CN106236257A - 冠状窦导管图像的对准 - Google Patents
冠状窦导管图像的对准 Download PDFInfo
- Publication number
- CN106236257A CN106236257A CN201610390607.4A CN201610390607A CN106236257A CN 106236257 A CN106236257 A CN 106236257A CN 201610390607 A CN201610390607 A CN 201610390607A CN 106236257 A CN106236257 A CN 106236257A
- Authority
- CN
- China
- Prior art keywords
- model
- coronary sinus
- heart
- coordinate space
- view data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000003748 coronary sinus Anatomy 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 claims abstract description 46
- 230000000747 cardiac effect Effects 0.000 claims abstract description 17
- 239000000523 sample Substances 0.000 claims abstract description 17
- 230000008569 process Effects 0.000 claims abstract description 13
- 238000003384 imaging method Methods 0.000 claims description 8
- 238000003325 tomography Methods 0.000 claims 2
- 230000008676 import Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 description 7
- 238000002679 ablation Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 5
- 210000001519 tissue Anatomy 0.000 description 5
- 230000004913 activation Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 239000000155 melt Substances 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000005481 NMR spectroscopy Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 2
- 206010003119 arrhythmia Diseases 0.000 description 2
- 230000006793 arrhythmia Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000002591 computed tomography Methods 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910003460 diamond Inorganic materials 0.000 description 2
- 239000010432 diamond Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000002844 melting Methods 0.000 description 2
- 230000008018 melting Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010001497 Agitation Diseases 0.000 description 1
- 241000208340 Araliaceae Species 0.000 description 1
- 206010003658 Atrial Fibrillation Diseases 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000013065 commercial product Substances 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000002224 dissection Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 210000005003 heart tissue Anatomy 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000002847 impedance measurement Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 210000004165 myocardium Anatomy 0.000 description 1
- 230000037361 pathway Effects 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 238000005057 refrigeration Methods 0.000 description 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000005619 thermoelectricity Effects 0.000 description 1
- 230000002792 vascular Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
- A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
- A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
