METHOD AND APPARATUS FOR REGISTRATION, VERIFICATION AND REFERENCING OF INTERNAL ORGANS

• US 20170079554A1
• Filed: 09/30/2016
• Published: 03/23/2017
• Est. Priority Date: 02/17/2004
• Status: Active Grant

• Current Assignee: Koninklijke Philips N.V.
• Original Assignee: Koninklijke Philips N.V.
• Inventors: Glossop, Neil David
• Granted Patent: US 10,582,879 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/3925 ultrasonic
• CPC Class Codes: A61B 2090/3954 magnetic, e.g. NMR or MRI
• CPC Class Codes: A61B 2090/3966 Radiopaque markers visible in an X-ray image
• CPC Class Codes: A61B 2562/222 Electrical cables or leads therefor, e.g. coaxial cables or ribbon cables
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 5/02 Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
• CPC Class Codes: A61B 5/03 Detecting, measuring or recording fluid pressure within the body other than blood pressure, e.g. cerebral pressure; Measuring pressure in body tissues or organs A61B5/205 takes precedence
• CPC Class Codes: A61B 5/031 Intracranial pressure
• CPC Class Codes: A61B 5/061 Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• 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 5/08 Detecting, measuring or recording devices for evaluating the respiratory organs A61B5/0205 takes precedence
• CPC Class Codes: A61B 5/12 Audiometering
• CPC Class Codes: A61B 5/20 : for measuring urological functions restricted to the evaluation of the urinary system A61B5/4375 takes precedence
• CPC Class Codes: A61B 5/283 : Invasive
• CPC Class Codes: A61B 5/418 : lymph vessels, ducts or nodes
• CPC Class Codes: A61B 5/42 : Detecting, measuring or recording for evaluating the gastrointestinal, the endocrine or the exocrine systems A61B1/00, A61B5/4857, A61B5/486, A61B5/4866, A61B5/4869 take precedence
• CPC Class Codes: A61B 5/43 : Detecting, measuring or recording for evaluating the reproductive systems
• CPC Class Codes: A61B 5/7221 : Determining signal validity, reliability or quality A61B5/7207 and A61B5/7217 take precedence
• CPC Class Codes: A61B 5/7285 : for synchronising or triggering a physiological measurement or image acquisition with a physiological event or waveform, e.g. an ECG signal A61B6/5205, A61B6/541, A61B8/5207, A61B8/543 take precedence
• CPC Class Codes: A61B 6/032 : Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/037 : Emission tomography
• CPC Class Codes: A61B 6/12 : Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/5247 : combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
• CPC Class Codes: A61B 6/541 : involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 8/0833 : involving detecting or locating foreign bodies or organic structures
• CPC Class Codes: A61B 8/0841 : for locating instruments
• 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 8/4245 : involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
• 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 8/481 : involving the use of contrast agent, e.g. microbubbles introduced into the bloodstream analysis of echo signal exploiting properties of a contrast enhancer in devices for short-range imaging with acoustic waves G01S7/52039
• CPC Class Codes: A61B 8/5238 : for combining image data of patient, e.g. merging several images from different acquisition modes into one image for image registration algorithms G06T7/30
• CPC Class Codes: A61B 8/5261 : combining images from different diagnostic modalities, e.g. ultrasound and X-ray
• CPC Class Codes: A61M 25/0105 : Steering means as part of the catheter or advancing means; Markers for positioning systems for detection of markers A61B
• CPC Class Codes: A61M 25/0108 : using radio-opaque or ultrasound markers
• CPC Class Codes: A61M 25/0127 : Magnetic means; Magnetic markers

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 following a path 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 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.

Claims

1. A system for registering an anatomical region of a patient, comprising:

an imaging device configured to produce image data of the anatomical region of the patient including coordinate information in a first frame of reference;

a registration device including at least one position indicating element, wherein the registration device is configured to follow a path within the anatomical region of the patient set out in the image data coordinate information;

a tracking device adapted to produce position data regarding a followed path 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 image data coordinate information path of the anatomical region of the patient;

t 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 path and the position data followed path together.

2. The system of claim 1, wherein the imaging device includes one of an x-ray device, an ultrasound device, a fluoroscopic device, a computerized tomography device, a positron emission tomography device, an isocentric fluoroscope, a rotational fluoroscopic reconstruction system, a multislice computerized tomography device, an intravascular ultrasound imager, a single photon emission computer tomographer, or a magnetic resonance imaging device.

