Methods, apparatuses, and systems useful in conducting image guided interventions

A method, comprising:

• creating a dataset that includes a plurality of images associated with a cyclical movement of a body part, at least one image from the plurality of images depicting a non-tissue internal reference marker, being associated with non-tissue internal reference marker positional information, and being at least 2-dimensional;
• associating a separate transformation from a tracking space to an image space with each image in the dataset;
• calculating for each image in the dataset a dataset vector using a position of an external reference marker and a position of the non-tissue internal reference marker;
• outputting data values associated with a display of an image from the plurality of images;
• receiving data associated with a current position of the external reference marker;
• receiving data associated with a current position of the non-tissue internal reference marker;
• calculating a current vector using the data associated with the current position of the external reference marker and the data associated with the current position of the non-tissue internal reference marker;
• identifying a match dataset vector (MDV), the MDV being the dataset vector most similar to the current vector, the MDV being associated with an image from the dataset;
• receiving a current position of an instrument reference marker coupled to an instrument;
• applying the transformation associated with the image associated with the MDV to the current position of the instrument reference marker, thus transforming the current position of the instrument reference marker into image space;
• and
• superimposing a representation of the instrument on the image associated with the MDV, before outputting data values associated with the display.

A processor-readable medium storing code representing instructions to cause a processor to perform a process, the code comprising code to:

• create a dataset that includes a plurality of images associated with a cyclical movement of a body part, at least one image from the plurality of images depicting a non-tissue internal reference marker, being associated with non-tissue internal reference marker positional information, and being at least 2-dimensional;
• associate a separate transformation from a tracking space to an image space with each image in the dataset;
• calculate for each image in the dataset a dataset vector using a position of an external reference marker and a position of the non-tissue internal reference marker;
• output data values associated with a display of an image from the plurality of images;
• receive data associated with a current position of the external reference marker;
• receive data associated with a current position of the non-tissue internal reference marker;
• calculate a current vector using the data associated with the current position of the external reference marker and the data associated with the current position of the non-tissue internal reference marker;
• identify a match dataset vector (MDV), the MDV being the dataset vector most similar to the current vector, the MDV being associated with an image from the dataset;
• receive a current position of an instrument reference marker coupled to an instrument;
• apply the transformation associated with the image associated with the MDV to the current position of the instrument reference marker, thus transforming the current position of the instrument reference marker into image space;
• and
• superimposing a representation of the instrument on the image associated with the MDV.

A processor-readable medium storing code representing instructions to cause a processor to perform a process, the code comprising code to:

• create a dataset that includes a plurality of images associated with a cyclical movement of a body part, at least one image from the plurality of images depicting a non-tissue internal reference marker, being associated with non-tissue internal reference marker positional information, and being at least 2-dimensional;
• associate a separate transformation from a tracking space to an image space with each image in the dataset;
• calculate for each image in the dataset a dataset vector using a position of an external reference marker and a position of the non-tissue internal reference marker;
• output data values associated with a display of an image from the plurality of images;
• receive data associated with a current position of the external reference marker;
• receive data associated with a current position of the non-tissue internal reference marker;
• calculate a current vector using the data associated with the current position of the external reference marker and the data associated with the current position of the non-tissue internal reference marker;
• identify a match dataset vector (MDV), the MDV being the dataset vector most similar to the current vector, the MDV being associated with an image from the dataset;
• receive a current position of an instrument reference marker coupled to an instrument;
• apply the transformation associated with the image associated with the MDV to the current position of the instrument reference marker, thus transforming the current position of the instrument reference marker into image space;
• and
• superimpose a representation of the instrument on the image associated with the MDV, before outputting data values associated with the display.