Registration for Tracked Medical Tools and X-Ray Systems
AssigneeSiemens Aktiengesellschaft
InventorsAndreas Meyer, Sebastian Schafer
Life of this patent
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Abstract
In order to increase the accuracy of registration between a world coordinate system and an image coordinate system such that a tracked medical tool may be moved forward in the body of a patient without any additional or with limited live imaging, a method for registration of the tracked medical tool with an X-ray system is provided. The method includes receiving image data from the X-ray system at a plurality of time points, receiving tracking data from a tracking device of the tracked medical tool at the plurality of time points, and registering the world coordinate system and the image coordinate system based on the received image data and the received tracking data at the plurality of time points.
Claims20
A method for registration of an endovascular device with an X-ray system, the endovascular device comprising a tracking device, the method comprising:
- receiving image data from the X-ray system at a plurality of time points, the image data comprising image data representing at least a portion of the endovascular device in a first coordinate system as the endovascular device moves within or through the first coordinate system;
- receiving tracking data from the tracking device at the plurality of time points, the tracking data representing a position of the endovascular device in a second coordinate system;
- registering, by a processor, the second coordinate system with the first coordinate system based on the received image data and the received tracking data at the plurality of time points.
A system for registration of a tracked tool with an X-ray system, the tracked tool comprising a tracking device, the system comprising:
- an X-ray system configured to generate image data representing at least a portion of the tracked tool in a first coordinate system as the tracked tool moves within or through the first coordinate system;
- and
- a processor configured to:
- receive tracking data from the tracking device while the X-ray system generates the image data, the tracking data representing a position of the tracked tool in a second coordinate system;
- registering the second coordinate system with the first coordinate system based on the received image data and the received tracking data.
In a non-transitory computer-readable storage medium that stores instructions executable by one or more processors for registration of data generated by a tracked medical tool with image data generated by an X-ray system, the tracked medical tool comprising a tracking device, the instructions comprising:
- receiving image data from the X-ray system at a plurality of time points, the image data comprising image data representing at least a portion of the tracked medical tool in a first coordinate system as the tracked medical tool moves within or through the first coordinate system;
- receiving tracking data from the tracked medical tool at the plurality of time points, the tracking data representing a position of the tracked medical tool in a second coordinate system;
- registering the second coordinate system with the first coordinate system based on the received image data and the received tracking data at the plurality of time points.
Dependencies are inferred from the claim text.