- A61B6/5235—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0071—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence by measuring fluorescence emission
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0082—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes
- A61B5/0084—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for introduction into the body, e.g. by catheters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
- A61B5/066—Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computed tomography [CT]
- A61B6/032—Transmission computed tomography [CT]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/12—Arrangements for detecting or locating foreign bodies
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/46—Arrangements for interfacing with the operator or the patient
- A61B6/461—Displaying means of special interest
- A61B6/466—Displaying means of special interest adapted to display 3D data
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
- A61B6/503—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for diagnosis of the heart
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
- A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
- A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
- A61B6/5247—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/003—Reconstruction from projections, e.g. tomography
- G06T11/005—Specific pre-processing for tomographic reconstruction, e.g. calibration, source positioning, rebinning, scatter correction, retrospective gating
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/08—Volume rendering
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0012—Biomedical image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0033—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room
- A61B5/004—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room adapted for image acquisition of a particular organ or body part
- A61B5/0044—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room adapted for image acquisition of a particular organ or body part for the heart
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
- A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10064—Fluorescence image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10072—Tomographic images
- G06T2207/10081—Computed x-ray tomography [CT]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10072—Tomographic images
- G06T2207/10088—Magnetic resonance imaging [MRI]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10116—X-ray image
- G06T2207/10121—Fluoroscopy
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30048—Heart; Cardiac
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Physics & Mathematics (AREA)
- Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Pathology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- High Energy & Nuclear Physics (AREA)
