Method and apparatus for registering 3D models of anatomical regions of a heart and a tracking system with projection images of an interventional fluoroscopic system

A method of registering a 3D model of an anatomical region of a patent with a catheter-based tracking system, the catheter-based tacking system comprising a catheter with a position indicator, the method comprising:

• generating a fluoroscopy image of the anatomical region, the catheter with the position indicator being disposed within the anatomical region;
• generating a 3D model of the anatomical region;
• using a first common anatomical reference system and a discernible parameter associated with the catheter, registering the 3D model with the fluoroscopy image, thereby defining a first registration;
• using a second common anatomical reference system and signals from the position indicator representative of the location of the catheter in the fluoroscopy image, registering the catheter-based system with the fluoroscopy image, thereby defining a second registration;
• using the first registration and the second registration, registering the 3D model with the catheter-based tracking system.

A cuter program product for registering a 3D model of an anatomical region of a patient with a catheter-based tracking system, the catheter-based tracking system comprising a catheter with a position indicator, the product comprising:

• a storage medium, readable by a processing circuit, storing instructions for execution by the processing circuit for:
• generating a fluoroscopy image of the anatomical region, the catheter with the position indicator being disposed within the anatomical region;
• generating a 3D model of the anatomical region;
• using a first common anatomical reference system and a discernible parameter associated with the catheter, registering the 3D model with the fluoroscopy image, thereby defining a first registration;
• using a second common anatomical reference system and signals from the position indicator representative of the location of the catheter in ate fluoroscopy image, registering the catheter-based tracking system with the fluoroscopy image, thereby defining a second registration;
• and
• using the first registration and the second registration, registering the 3D model with the catheter-based tracking system;
• wherein the first registration comprises generating a translation factor for translating the 3D model with respect to the fluoroscopy image, and generating a scaling factor for adjusting the scale of the 3D model with respect to the fluoroscopy image, the scaling factor being dependent on a discernable feature of the catheter.

A computer program product for registering a 3D model of an anatomical region of a patient with projection image of the same from an interventional fluoroscopy system, the product comprising:

• a storage medium, readable by a processing circuit, storing instructions for execution by the processing circuit for:
• generating a fluoroscopy image of the anatomical region from the fluoroscopy system, the anatomical region having disposed therein a catheter;
• generating a 3D model of to anatomical region from a second image acquisition system of a different modality,
• analyzing the fluoroscopy image and the 3D model with respect to a common anatomical reference system;
• monitoring the introduction of a catheter delivery apparatus into the anatomical region of interest;
• navigating the catheter delivery apparatus over the registered model to an anatomical site of interest;
• and
• using the catheter delivery apparatus to deliver therapy,