Catheter Detection, Tracking And Virtual Image Reconstruction

A system tor the detection, tracking and virtual image reconstruction of a catheter during a fluoroscopically guided medical procedure, the system comprising:

• an X-ray emitter;
• a fluoroscope to receive X-rays from the X-ray emitter as the X-rays pass through a patient;
• and
• a catheter for insertion within the patient, the catheter comprising:
• a catheter body having a proximal end and a distal end;
• a plurality of detectable markers located at the distal end of the catheter body;
• and
• a plurality of quantifiable angular displacement coordinates, each angular displacement coordinate comprising a locus of points between adjacent detectable markers, where each point is defined by a distance vector between each adjacent detectable marker.

A computer-based method for determining the location of a catheter tip during a medical procedure, the method comprising the steps of:

• establishing on a computer having a processor, memory and computer readable media calibration parameters for a catheter visualization procedure, wherein the computer is operatively coupled to a fluoroscope;
• detecting with a fluoroscope a detectable marker n located at a distal end of a catheter body;
• measuring with the computer a distance from a reference on the catheter body to the detectable marker n;
• detecting with the fluoroscope a detectable marker n+1 located at the distal end of the catheter body;
• measuring with the computer angular displacement between detectable marker n and detectable marker n+1;
• correlating with the computer the measured angular displacement between detectable marker n and detectable marker n+1 to curvature of the catheter;
• determining the location of the tip of the catheter using the correlated curvature information and tire calibration parameters;
• and
• displaying the location of the tip of the catheter on a computer display.

A computer-based method for determining the location of a catheter tip during a medical procedure, the method comprising the steps of:

• establishing on a computer having a processor, memory and computer readable media catheter properties for a catheter visualization procedure, wherein the computer is operatively coupled to a fluoroscope;
• detecting with the fluoroscope angles of curvature between detectable markers on a catheter body;
• calculating on the computer tip trajectory coordinates using the angles of curvature detected by the fluoroscope;
• determining on the computer catheter tip changes in location with changes in angles of curvature;
• displaying a fluoroscopic image on a computer display;
• and
• overlaying the catheter tip changes in location on the fluoroscopic image.