- Optics & Photonics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Cardiology (AREA)
- Quality & Reliability (AREA)
- Gynecology & Obstetrics (AREA)
- Pulmonology (AREA)
- Dentistry (AREA)
- Computer Graphics (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
- Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)
Abstract
本发明题为“冠状窦导管图像的对准”。本发明公开了一种心导管插入术,所述心导管插入术通过以下方式来执行:将活体受检者的心脏的图像数据导入到图像处理计算机系统中,将所述图像数据在第一坐标空间中表示为所述心脏和所述冠状窦的第一模型,以及将探针引入到所述冠状窦内。然后利用所述探针的荧光镜图像数据在第二坐标空间中制备所述冠状窦的第二模型,以及通过将所述第二模型的冠状窦放置成与所述第一模型的冠状窦对准来将所述第一模型变换到所述第二坐标空间中。
Description
背景技术
技术领域
本发明涉及心脏生理学。更具体地,本发明涉及心脏中的电传播的评估。
2相关领域描述
表1中给出了本文使用的某些首字母缩略词和缩写的含义。
表1-首字母缩略词和缩写
CS | 冠状窦 |
LAO | 左前斜位 |
RAO | 右前斜位 |
CT | 计算机断层摄影 |
MRI | 磁共振成像 |
诸如心房纤颤的心律失常为发病和死亡的重要原因。共同转让的美国专利5,546,951和美国专利6,690,963(这两个专利均授予Ben Haim)以及PCT申请WO 96/05768公开了用于感测作为心脏内的精确位置的函数的心脏组织的电性能例如局部激活时间的方法,所述专利均以引用方式并入本文。使用在其远侧末端中具有电传感器和位置传感器的一个或多个导管来获取数据,该一个或多个导管被推进到心脏中。基于这些数据创建心脏的电活动的标测图的方法在共同转让的美国专利6,226,542和美国专利6,301,496(这两个专利均授予Reisfeld)中有所公开,所述专利以引用方式并入本文。如这些专利所指出的那样,通常最初在心脏的内表面上的约10个至约20个点上测量位置和电活动。这些数据点然后通常足以生成心脏表面的初步重构或标测图。初步标测图常常与在附加点处获取的数据进行组合,以生成心脏的电活动的更全面的标测图。实际上,在临床环境下,累积100个或更多个位点处的数据以生成心室电活动的详细、全面的标测图并不少见。所生成的详细标测图然后可用作决定治疗行动过程(例如组织消融)的基础,以改变心脏的电活动的传播并恢复正常心律。
包含位置传感器的导管可用于确定心脏表面上的点的轨线。这些轨线可用于推断运动特性,例如组织的收缩性。如在授予Ben Haim并全文以引用方式并入本文的美国专利5,738,096中所公开的,当在心脏中的足够数量的点处对轨线信息进行采样时,可构建绘示此类运动特性的标测图。
心脏中某个点处的电活动通常通过推进多电极导管来测量,以在心室中的多个点处同时测量电活动。从由一个或多个电极测量的时变电势导出的记录被称为电描记图。电描记图可通过单极性引线或双极性引线测量,并且被用于例如确定在某点处的电传播的开始,其被称为局部激活时间。
当前,在基于导管的心脏手术中收集大量解剖和功能数据。保持此数据与患者心脏的实际位置的对准以及理解导管与解剖结构的关系对于手术的成功性均至关重要。在一种方法中,将导管与通过另一种模态获取的图像对准。
此方法的示例在授予Willis的美国专利7,720,520中的有所建议。基准导管或基准元件被放置成与解剖主体接触。利用基准元件或基准导管来定位导航坐标系内的物理结构。定位图像坐标内对应于物理结构的图像基准。可例如通过显示医学图像并且电子标记显示的图像基准、或者通过自动地定位对应于图像基准的图像数据来完成图像基准的定位。然后基于物理结构在导航坐标系内的定位和图像基准在图像坐标系内的定位来对准导航坐标系和图像坐标系,这允许图形信息与医学图像数据合并在一起。
发明内容
根据本发明的公开的实施方案,在导管插入术之前由心脏图像数据(诸如,CT数据或MRI数据)制备心脏的重建。该重建考虑因心脏和患者运动产生的心脏结构(诸如冠状窦)的运动。在利用该重建的情况下,冠状窦被插入导管并且利用荧光镜图像数据进行重建。冠状窦的重建被放置成与心脏的重建对准,使得所得图像的坐标空间与可显示或产生的心脏的功能电解剖图像(例如,CARTO标测图)的坐标空间一致。然后可由操作者在功能电解剖图像上标识感兴趣的心脏结构。
根据本发明的实施方案,提供了一种方法,所述方法通过以下方式来执行:将活体受检者的心脏的图像数据导入到图像处理计算机系统内,将图像数据在第一坐标空间中表示为心脏和冠状窦的第一模型,以及将探针引入到冠状窦内。然后,所述方法通过以下方式来进一步执行:采集探针的荧光镜图像数据,利用荧光镜图像数据在第二坐标空间中制备冠状窦的第二模型,以及通过将第二模型的冠状窦放置成与第一模型的冠状窦对准来将第一模型变换到第二坐标空间中。
图像数据通过心脏的计算机断层摄影或磁共振成像获得。
根据所述方法的一个方面,第一模型为3维模型。
根据所述方法的另一个方面,制备第二模型包括重建探针的2维路径。
根据所述方法的附加方面,制备第二模型包括从2维路径估计探针的3维路径。
所述方法的另一个方面包括将经变换的第一模型中的心脏结构定位在第二坐标空间中。
根据本发明的实施方案,还提供了一种设备,所述设备包括能够引入到活体受检者的心脏的冠状窦内的心脏导管、显示器和处理器。处理器与荧光镜成像装置配合以用于执行一种方法,所述方法通过以下方式来执行:将心脏的图像数据导入到图像处理计算机系统内,将图像数据在第一坐标空间中表示为心脏和冠状窦的第一模型,以及将探针引入到冠状窦内。然后,所述方法通过以下方式来进一步执行:采集探针的荧光镜图像数据,利用荧光镜图像数据在第二坐标空间中制备冠状窦的第二模型,以及通过将第二模型的冠状窦放置成与第一模型的冠状窦对准来将第一模型变换到第二坐标空间中。
附图说明
为了更好地理解本发明,以举例的方式引用本发明的详细说明,本发明的详细说明应结合以下附图来阅读,附图中相同的元件被赋予相同的参考编号,并且其中:
图1为根据本发明的公开的实施方案构造和操作的用于执行心导管插入手术的系统的立体说明图;
图2为根据本发明的实施方案的利用冠状窦导管对准心脏图像的方法的流程图;并且
图3为合成图像,其示出了根据本发明的实施方案的应用到心脏的3维模型的冠状窦重建的过程中的阶段。
具体实施方式