3. The system of claim 1, wherein the path within the image data coordinate information of the anatomical region of the patient corresponds to a naturally existing vessel.

4. The system of claim 1, wherein the path within the image data coordinate information of the anatomical region of the patient includes a naturally existing veddel, and wherein the naturally existing vessel comprises one of a circulatory vessel, a respiratory vessel, a lymphatic vessel, a urinary tract vessel, a cerebrospinal fluid vessel, a reproductive vessel, an auditory vessel, or a digestive vessel.

5. The system of claim 1, wherein one or more points on the path within the image data coordinate information of the anatomical region of the patient corresponds to position data of a manufactured device comprising a lumen that has been inserted into the anatomical region of the patient.

6. The system of claim 1, wherein the path within the image data coordinate information of the anatomical region of the patient includes one or more points in the position data of the tracking device in a manufactured device comprising a lumen that has been inserted into the anatomical region of the patient, and wherein the manufactured device comprising a lumen comprises one of a tube, a catheter, or a lumen within a flexible endoscope.

7. The system of claim 1, wherein the path within the image data coordinate information the anatomical region of the patient includes a manufactured conduit within a naturally existing vessel.

8. The system of claim 1, wherein the path within the image data coordinate information within the anatomical region of the patient includes a first manufactured device comprising a lumen within a second manufactured device comprising a lumen within a naturally existing vessel.

9. The system of claim 1, wherein the path within the image data coordinate information of the anatomical region of the patient is includes a location of a puncture.

10. The system of claim 6, wherein the manufactured device comprising a lumen is adapted to be inserted into the anatomical region in a manner that causes the path within the image data coordinate information to at least partially fill a space within the anatomical region.

11. The system of claim 1, wherein the registration device includes at least one lumen, wherein the registration device has first and second ends, and wherein at least one of the first or second ends is closed.

12. The system of claim 1, wherein the tracking device comprises one of an ultrasonic tracking device, a fiber-optic tracking device, a global positioning system enabled tracking device, an optical tracking device or a radar tracking device.

13. The system of claim 1, wherein the at least one position indicating element comprises a wire coil that produces a magnetic field, and wherein the tracking device comprises an electromagnetic tracking device that detects the magnetic field.

14. The system of claim 1, wherein the at least one position indicating element comprises a wire coil that detects a magnetic field, and wherein the tracking device comprises an electromagnetic tracking device that produces the magnetic field.

15. (canceled)

16. A computer-implemented method for registering an anatomical region of a patient, comprising:

receiving image data of the anatomical region of the patient in a first frame of reference from an imaging device, the image data including image data of a path within the anatomical region;

receiving position data regarding the path in a second frame of reference, the second frame of reference being of a tracking device, wherein the position data is obtained by the tracking device sampling the position of at least one position indicating element as the at least one position indicating element moves following the path; and

mapping the image data and the position data together using a registration transformation.

17. The method of claim 16, wherein the imaging device includes one of an x-ray device, an ultrasound device, a fluoroscopic device, a computerized tomography device, a positron emission tomography device, an isocentric fluoroscope, a rotational fluoroscopic reconstruction system, a multi-slice computerized tomography device, an intravascular ultrasound imager, a single photon emission computer tomographer, or a magnetic resonance imaging device.

18. The method of claim 16, wherein at least part of the path within the image data coordinate information of the anatomical region of the patient follows a naturally existing vessell, and wherein the naturally existing vessel comprises one of a circulatory vessel, a respiratory vessel, a lymphatic vessel, a urinary tract vessel, a cerebrospinal fluid vessel, a reproductive vessel, an auditory vessel, or a digestive vessel.

19. The method of claim 16, wherein the path within the image data coordinate information of the anatomical region of the patient corresponds at least in part to position data of a manufactured device comprising a lumen that has been inserted into the anatomical region of the patient, and wherein the manufactured device comprising a lumen comprises one of a tube, a catheter, or a lumen within a flexible endoscope.

20. The method of claim 16, wherein the path within the image data coordinate information of the anatomical region of the patient includes a manufactured device comprising a lumen within a naturally existing vessel.

21. The method of claim 16, wherein the path within the image data coordinate information within the anatomical region of the patient includes a first manufactured device comprising a lumen within a second manufactured device comprising a lumen within a naturally existing vessel.

