Method and apparatus for registration, verification, and referencing of internal organs
First Claim
1. A system for registering an anatomical region of a patient, comprising:
- an imaging device adapted to produce image data of the anatomical region of the patient in a first frame of reference;
a registration device including at least one position indicating element, wherein the registration device is adapted to be inserted into a conduit within the anatomical region of the patient;
a tracking device adapted to produce position data regarding the path of the conduit within the anatomical region in a second frame of reference, wherein the position data is obtained by the tracking device sampling coordinates of the at least one position indicating element as the position indicating element is moved within the conduit; and
a computer element having a processor, wherein the processor is adapted to receive the image data from the imaging device, receive the position data from the tracking device, and map the image data and the position data together.
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Accused Products
Abstract
Systems and methods for registering, verifying, dynamically referencing, and navigating an anatomical region of interest of a patient are provided. In one embodiment, the anatomical region of interest is imaged using an imaging device such as, for example, an x-ray device. A tracked registration device may then be removably inserted in a conduit within the anatomical region and the position of the registration device may be sampled by a tracking device as the registration device is moved within the anatomical region through the catheter. The sampled position data is registered to the image data to register the path of the conduit to the anatomical region of interest. The same or a similar device may be used to dynamically reference the movements affecting the anatomical region and modify the registration in real time. The registration may also be verified.
467 Citations
40 Claims
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1. A system for registering an anatomical region of a patient, comprising:
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an imaging device adapted to produce image data of the anatomical region of the patient in a first frame of reference;
a registration device including at least one position indicating element, wherein the registration device is adapted to be inserted into a conduit within the anatomical region of the patient;
a tracking device adapted to produce position data regarding the path of the conduit within the anatomical region in a second frame of reference, wherein the position data is obtained by the tracking device sampling coordinates of the at least one position indicating element as the position indicating element is moved within the conduit; and
a computer element having a processor, wherein the processor is adapted to receive the image data from the imaging device, receive the position data from the tracking device, and map the image data and the position data together. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A computer-implemented method for registering an anatomical region of a patient, comprising:
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receiving image data of the anatomical region of the patient in a first frame of reference from an imaging device;
receiving position data regarding the path of a conduit within the anatomical region of the patient in a second frame of reference from a tracking device, wherein the position data is obtained by a tracking device sampling the position of at least one position indicating element as the at least one position indicating element moves within the conduit; and
mapping the image data and the position data together using a registration transformation. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25)
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26. A method for registering an anatomical region of a patient, the method comprising:
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imaging the anatomical region using an imaging device to produce image data regarding the anatomical region in a first frame of reference;
inserting a registration device having first and second ends into a conduit within the anatomical region, wherein the first end of the registration device is inserted into the conduit, and wherein the registration device includes at least one position indicating element located at the first end of the registration device;
moving the registration device from the conduit while sampling coordinates of the at least one position element to produce position data regarding a path of the conduit within the anatomical region in a second frame of reference, wherein the coordinates of the one or more position indicating elements are sampled by a tracking device;
mapping together the image data and the position data using a registration transformation to produce a set of registration data regarding the conduit relative to the anatomical region. - View Dependent Claims (27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40)
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Specification