为了全面理解本发明的各种原理,在以下说明中阐述了许多具体细节。然而,对于本领域的技术人员将显而易见的是,并非所有这些细节都是实施本发明所必需的。在此示例中,未详细示出熟知的电路、控制逻辑、以及用于常规算法和过程的计算机程序指令的细节,以免不必要地使一般概念模糊不清。
本发明的多个方面可体现为软件编程代码,该软件编程代码通常被保持在诸如计算机可读介质的永久性存储装置中。在客户端/服务器环境中,此类软件编程代码可存储在客户端或服务器上。软件编程代码可在与数据处理系统一起使用的诸如USB存储器、硬盘驱动器、电子介质或CD-ROM的多种已知非暂态介质中的任一者上实施。代码可分布于此类介质上,或者可经某些类型的网络从一个计算机系统的存储器或存储装置向其他计算机系统上的存储装置分发给使用者,以供此类其他系统的使用者使用。
本发明的实施方案允许标识医疗过程中的心脏结构。当冠状窦的位置基于冠状窦导管的荧光镜透视检查而被精确地知道时,其位置可与心脏的其他部分的位置相关,前提条件是存在公共坐标系来定位其他部分。本发明的实施方案将如从荧光镜确定的冠状窦放置成与利用另一种成像模态制备的心脏的3维模型对准。
对系统的概述
现在转到附图,首先参见图1,其为根据本发明的公开实施方案构造和操作的用于对活体受检者的心脏12执行导管插入手术的系统10的立体说明图。该系统包括导管14,由操作者16将导管14经由皮肤穿过患者的血管系统插入心脏12的室或血管结构中。操作者16(通常为医师)使导管的远侧末端18在消融目标部位处与心脏壁接触。然后可根据美国专利6,226,542和6,301,496以及共同转让的美国专利6,892,091中公开的方法,使用位于控制台24中的处理器23制备电激活图、解剖位置信息(即,导管远侧部分的信息)和其他功能图像,所述专利的公开内容以引用方式并入本文。实施系统10的元件的一种商业产品可以商品名3系统购自Biosense Webster,Inc.(3333 Diamond Canyon Road,Diamond Bar,CA91765),该产品能够根据消融需要产生心脏的电解剖标测图。此系统可由本领域的技术人员进行修改以实施本文所述的本发明的原理。
可以通过施加热能对例如通过电激活图评估而测定为异常的区域进行消融,例如,通过使射频电流通过导管中的线传导至远侧末端18处的一个或多个电极,所述电极将射频能量施加到心肌。能量在组织中被吸收,从而将组织加热(或冷却)到组织永久性地失去其电兴奋性的点(通常为约60℃)。在手术成功后,此手术在心脏组织中形成非传导性消融灶,该非传导性消融灶中断导致心律失常的异常电通路。本发明的原理可应用于不同的心室以治疗多种不同的心律失常。
导管14通常包括柄部20,在该柄部上具有合适的控件,以使操作者16能够按消融所需来对导管的远侧端部进行操纵、定位和取向。为了辅助操作者16,导管14的远侧部分包括位置传感器(未示出),该位置传感器向位于控制台24中的定位处理器22提供信号。
可使消融能量和电信号经由缆线34穿过导管末端和/或位于远侧末端18处或附近的一个或多个消融电极32在心脏12和控制台24之间来回传送。可以通过缆线34和电极32将起搏信号和其他控制信号从控制台24传送至心脏12。另外连接至控制台24的感测电极33设置在消融电极32之间并且具有至缆线34的连接。
线连接部35将控制台24与体表电极30和定位子系统的其他部件连接。电极32和体表电极30可用于按照以引用方式并入本文的授予Govari等人的美国专利7,536,218中所教导的在消融位点处测量组织阻抗。温度传感器(未示出),通常为热电偶或热敏电阻器,可安装在电极32中的每个上或附近。
控制台24通常包括一个或多个消融功率发生器25。导管14可适于利用任何已知的消融技术将消融能量例如射频能量、超声能量、冷冻技术和激光产生的光能传导至心脏。共同转让的美国专利6,814,733、6,997,924和7,156,816中公开了此类方法,所述专利以引用方式并入本文。
定位处理器22为系统10中的定位子系统的元件,该元件测量导管14的位置和取向坐标。
在一个实施方案中,定位子系统包括磁定位跟踪构造,该磁定位跟踪构造利用磁场生成线圈28通过在预定的工作容积中生成磁场并在导管处感测这些磁场来确定导管14的位置和取向。定位子系统可按照以引用方式并入本文的美国专利7,756,576号以及上述美国专利7,536,218中所教导的采用阻抗测量。
荧光镜成像装置37具有C形臂39、X射线源41、图像增强器模块43和可调式准直器45。可位于控制台24中的控制处理器(未示出)允许操作者控制荧光镜成像装置37的工作,例如通过设置成像参数以及控制准直器45以调整视野的大小和位置。控制处理器可经由缆线51与荧光镜成像装置37连通,以通过控制准直器45来启用和禁用X射线源41或限制其发射到期望的所感兴趣的区域,以及从图像增强器模块43获取图像数据。连接到控制处理器的任选显示监视器49允许操作者查看荧光镜成像装置37产生的图像。当不包括显示监视器49时,可经由分区屏幕或与其他非荧光镜图像交替来在监视器29上查看荧光镜图像。
如上所述,导管14耦接到控制台24,这使得操作者16能够观察并调节导管14的功能。处理器23通常为具有合适的信号处理电路的计算机。耦接处理器23以驱动监视器29。信号处理电路通常接收、放大、过滤并数字化来自导管14的信号,这些信号包括由上述传感器和位于导管14远侧的多个位置感测电极(未示出)生成的信号。控制台24和定位系统接收并使用数字化信号,以计算导管14的位置和取向并分析来自电极的电信号以及生成期望的电解剖标测图。
通常,系统10包括为简明起见而未示出于附图中的其他元件。例如,系统10可包括心电图(ECG)监视器,该心电图(ECG)监视器被耦接以接收来自一个或多个体表电极的信号,以向控制台24提供ECG同步信号。如上所述,系统10通常还包括基准位置传感器,该基准位置传感器位于附接到受检者身体外部的外部施加基准补片上或者位于插入心脏12内并相对于心脏12保持在固定位置的内置导管上。提供了用于使液体循环穿过导管14以冷却消融位点的常规泵和管路。
操作
现在参见图2,其为示出根据本发明的实施方案的利用冠状窦导管对准心脏图像的方法的流程图。为了呈现清楚起见,以具体的线性顺序示出了过程步骤。然而,将显而易见的是,这些步骤中的多个可并行地、异步地或以不同的顺序执行。本领域的技术人员还应当理解,另选地,过程可被表示为多个相互联系的状态或事件,例如在状态图表中。此外,可能不需要所有示出的过程步骤来实施所述方法。
在初始步骤53,获得心脏CT(或MRI)图像。这可在当前治疗过程之前完成,但在任何情况下在心脏导管引入之前完成。产生于此步骤中的图像具有特定于所用图像采集装置的标度和坐标系,其为了方便起见被称为“CT坐标”。术语“CT坐标空间”描述了具有以CT坐标描述的点的3维空间。冠状窦以CT坐标限定在图像上。