22. The method of claim 16, wherein the tracking device comprises one of an ultrasonic tracking device, a fiber-optic tracking device, a global positioning system enabled tracking device, an optical tracking device or a radar tracking device.

23. The method of claim 16, wherein the at least one position indicating element comprises a wire coil that produces a magnetic field, and wherein the tracking device comprises an electromagnetic tracking device that detects the magnetic field.

24. The method of claim 16, wherein the at least one position indicating elements comprises a wire coil that detects a magnetic field, and wherein the tracking device comprises an electromagnetic tracking device that emits the magnetic field.

25. (canceled)

26. A method for registering an anatomical region of a patient, the method comprising:

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 path within the image data coordinate information of the anatomical region, wherein the first end of the registration device is inserted into the path within the image data coordinate information, 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 following the path within the image data coordinate information while sampling coordinates of the at least one position element to produce position data regarding a followed path of the registration device 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 followed path of the registration device relative to the path within the image data coordinate information of the anatomical region.

27. The method of claim 26, wherein the imaging device includes one of an x-ray device, an ultrasound device, a fluoroscopic device, a computerized tomography device, a positron emission tomography device, an isocentric fluoroscope, a rotational fluoroscopic reconstruction system, a multi-slice computerized tomography device, an intravascular ultrasound imager, a single photon emission computer tomographer, or a magnetic resonance imaging device.

28. The method of claim 26, wherein imaging the anatomical region further comprises inserting the registration device into the anatomical region so that the followed path of the registration device at least partially fills a space within the anatomical region.

29. The method of claim 26, wherein inserting a registration device further comprises inserting the registration device through an orifice within the patient.

30. The method of claim 26, wherein inserting a registration device further comprises inserting the registration device through an orifice within the patient, and wherein the orifice is a naturally occurring orifice.

31. The method of claim 26, wherein inserting a registration device further comprises inserting the registration device through an orifice within the patient, and wherein the orifice is created during a surgical procedure.

32. The method of claim 26, wherein the path within the image data coordinate information the anatomical region of the patient includes a naturally existing vessel, and wherein the naturally existing vessel comprises one of a circulatory vessel, a respiratory vessel, a lymphatic vessel, a urinary tract vessel, a cerebrospinal fluid vessel, a reproductive vessel, an auditory vessel, or a digestive vessel.

33. The method of claim 26, wherein the path within the image data coordinate information within the anatomical region of the patient includes a manufactured device comprising a lumen that has been inserted into the anatomical region of the patient, and wherein the manufactured device comprising a lumen comprises one of a tube, a catheter, or a lumen of a flexible endoscope.

34. The method of claim 26, wherein the path within the image data coordinate information of the anatomical region of the patient includes a manufactured device comprising a lumen within a naturally existing channel.

35. The method of claim 26, wherein the path within the image data coordinate information of the anatomical region of the patient includes a first manufactured device comprising a lumen within a second manufactured device comprising a lumen within a naturally existing vessel.

36. The method of claim 26, wherein the tracking device comprises one of an ultrasonic tracking device, a fiber-optic tracking device, a global positioning system enabled tracking device, an optical tracking device or a radar tracking device.

37. The method of claim 26, wherein the at least one position indicating element comprises a wire coil that produces a magnetic field, and wherein the tracking device comprises an electromagnetic tracking device that detects the magnetic field.

38. The method of claim 26, wherein the at least one position indicating element comprises a wire coil that detects a magnetic field, and wherein the tracking device comprises an electromagnetic tracking device that emits the magnetic field.

39. The method of claim 26, further comprising:

displaying a location of the registration device within the path within the image data coordinate information of the anatomical region on an image of the anatomical region;

inserting a verification device having one or more verification position indicating elements into the path within the image data coordinate information;

calculating a location of the one or more verification position indicating elements on the image of the anatomical region using the registration transformation; and

comparing the location of the one or more verification position indicating elements to the location of the registration device.

40. The method of claim 26, further comprising:

inserting one or more referencing position indicating elements into the path within the image data coordinate information;

obtaining spatial relationship data regarding the one or more referencing position indicating elements relative to one another;

creating a model of the anatomical region using the spatial relationship data;

sampling movement of the one or more referencing position indicating elements; and

applying the sampled movement to the model of the anatomical region to create a dynamic model of the anatomical region.