Operation of a remote medical navigation system using ultrasound image
AssigneeStereotaxis, Inc.
InventorsFrancis M. Creighton, IV, Rogers C. Ritter, Raju R. Viswanathan, Nathan Kastelein, Jeffrey M. Garibaldi, William Flickinger
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Abstract
A method of operating a remote medical navigation system using ultrasound, employs ultrasound imaging from a medical device to supplement or to replace conventional x-ray imaging of the operating region during navigation.
Claims14
A method of operating a remote navigation system that moves the distal end of a medical device in an operating region in a subject using as reference internally acquired ultrasound imaging with a localized ultrasound imaging catheter and system, the method comprising:
- ultrasonically imaging the operating region using an ultrasound imaging system on an ultrasound imaging catheter in the operating region to obtain a generally planar ultrasound image;
- registering the ultrasonic imaging system relative to the remote navigation system by using localization information corresponding to the ultrasound imaging catheter, and thence computing a spatial mapping between the remote navigation system and the ultrasound imaging system;
- fusing the generally planar ultrasound image with three dimensional pre-operative data on the remote navigation system;
- and
- using computer-controlled remote navigation to navigate the medical device to a target location selected on the generally planar ultrasound image.
A method of operating a remote navigation system that moves the distal end of a medical device in an operating region in a subject using as reference internally acquired ultrasound imaging from an ultrasound imaging system on an ultrasound imaging catheter, the method comprising:
- automatically reorienting the ultrasound imaging catheter with a robotic mechanism as the medical device is steered by the remote navigation system to position the ultrasound imaging catheter such that the medical device stays within the imaging field-of-view of the ultrasound system on the ultrasound imaging catheter.
A method of operating a remote navigation system that moves the distal end of a medical device in an operating region in a subject using as reference internally acquired ultrasound imaging from an ultrasound imaging system on an ultrasound imaging catheter, the method comprising:
- computing and displaying a re-orientation of the ultrasound imaging catheter that will maintain the medical device in the field-of-view of the ultrasound imaging system as the medical device is steered by the remote navigation system.
A method of operating a remote navigation system that moves the distal end of a medical device in an operating region in a subject using as reference internally acquired ultrasound imaging from an ultrasound imaging system on a localized ultrasound imaging catheter, the method comprising:
- ultrasonically imaging the operating region with the ultrasound imaging system on the ultrasound catheter;
- registering the ultrasonic imaging system relative to the remote navigation system by using localization information corresponding to the ultrasound imaging catheter, and thence computing a spatial mapping between the remote navigation system and the ultrasound imaging system;
- fusing three dimensional pre-operative image data with the ultrasound image data to provide additional anatomical context;
- and
- navigating the medical device remotely with the remote navigation system using the fused data as additional reference.
A method of operating a remote navigation system that orients the distal end of a medical device in an operating region in a subject using as reference internally acquired ultrasound imaging from an ultrasound imaging system on an ultrasound imaging catheter, the method comprising:
- ultrasonically imaging the operating region with the ultrasound imaging system;
- registering the ultrasonic imaging system relative to the remote navigation system by marking two points in the distal portion of the ultrasound catheter on a pair of X-ray images, as well as an additional third point in the pair of X-ray images, marking similar points in the ultrasound image, and thence determining a spatial mapping between the remote navigation system and the ultrasound imaging system;
- fusing three dimensional pre-operative image data with the ultrasound image data to provide additional anatomical context;
- and
- navigating the medical device remotely with the remote navigation system using the fused data as additional reference.
A method of operating a remote navigation system that moves the distal end of a medical device in an operating region in a subject using as reference internally acquired ultrasound imaging with an ultrasound imaging catheter and system, the method comprising:
- automatically reorienting the ultrasound imaging catheter as the medical device is moved to anatomical targets of interest such that the medical device remains within the imaging field-of-view of the ultrasound imaging system.
A method of navigating the distal end of a medical device through a body lumen, the method comprising:
- ultrasonically imaging a portion of the body lumen surrounding the distal end of the medical device;
- and
- comparing the ultrasound image of the portion of the body lumen with a three dimensional reconstruction of the body lumen registered to a Cartesian frame of a remote navigation system to obtain a location of the distal end of the medical device relative to the three dimensional reconstruction;
- using the location to obtain registration of the ultrasonic image with the Cartesian frame of the navigation system.
A method of navigating the distal end of a medical device through a body lumen, the method comprising:
- ultrasonically imaging a portion of the body lumen surrounding the distal end of the medical device;
- displaying an image of the portion of the body lumen surrounding the distal end of the medical device;
- and
- placing the displayed image in anatomical context by comparing the image of the portion of the body lumen with a three dimensional reconstruction of the body lumen registered to the Cartesian frame of a remote navigation system to locate the distal end of the medical device relative to the three dimensional reconstruction;
- using the location to obtain registration of the ultrasonic image with the Cartesian frame of the navigation system.
Dependencies are inferred from the claim text.