接下来,在步骤71处,将CT图像导入图像处理计算机,例如,上述CARTO 3系统。在此阶段,导入的图像占用CT坐标空间。然而,通常利用图像处理计算机产生的图像具有另一种坐标系并且占用不同的坐标空间。此坐标系和空间在本文中为了方便起见分别被称为“CARTO坐标”和“CARTO坐标空间”。应当理解,此术语的使用并不限于将该方法应用于CARTO 3系统。相反,可通过多种其他类型的图像处理计算机来执行这些步骤。
接下来,在步骤55处,利用步骤71的图像处理计算机,由CT图像制备CT坐标空间中的心脏的3维模型。这可利用购自Biosense Webster的CARTOMERGETM模块来完成。
接下来,在步骤73处,在荧光镜控制下将冠状窦导管引入冠状窦内。
接下来,在步骤75处,在冠状窦导管保持在适当的位置的情况下,由图像处理计算机利用共同转让的共同未决的专利申请14/621,570和14/621,581所教导的技术来重建冠状窦,这些专利申请以引用方式并入本文。简而言之,可利用外延极几何法或线段的迭代重建来估计冠状窦导管的3维路径。在重建冠状窦的一种方法中,记录随时间推移的患者心脏位置。为了补偿心脏运动,算法基于在运动之前和之后采集并且在心脏呼吸周期中同步的两个2维荧光镜图像来重建三维空间中的冠状窦导管的路径或轨迹。计算这两个重建导管之间的变换并且使用该变换来对准所述数据。重建的冠状窦得到运动补偿并且存在于CARTO坐标空间中。
现在参见图3,该图为合成图像,其示出了根据本发明的实施方案的应用到如步骤55所述的心脏的3维模型81的冠状窦重建的过程中的阶段。在从荧光镜帧获取的该图的下部,通道83围绕CS导管路径85(由虚线表示)进行绘制和采样。导管路径85由先前帧限定并且可已被操作者进行标注。通过合适的变换来补偿CS导管87与导管路径85的趋异度,如上文指出的专利申请14/621,570和14/621,581中更详细所述。
再次参见图2并结合图3,在步骤77处,通过将模型81中的冠状窦89与从荧光镜图像的分析中获得的变换的导管路径85对准来将重建的冠状窦放置成与在步骤55中制备的3维模型对准。应当重申,3维模型81存在于CT坐标空间中。现在将模型81变换到CARTO坐标空间中。购自Biosense Webster的CARTOMERGETM图像集成模块适于执行图像对准和坐标变换。因为冠状窦的位置与心脏的其他部分的位置紧密相关,所以模型81上的心脏的其余部分将与由图像处理计算机产生和显示的其他心脏图像对准。
然后在最终步骤79中,冠状窦和其他心脏结构现在可在CARTO坐标空间中精确地定位在图像处理计算机显示器上。
本领域的技术人员应当理解,本发明并不限于上文中特别示出和描述的内容。相反,本发明的范围包括上文所述各种特征的组合与子组合两者,以及不在现有技术范围内的其变型和修改,所属领域的技术人员在阅读上述说明时应当想到这些变型和修改。
Claims (14)
1.一种方法,包括以下步骤:
将活体受检者的心脏的图像数据导入到图像处理计算机系统中,所述心脏具有冠状窦;
将所述图像数据在第一坐标空间中表示为所述心脏的第一模型,所述第一模型包括所述冠状窦;
将探针引入到所述冠状窦中;
然后采集所述探针的荧光镜图像数据;
利用所述荧光镜图像数据在第二坐标空间中制备所述冠状窦的第二模型;以及
通过将所述第二模型的所述冠状窦放置成与所述第一模型的所述冠状窦对准来将所述第一模型变换到所述第二坐标空间中。
2.根据权利要求1所述的方法,其中所述图像数据通过所述心脏的计算机断层摄影获得。
3.根据权利要求1所述的方法,其中所述图像数据从所述心脏的磁共振成像获得。
4.根据权利要求1所述的方法,其中所述第一模型为3维模型。
5.根据权利要求1所述的方法,其中制备第二模型包括重建所述探针的2维路径。
6.根据权利要求5所述的方法,其中制备第二模型包括从所述2维路径估计所述探针的3维路径。
7.根据权利要求1所述的方法,还包括将经变换的第一模型中的心脏结构定位在所述第二坐标空间中。
8.一种设备,包括:
心脏导管,所述心脏导管适于引入到活体受检者的心脏的冠状窦中;
显示器;和
处理器,所述处理器与荧光镜成像装置配合以用于执行以下步骤:
导入所述心脏的图像数据;
将所述图像数据在第一坐标空间中表示为所述心脏的第一模型,所述第一模型包括所述冠状窦;
将探针引入到所述冠状窦中;
然后采集所述探针的荧光镜图像数据;
利用所述荧光镜图像数据在第二坐标空间中制备所述冠状窦的第二模型;以及
通过将所述第二模型的所述冠状窦放置成与所述第一模型的所述冠状窦对准来将所述第一模型变换到所述第二坐标空间中。
9.根据权利要求8所述的设备,其中所述图像数据通过所述心脏的计算机断层摄影获得。
10.根据权利要求8所述的设备,其中所述图像数据从所述心脏的磁共振成像获得。
11.根据权利要求8所述的设备,其中所述第一模型为3维模型。
12.根据权利要求8所述的设备,其中制备第二模型包括重建所述探针的2维路径。
13.根据权利要求12所述的设备,其中制备第二模型包括从所述2维路径估计所述探针的3维路径。
14.根据权利要求8所述的设备,还包括将经变换的第一模型中的心脏结构定位在所述第二坐标空间中。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/730,386 US20160354049A1 (en) | 2015-06-04 | 2015-06-04 | Registration of coronary sinus catheter image |
US14/730386 | 2015-06-04 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106236257A true CN106236257A (zh) | 2016-12-21 |
CN106236257B CN106236257B (zh) | 2021-07-09 |
Family
ID=56101339
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610390607.4A Active CN106236257B (zh) | 2015-06-04 | 2016-06-03 | 冠状窦导管图像的对准 |
Country Status (8)
Country | Link |
---|---|
US (1) | US20160354049A1 (zh) |
EP (1) | EP3100682B1 (zh) |
JP (1) | JP6727936B2 (zh) |
CN (1) | CN106236257B (zh) |
AU (1) | AU2016203605B2 (zh) |
CA (1) | CA2930682A1 (zh) |
