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US 12,558,053 B2Granted
Systems and methods of assessing breath hold during intraprocedural imaging
AssigneeCovidien LP
InventorsEvgeni Kopel, Michael E. Calcutt, Oren P. Weingarten, Ariel Birenbaum, Ofer Barasofsky
Life of this patent
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Abstract
A system and method for improving a quality of images for local registration where a position of a sensor is monitored to determine whether a breath hold plateau has been achieved, and following imaging is monitored to determine whether the sensor position has returned to a pre-breath hold position.
Claims20
A system comprising:
- a catheter having a distal portion including a sensor;
- and
- a computing device including a processor and a computer readable recording medium storing instructions that when executed by the processor cause the computing device configured to:
- receive signals from the sensor to determine a position of the distal portion of the catheter;
- receive live fluoroscopic video images of the catheter proximate a target;
- monitor a position of the sensor to determine whether a breath-hold plateau has been achieved;
- determine whether movement of the sensor has exceeded a threshold to achieve the breath-hold plateau;
- cease live fluoroscopic video image video acquisition;
- and
- monitor the position of the sensor, to determine whether the sensor position has returned to a pre-breath-hold position, wherein upon determination that the sensor has returned to the pre-breath-hold position:
- determine a relative position of the catheter and the target at multiple instances in the fluoroscopic video;
- calculate a position of the target in a coordinate system of the sensor;
- and
- update a displayed position of the distal portion of the catheter with respect to the target in a three-dimensional (3D) model.
11 more elements
A method of improving a quality of images for local registration, comprising:
- initializing imaging of a catheter and a target;
- monitoring a position of a sensor on the catheter to determine whether a breath-hold plateau has been achieved;
- determining whether movement of the sensor has exceeded a threshold to achieve the breath-hold plateau;
- ceasing imaging;
- and
- monitoring the position of the sensor, to determine whether the sensor has returned to a pre-breath hold position, wherein upon determination that the sensor has returned to the pre-breath-hold position;
- determining a relative position of the sensor and a target at multiple instances in images;
- calculating a position of the target in a coordinate system of the sensor;
- and
- updating a displayed position of a distal end of the catheter with respect to the target in a three-dimensional (3D) model.
7 more elements
A method of navigating a catheter to a desired location within a luminal network comprising:
- receiving a computed tomography (CT) image data set;
- identifying one or more targets in the CT image data set;
- generating a three-dimensional (3D) model of the luminal network and pathway to the one or more targets;
- registering the 3D model and the pathway to the luminal network;
- updating a position of the catheter in the 3D model as the catheter is advanced along the pathway;
- performing a local registration to determine a relative position of the catheter and one of the one or more targets;
- acquiring a fluoroscopic image of the luminal network;
- monitoring a position of a sensor associated with the catheter to determine whether a breath hold plateau has been achieved;
- determining whether movement of the sensor has exceeded a threshold to achieve the breath hold plateau;
- ceasing fluoroscopic image acquisition;
- and
- monitoring the position of the sensor, to determine whether the sensor has returned to a pre-breath hold position, wherein upon determination that the sensor has returned to the pre-breath hold position:
- determining a position of the one of the one or more targets and the catheter in the fluoroscopic image;
- detecting the position of the sensor on a distal portion of the catheter;
- calculating a position of the one of the one or more targets in a coordinate system of the sensor;
- and
- updating a displayed position of the distal portion of the catheter with respect to the one of the one or more targets in the 3D model.
14 more elements
Dependencies are inferred from the claim text.