being configured to measure the movable element position relative to a position of the reference element;

(c) an intravascular imaging engine coupled to the intravascular imaging catheter, the intravascular imaging engine being configured to receive image information from the intravascular imaging catheter and position information from the position sensor and to generate a display based on the image information and the position information.

2. The intravascular system of claim 1, wherein the image information and the position information comprise:

a first set of image information and position information corresponding to a first movable element position, and

a second set of image information and position information corresponding to a second movable element position that differs from the first movable element position.

3. The intravascular system of claim 1, wherein the intravascular imaging catheter comprises an IVUS imaging catheter.

4. The intravascular system of claim 1, further comprising (d) a translation mechanism configured to cause translation of the intravascular imaging catheter'"'"'s transducer.

5. The intravascular system of claim 4, further comprising (e) a rotation mechanism configured to interface with the intravascular imaging catheter'"'"'s proximal end and to rotate the intravascular imaging catheter, wherein the rotation mechanism is configured to engage and be translated by the translation mechanism.

6. The intravascular system of claim 4, wherein the translation mechanism is motorized for automatic translation.

7. The intravascular system of claim 4, wherein the translation mechanism includes a damping mechanism configured to facilitate smooth translation of the intravascular imaging catheter'"'"'s transducer.

8. The intravascular system of claim 1, wherein the position sensor comprises a potentiometer.

9. The intravascular system of claim 1, wherein the position sensor comprises an encoder.

17. The intravascular system of claim 6, wherein the intravascular imaging engine is configured to instruct the translation mechanism to translate the transducer a predetermined amount based on feedback position information received from the position sensor.

19. The intravascular system of claim 1, wherein the intravascular imaging engine includes a user interface configured to present the generated display to a user and to receive an input from the user, the generated display including a cross-sectional IVUS image comprising image information corresponding to one longitudinal location, and a longitudinal IVUS image comprising image data from a plurality of longitudinal locations, and wherein the input comprises a selection of a longitudinal location from the longitudinal IVUS image, and the displayed cross-sectional IVUS image corresponds to the selected longitudinal location.

20. The intravascular system of claim 1, wherein the transducer is coupled to the first telescoping portion of the catheter.

10. A method for operating an intravascular imaging system that includes (i) a catheter having a proximal end, a distal end, a transducer located near the distal end, a first telescoping portion, and a second telescoping portion, the first telescoping portion being configured to telescope within the second telescoping portion to facilitate motion of the transducer, (ii) a position sensor including a movable element positioned on the first telescoping portion of the catheter and a reference element positioned on the second telescoping portion of the catheter, and (iii) a motorized translation mechanism including a motor capable of receiving commands for translating the transducer of the catheter, the method comprising:

(a) receiving a command to move the transducer a predetermined amount;

(b) translating the transducer the predetermined amount via the motorized translation mechanism while receiving position information from the position sensor by telescoping the first telescoping portion and second telescoping portion of the catheter relative to one another, the position information being used as a feedback signal for automatically controlling the translation distance of the transducer and comprising a movable element position relative to a reference element position, the movable element position being correlated to a position of the catheter'"'"'s transducer;

(c) while moving the transducer, receiving image information from the catheter at a plurality of transducer positions based on an imaging function performed with the catheter in a patient'"'"'s blood vessel, the received image information having corresponding position information based on position information received at or near the plurality of transducer positions; and

(d) generating a display based on the image information and the position information.

11. The method of claim 10, wherein the steps of receiving the image information and the position information comprise:

receiving a first set of image information and position information corresponding to a first movable element position, and

receiving a second set of image information and position information corresponding to a second movable element position that differs from the first movable element position.

12. The method of claim 10, wherein the imaging function comprises IVUS imaging.

13. The method of claim 12, wherein generating the display comprises generating a longitudinal image of the patient'"'"'s blood vessel.

14. The method of claim 10, wherein the translation mechanism includes a damping mechanism configured to facilitate smooth translation of the transducer.

15. The method of claim 10, wherein receiving position information comprises receiving information from a potentiometer.

16. The method of claim 10, wherein receiving position information comprises receiving information from an encoder.

18. The method of claim 13, wherein the generated display comprises a longitudinal image and a cross-sectional image, and wherein generating the display further comprises receiving, via a user interface, a selection of a location in the longitudinal image and displaying a cross-sectional image corresponding to the selected location.

22. The method of claim 10, wherein the transducer is coupled to the first telescoping portion of the catheter.

21. An intravascular system comprising:

(a) an intravascular imaging catheter including a proximal end and a distal end, a transducer located in a transducer position near the distal end of the intravascular imaging catheter, a first telescoping portion, and a second telescoping portion, the first telescoping portion being configured to telescope within the second telescoping portion to facilitate motion of the transducer;

(b) a position sensor including a movable element positioned on the second telescoping portion of the catheter and a reference element positioned on the first telescoping portion of the catheter, the movable element having a movable element position that is correlated to the transducer position, the position sensor being configured to measure the movable element position relative to a position of the reference element;

(c) an intravascular imaging engine coupled to the intravascular imaging catheter, the intravascular imaging engine being configured to receive image information from the intravascular imaging catheter and position information from the position sensor and to generate a display based on the image information and the position information.

23. The intravascular system of claim 21, wherein the transducer is coupled to the second telescoping portion of the catheter.

24. The intravascular system of claim 21, further comprising (d) a translation mechanism configured to cause translation of the intravascular imaging catheter'"'"'s transducer.

25. The intravascular system of claim 24, further comprising (e) a rotation mechanism configured to interface with the intravascular imaging catheter'"'"'s proximal end and to rotate the intravascular imaging catheter, wherein the rotation mechanism is configured to engage and be translated by the translation mechanism.

26. The intravascular system of claim 24, wherein the translation mechanism is motorized for automatic translation.

27. The intravascular system of claim 26, wherein the intravascular imaging engine is configured to instruct the translation mechanism to translate the transducer a predetermined amount based on feedback position information received from the position sensor.

28. The intravascular system of claim 21, wherein the intravascular imaging catheter comprises an IVUS imaging catheter.

29. The intravascular system of claim 21, wherein the position sensor comprises a potentiometer.

30. The intravascular system of claim 21, wherein the position sensor comprises an encoder.

31. The intravascular system of claim 21, wherein the generated display comprises a longitudinal IVUS image based on the received image information and received position information corresponding to a plurality of transducer positions and a cross-sectional image corresponding to received image information at one of the plurality of transducer positions.

32. The intravascular system of claim 31, further comprising a user interface in communication with the intravascular imaging engine, and wherein:

the intravascular imaging engine is configured to receive a selection of a location in the generated longitudinal IVUS image from the user interface; and

the cross-sectional image in the generated display represents image data associated with the selected location from the longitudinal IVUS image.