ES (1) | ES2797786T3 (zh) |
IL (1) | IL245719B (zh) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110123449A (zh) * | 2018-02-08 | 2019-08-16 | 柯惠有限合伙公司 | 使用标准荧光镜进行局部三维体积重建的系统和方法 |
US11707241B2 (en) | 2015-08-06 | 2023-07-25 | Covidien Lp | System and method for local three dimensional volume reconstruction using a standard fluoroscope |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10575746B2 (en) | 2017-12-14 | 2020-03-03 | Biosense Webster (Israel) Ltd. | Epicardial mapping |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20050080328A1 (en) * | 2002-06-04 | 2005-04-14 | General Electric Company | Method and apparatus for medical intervention procedure planning and location and navigation of an intervention tool |
US20060079759A1 (en) * | 2004-10-13 | 2006-04-13 | Regis Vaillant | 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 |
CN101190149A (zh) * | 2006-10-05 | 2008-06-04 | 西门子公司 | 将3维图像结合到介入过程中的方法和系统 |
US20080219536A1 (en) * | 2007-03-05 | 2008-09-11 | Siemens Corporate Research, Inc. | Registration of ct volumes with fluoroscopic images |
CN101961245A (zh) * | 2009-07-23 | 2011-02-02 | 通用电气公司 | 在采集的放射线照相术图像中补偿呼吸运动的系统和方法 |
US20120071751A1 (en) * | 2010-09-20 | 2012-03-22 | Jasbir Sra | 3D Model Creation of Anatomic Structures Using Single-Plane Fluoroscopy |
CN104272349A (zh) * | 2012-06-20 | 2015-01-07 | 皇家飞利浦有限公司 | 多相机设备跟踪 |
Family Cites Families (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5738096A (en) | 1993-07-20 | 1998-04-14 | Biosense, Inc. | Cardiac electromechanics |
US5391199A (en) | 1993-07-20 | 1995-02-21 | Biosense, Inc. | Apparatus and method for treating cardiac arrhythmias |
CN1226960C (zh) | 1994-08-19 | 2005-11-16 | 生物感觉有限公司 | 医用诊断、治疗及成象系统 |
US6690963B2 (en) | 1995-01-24 | 2004-02-10 | Biosense, Inc. | System for determining the location and orientation of an invasive medical instrument |
US6301496B1 (en) | 1998-07-24 | 2001-10-09 | Biosense, Inc. | Vector mapping of three-dimensionally reconstructed intrabody organs and method of display |
US6226542B1 (en) | 1998-07-24 | 2001-05-01 | Biosense, Inc. | Three-dimensional reconstruction of intrabody organs |
US6892091B1 (en) | 2000-02-18 | 2005-05-10 | Biosense, Inc. | Catheter, method and apparatus for generating an electrical map of a chamber of the heart |
US6814733B2 (en) | 2002-01-31 | 2004-11-09 | Biosense, Inc. | Radio frequency pulmonary vein isolation |
US6997924B2 (en) | 2002-09-17 | 2006-02-14 | Biosense Inc. | Laser pulmonary vein isolation |
US7156816B2 (en) | 2002-11-26 | 2007-01-02 | Biosense, Inc. | Ultrasound pulmonary vein isolation |
US20070055142A1 (en) * | 2003-03-14 | 2007-03-08 | Webler William E | Method and apparatus for image guided position tracking during percutaneous procedures |
US20050010105A1 (en) * | 2003-07-01 | 2005-01-13 | Sra Jasbir S. | Method and system for Coronary arterial intervention |
US20050143777A1 (en) * | 2003-12-19 | 2005-06-30 | Sra Jasbir S. | Method and system of treatment of heart failure using 4D imaging |
US20050137661A1 (en) * | 2003-12-19 | 2005-06-23 | Sra Jasbir S. | Method and system of treatment of cardiac arrhythmias using 4D imaging |
US7720521B2 (en) * | 2004-04-21 | 2010-05-18 | Acclarent, Inc. | Methods and devices for performing procedures within the ear, nose, throat and paranasal sinuses |
US20070208252A1 (en) * | 2004-04-21 | 2007-09-06 | Acclarent, Inc. | Systems and methods for performing image guided procedures within the ear, nose, throat and paranasal sinuses |
US7720520B2 (en) * | 2004-12-01 | 2010-05-18 | Boston Scientific Scimed, Inc. | Method and system for registering an image with a navigation reference catheter |
US20050203502A1 (en) * | 2005-04-22 | 2005-09-15 | Boveja Birinder R. | Method and system for monitoring atrial fibrillation ablations with an ablation interface device |
US7536218B2 (en) | 2005-07-15 | 2009-05-19 | Biosense Webster, Inc. | Hybrid magnetic-based and impedance-based position sensing |
US7756576B2 (en) | 2005-08-26 | 2010-07-13 | Biosense Webster, Inc. | Position sensing and detection of skin impedance |
US7918793B2 (en) * | 2005-10-28 | 2011-04-05 | Biosense Webster, Inc. | Synchronization of ultrasound imaging data with electrical mapping |
WO2008038282A2 (en) * | 2006-09-25 | 2008-04-03 | Mazor Surgical Technologies Ltd. | System for positioning of surgical inserts and tools |
US20100283484A1 (en) * | 2006-10-16 | 2010-11-11 | Cohen Richard J | Method and Apparatus for Localizing an Object in the Body |
US9785246B2 (en) * | 2010-10-06 | 2017-10-10 | Nuvasive, Inc. | Imaging system and method for use in surgical and interventional medical procedures |
US9554728B2 (en) * | 2011-03-02 | 2017-01-31 | Koninklijke Philips N.V. | Visualization for navigation guidance |
WO2014046267A1 (ja) * | 2012-09-20 | 2014-03-27 | 株式会社東芝 | 画像処理システム、x線診断装置及び画像処理方法 |
US9629595B2 (en) * | 2013-03-15 | 2017-04-25 | Hansen Medical, Inc. | Systems and methods for localizing, tracking and/or controlling medical instruments |
US9576107B2 (en) * | 2013-07-09 | 2017-02-21 | Biosense Webster (Israel) Ltd. | Model based reconstruction of the heart from sparse samples |
-
2015
- 2015-06-04 US US14/730,386 patent/US20160354049A1/en not_active Abandoned
-
2016
- 2016-05-18 IL IL245719A patent/IL245719B/en active IP Right Grant
- 2016-05-19 CA CA2930682A patent/CA2930682A1/en active Pending
- 2016-05-31 AU AU2016203605A patent/AU2016203605B2/en not_active Ceased
- 2016-06-03 JP JP2016111676A patent/JP6727936B2/ja active Active
- 2016-06-03 CN CN201610390607.4A patent/CN106236257B/zh active Active
- 2016-06-03 EP EP16172805.0A patent/EP3100682B1/en active Active
- 2016-06-03 ES ES16172805T patent/ES2797786T3/es active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20050080328A1 (en) * | 2002-06-04 | 2005-04-14 | General Electric Company | Method and apparatus for medical intervention procedure planning and location and navigation of an intervention tool |
US20060079759A1 (en) * | 2004-10-13 | 2006-04-13 | Regis Vaillant | 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 |
CN101190149A (zh) * | 2006-10-05 | 2008-06-04 | 西门子公司 | 将3维图像结合到介入过程中的方法和系统 |
US20080219536A1 (en) * | 2007-03-05 | 2008-09-11 | Siemens Corporate Research, Inc. | Registration of ct volumes with fluoroscopic images |
CN101961245A (zh) * | 2009-07-23 | 2011-02-02 | 通用电气公司 | 在采集的放射线照相术图像中补偿呼吸运动的系统和方法 |
US20120071751A1 (en) * | 2010-09-20 | 2012-03-22 | Jasbir Sra | 3D Model Creation of Anatomic Structures Using Single-Plane Fluoroscopy |
CN104272349A (zh) * | 2012-06-20 | 2015-01-07 | 皇家飞利浦有限公司 | 多相机设备跟踪 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11707241B2 (en) | 2015-08-06 | 2023-07-25 | Covidien Lp | System and method for local three dimensional volume reconstruction using a standard fluoroscope |
CN110123449A (zh) * | 2018-02-08 | 2019-08-16 | 柯惠有限合伙公司 | 使用标准荧光镜进行局部三维体积重建的系统和方法 |
CN110123449B (zh) * | 2018-02-08 | 2022-06-24 | 柯惠有限合伙公司 | 使用标准荧光镜进行局部三维体积重建的系统和方法 |
Also Published As
Publication number | Publication date |
---|---|
IL245719A0 (en) | 2016-08-31 |
JP6727936B2 (ja) | 2020-07-22 |
US20160354049A1 (en) | 2016-12-08 |
AU2016203605A1 (en) | 2016-12-22 |
CN106236257B (zh) | 2021-07-09 |
IL245719B (en) | 2021-02-28 |
CA2930682A1 (en) | 2016-12-04 |
JP2017000749A (ja) | 2017-01-05 |
ES2797786T3 (es) | 2020-12-03 |
EP3100682A1 (en) | 2016-12-07 |
AU2016203605B2 (en) | 2020-05-07 |
EP3100682B1 (en) | 2020-05-13 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN104434299B (zh) | 用于在窦性节律期间标测室性/房性早搏的方法 | |
US10441188B2 (en) | Automatic display of earliest LAT point | |
JP6195705B2 (ja) | 統合的な心房細動アブレーション | |
JP6719885B2 (ja) | 心内信号を利用した位置合わせマップ | |
CN103190951B (zh) | 基于相位测量的接触评价 | |
JP7325950B2 (ja) | 対話型イベントタイムラインのためのシステム及び方法 | |
US8428690B2 (en) | Intracardiac echocardiography image reconstruction in combination with position tracking system | |
CN107485389A (zh) | 多通道记录中心脏激活序列的识别和可视化 | |
JP2019042514A (ja) | メッシュ適合アルゴリズム | |
US20090192393A1 (en) | Determining locations of ganglia and plexi in the heart using complex fractionated atrial electrogram | |
Borlich et al. | Cardiac mapping systems: rhythmia, topera, ensite precision, and CARTO | |
JP6328421B2 (ja) | 画像のシミュレーションによるx線曝露の低減 | |
CN107157574A (zh) | 消融期间的磁共振测温法 | |
US20050228251A1 (en) | System and method for displaying a three-dimensional image of an organ or structure inside the body | |
CN106236257A (zh) | 冠状窦导管图像的对准 | |
WO2002005715A1 (fr) | Appareil de diagnostic cardiaque a champ magnetique par potentiel ventriculaire tardif et procede de localisation d'une partie de propagation d'excitation intramyocardique inegale |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |