WO2004103198A1 - Apparatus and method of navigating an instrument - Google Patents

Apparatus and method of navigating an instrument Download PDF

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Publication number
WO2004103198A1
WO2004103198A1 PCT/NL2004/000360 NL2004000360W WO2004103198A1 WO 2004103198 A1 WO2004103198 A1 WO 2004103198A1 NL 2004000360 W NL2004000360 W NL 2004000360W WO 2004103198 A1 WO2004103198 A1 WO 2004103198A1
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WO
WIPO (PCT)
Prior art keywords
patient
image
processing unit
ray
projection
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Ceased
Application number
PCT/NL2004/000360
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French (fr)
Inventor
Nicolaas Hylke Bakker
Gerard Johan Heeten Den
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Technische Universiteit Delft
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Technische Universiteit Delft
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Publication of WO2004103198A1 publication Critical patent/WO2004103198A1/en
Anticipated expiration legal-status Critical
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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
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
    • A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
    • 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
    • A61B6/48—Diagnostic techniques
    • A61B6/481—Diagnostic techniques involving the use of contrast agents
    • 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
    • A61B6/504—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 blood vessels, e.g. by angiography
    • 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
    • A61B6/54—Control of apparatus or devices for radiation diagnosis
    • A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
    • 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
    • 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
    • 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

Definitions

  • the invention relates to a method and apparatus fgj 1 navigating an instrument in a vascular tree of a patient, wherein in an adjustable X-ray orientation first X-ray images of the patient are obtained on which the instrument is visi- ble, and wherein said first X-ray images are combined with second image data relating to at least a portion of the patient's vascular tree.
  • Such a method and apparatus are known from the practice of neurovascular interventions.
  • a long flexible instrument (catheter/guide wire) is passed into the blood vessels of a patient. Via branches in the vascular tree, the tip of the instrument has to be guided to the site intended for treatment.
  • projection images obtained by X-ray In which the instrument in the patient's body is visible.
  • the X-ray source and the image enhancer are mounted on a so-called C-arm that can be rotated around the patient to facilitate the taking of pictures from different angles.
  • the patient's patient's examination table can be moved so as to bring a different part of the body into vision.
  • the blood vessels themselves are not visible in the X-ray images.
  • the interventionist using the instrument When navigating the instrument, the interventionist using the instrument usually orientates himself by X-ray im- ages on which the current position of the catheter/guide wire is visible. These images are two-dimensional projections, providing only limited insight concerning the true three- dimensional position of the instrument. The fact that the vessels themselves are not visible in these images renders navigation more difficult.
  • the interventionist is required to mentally relate the X-ray image to possibly previously made images, such as an angiogram, of the vessels. Finding this relationship is rendered more difficult because the previously made images are not necessarily taken from the same point of sight and projection geometry as the X-ray bringing the instrument into vision.
  • a known manner of visualising the vessels and the catheter/guide wire simultaneously in one single image is by making a so-called road map.
  • the object of the invention is to combat the above- mentioned drawbacks and problems.
  • the method according to the invention is character- ised in that the second image data are obtained by - in a projection orientation that corresponds with the X-ray orientation of the patient - deriving a projection image from three-dimensional image information relating to the vascular tree of the patient, and by combining this projection image with the first X-ray images.
  • the apparatus according to the invention is characterised in that the processing unit is designed for, with respect to an adjustable projection orientation, deriving a two-dimensional projection image from three-dimensional image data concerning the vascular tree of the patient, wherein the projection orientation depends on the information regarding the situation and/or position of the patient's patient's examination table and/or the C-arm.
  • the projection image is derived from the three-dimensional image information with a magnification of the image that is equal to the magnification of the first X- ray images.
  • the invention provides a method and apparatus, wherein a projection image of the vessels that is derived from three-dimensional image information obtained by, for example, previous rotation angiography, and the current X-ray image on which the catheter/guide wire is visible, are combined to one single image.
  • a projection image of the vessels that is derived from three-dimensional image information obtained by, for example, previous rotation angiography, and the current X-ray image on which the catheter/guide wire is visible, are combined to one single image.
  • both the catheter/guide wire and the vessels are visible simultaneously and in the correct position in relation to one another.
  • One of the advantages afforded by the invention is that during X-raying, the C-arm and the patient's patient's examination table are permitted to move so that the point of sight for the visualisation may be chosen freely.
  • the method and apparatus according to the in- vention allow the interventionist during navigation to observe the position of the catheter/guide wire in the blood vessels directly and continuously.
  • the invention is also embodied in a computer program which, after being loaded into the computer of the processing unit for the image data, is able to collaborate with these to implement the method according to the invention.
  • the invention is also embodied in a data carrier comprising the computer program.
  • the apparatus is generally designated by reference numeral 1 and comprises a patient's examination table 2 for the patient 3 to be examined, as well as a C-arm 4, mounted to which is an X-ray source and an image recorder for registering X-ray images of the patient 3, obtained by the use of the X-ray source.
  • the manner of operating and implementing such an apparatus 1 that is useful and is used for navigation of an instrument in a vascular tree of the patient 3, is completely known to the person skilled in the art so that a further explanation is not necessary.
  • a processing unit 5 is connected to the image recorder (not shown) .
  • the image recorder provides the respective vision signals via a vision signal line indicated with reference numeral 6.
  • an image display unit 7 is connected with the processing unit 5 for the visualisation of the X-ray images.
  • the processing unit 5 usually also possesses a memory 8 wherein the image information can be stored, and fetched again into the computer of the processing unit 5.
  • both the patient's examination table 2 and the C-arm 4 have sensors, by means of which via signal lines 9 and 10 information regarding the position and situation of the patient's examination table 2 and the C-arm 4 can be supplied to the processing unit 5.
  • Preceding the navigation procedure it is customary to obtain three-dimensional image information regarding the vascular tree of the patient 3, using a three-dimensional rotation angiography method, which is known in itself.
  • the processing unit 5 derives a two- dimensional image from this three-dimensional image informa- tion, wherein said two-dimensional image forms a virtual projection image of the vascular structure of the patient 3 in a projection orientation that corresponds with the current X- ray orientation of the patient 3.
  • the data required for this are fed to the processing unit 5 with the aid of the above- mentioned sensors, which via the signal lines 9 and 10 pass the information regarding the situation and position of the patient's examination table 2 and the C-arm 4 to the processing unit 5.
  • the two-dimensional projection image obtained of the vascular structure of the patient 3, and the current X-ray image in which the instrument, i.e. the catheter and/or guide wire that is passed into the vascular tree is visible can be shown combined into one single image. This may be realised, for example, by averaging the corresponding pixels of the two images.
  • the single image obtained in accordance with the invention can then be displayed on the monitor 7.
  • a new two-dimensional projection image is automatically and continuously formed from the previously obtained three- dimensional image information relating to the vascular structure of the patient 3.
  • the current X-ray image can be continuously combined with these adapted two- dimensional image data relating to the vascular structure, so as to facilitate the navigation of the instrument.
  • the apparatus and method according to the invention offer the further advantage that even without X-ray, the image of the vascular structure can be visualised on the monitor 7. This makes it possible for the interventionist to choose an optimal point of sight and viewing direction by rotating the C-arm 4 or moving the patient's examination table 2, without the necessity of involving X-ray.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Vascular Medicine (AREA)
  • Dentistry (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

An apparatus to be used with navigating an instrument in a vascular tree of a patient, comprises a patient's examination table, a C-arm, mounted to which is an X-ray source and an image recorder for registering first X-ray images of the patient, obtained by the use of the X-ray source, and a processing unit connected with the image recorder for processing the images of the first images registered by the image recorder, as well as a monitor optionally connectable with the processing unit for displaying the image, wherein the processing unit is designed for combining the first X-ray images of the patient with second image data relating to at least a portion of the patient's vascular tree, wherein the processing unit is designed for, with respect to an adjustable projection orientation, deriving a two-dimensional projection image from threedimensional image data concerning the vascular tree of the patient, wherein the projection orientation depends on the information regarding the situation and/or position of the patient's examination table and/or the C-arm.

Description

Apparatus and method of navigating an instrument
The invention relates to a method and apparatus fgj1 navigating an instrument in a vascular tree of a patient, wherein in an adjustable X-ray orientation first X-ray images of the patient are obtained on which the instrument is visi- ble, and wherein said first X-ray images are combined with second image data relating to at least a portion of the patient's vascular tree.
Such a method and apparatus are known from the practice of neurovascular interventions. With neurovascular interventions, a long flexible instrument (catheter/guide wire) is passed into the blood vessels of a patient. Via branches in the vascular tree, the tip of the instrument has to be guided to the site intended for treatment. To assist the navigation of the instrument, use is made of projection images obtained by X-ray, in which the instrument in the patient's body is visible. The X-ray source and the image enhancer are mounted on a so-called C-arm that can be rotated around the patient to facilitate the taking of pictures from different angles. Also, the patient's patient's examination table can be moved so as to bring a different part of the body into vision. The blood vessels themselves are not visible in the X-ray images.
When navigating the instrument, the interventionist using the instrument usually orientates himself by X-ray im- ages on which the current position of the catheter/guide wire is visible. These images are two-dimensional projections, providing only limited insight concerning the true three- dimensional position of the instrument. The fact that the vessels themselves are not visible in these images renders navigation more difficult. The interventionist is required to mentally relate the X-ray image to possibly previously made images, such as an angiogram, of the vessels. Finding this relationship is rendered more difficult because the previously made images are not necessarily taken from the same point of sight and projection geometry as the X-ray bringing the instrument into vision. A known manner of visualising the vessels and the catheter/guide wire simultaneously in one single image is by making a so-called road map. To this end, first contrast pictures relating to the blood vessels are taken. Subsequently, during X-raying, these previously made contrast pictures are subtracted from the X-ray image. The result is an image in which the vessels are visible in negative (white) with the catheter/guide wire therein being visible in positive (black) . A serious restriction is, however, that the C-arm, the pa- tient ' s examination table and the patient are not allowed to move during the making and use of the road map. It is therefore not possible to change the point of sight while the road map is being used. Moreover, the making of the road map requires extra operations, and both radiation and contrast fluid have to be used. Owing to these drawbacks the road map has a limited usefulness.
The above-mentioned limitations not only create an extra load on the interventionist, but they also limit the precision and efficiency of the navigation. Furthermore, said limitations increase the load of radiation and contrast medium for the patient, and they raise the variable costs of the procedure because of the additional consumption of contrast medium.
The object of the invention is to combat the above- mentioned drawbacks and problems.
To this end the invention proposes an apparatus and a method, which is characterised by one or several of the appended claims.
The method according to the invention is character- ised in that the second image data are obtained by - in a projection orientation that corresponds with the X-ray orientation of the patient - deriving a projection image from three-dimensional image information relating to the vascular tree of the patient, and by combining this projection image with the first X-ray images.
Correspondingly, the apparatus according to the invention is characterised in that the processing unit is designed for, with respect to an adjustable projection orientation, deriving a two-dimensional projection image from three-dimensional image data concerning the vascular tree of the patient, wherein the projection orientation depends on the information regarding the situation and/or position of the patient's patient's examination table and/or the C-arm.
Desirably, the projection image is derived from the three-dimensional image information with a magnification of the image that is equal to the magnification of the first X- ray images.
The invention provides a method and apparatus, wherein a projection image of the vessels that is derived from three-dimensional image information obtained by, for example, previous rotation angiography, and the current X-ray image on which the catheter/guide wire is visible, are combined to one single image. Thus in this image, both the catheter/guide wire and the vessels are visible simultaneously and in the correct position in relation to one another. One of the advantages afforded by the invention is that during X-raying, the C-arm and the patient's patient's examination table are permitted to move so that the point of sight for the visualisation may be chosen freely. The method and apparatus according to the in- vention allow the interventionist during navigation to observe the position of the catheter/guide wire in the blood vessels directly and continuously. This renders the injection of contrast medium for the purpose of locating the catheter/guide wire superfluous, which also reduces the load on the patient. Since, in addition, the X-ray image does not need to contain any anatomical reference points, a smaller angle of view may be chosen for the X-ray, which considerably reduces radiation. The interventionist is able to rotate the C-arm and move the patient's patient's examination table freely so as to augment his three-dimensional insight in the situation and to choose an optimal point of sight.
The invention is also embodied in a computer program which, after being loaded into the computer of the processing unit for the image data, is able to collaborate with these to implement the method according to the invention. The invention is also embodied in a data carrier comprising the computer program.
Hereinbelow the invention will be further elucidated by way of a non-limiting exemplary embodiment and with refer- ence to the drawing. In the drawing, one single figure illustrates the apparatus according to the invention. The apparatus is generally designated by reference numeral 1 and comprises a patient's examination table 2 for the patient 3 to be examined, as well as a C-arm 4, mounted to which is an X-ray source and an image recorder for registering X-ray images of the patient 3, obtained by the use of the X-ray source. The manner of operating and implementing such an apparatus 1 that is useful and is used for navigation of an instrument in a vascular tree of the patient 3, is completely known to the person skilled in the art so that a further explanation is not necessary.
In a manner also known to the person skilled in the art, a processing unit 5 is connected to the image recorder (not shown) . The image recorder provides the respective vision signals via a vision signal line indicated with reference numeral 6. As a rule, an image display unit 7 is connected with the processing unit 5 for the visualisation of the X-ray images. The processing unit 5 usually also possesses a memory 8 wherein the image information can be stored, and fetched again into the computer of the processing unit 5.
Before the catheter and/or guide wire is passed into the patient 3, the patient 3 is fixed to the examination table 2. Preferably both the patient's examination table 2 and the C-arm 4 have sensors, by means of which via signal lines 9 and 10 information regarding the position and situation of the patient's examination table 2 and the C-arm 4 can be supplied to the processing unit 5.
Preceding the navigation procedure, it is customary to obtain three-dimensional image information regarding the vascular tree of the patient 3, using a three-dimensional rotation angiography method, which is known in itself.
While the instrument navigates through the vascular tree of the patient 3, the processing unit 5 derives a two- dimensional image from this three-dimensional image informa- tion, wherein said two-dimensional image forms a virtual projection image of the vascular structure of the patient 3 in a projection orientation that corresponds with the current X- ray orientation of the patient 3. The data required for this are fed to the processing unit 5 with the aid of the above- mentioned sensors, which via the signal lines 9 and 10 pass the information regarding the situation and position of the patient's examination table 2 and the C-arm 4 to the processing unit 5.
By the above described manner, the two-dimensional projection image obtained of the vascular structure of the patient 3, and the current X-ray image in which the instrument, i.e. the catheter and/or guide wire that is passed into the vascular tree is visible, can be shown combined into one single image. This may be realised, for example, by averaging the corresponding pixels of the two images. The single image obtained in accordance with the invention can then be displayed on the monitor 7.
If the interventionist navigating the instrument considers it necessary or desirable to change the situation or position of the patient's examination table 2 or the C-arm 4, a new two-dimensional projection image is automatically and continuously formed from the previously obtained three- dimensional image information relating to the vascular structure of the patient 3. In this manner, the current X-ray image can be continuously combined with these adapted two- dimensional image data relating to the vascular structure, so as to facilitate the navigation of the instrument.
In addition to the advantages mentioned above, the apparatus and method according to the invention offer the further advantage that even without X-ray, the image of the vascular structure can be visualised on the monitor 7. This makes it possible for the interventionist to choose an optimal point of sight and viewing direction by rotating the C-arm 4 or moving the patient's examination table 2, without the necessity of involving X-ray.

Claims

1. An apparatus (1) to be used with navigating an instrument in a vascular tree of a patient (3), comprises a patient's examination table (2), a C-arm (4), mounted to which is an X-ray source and an image recorder for register- ing first X-ray images of the patient 3, obtained by the use of the X-ray source, and a processing unit (5) connected with the image recorder for processing the images of the first images registered by the image recorder, as well as a monitor (7) optionally connectable with the processing unit (5) for displaying the image, wherein the processing unit
(5) is designed for combining the first X-ray images of the patient (3) with second image data relating to at least a portion of the patient's (3) vascular tree, characterised in that the processing unit (5) is designed for, with respect to an adjustable projection orientation, deriving a two- dimensional projection image from three-dimensional image data concerning the vascular tree of the patient (3), wherein the projection orientation depends on the information regarding the situation and/or position of the patient's examination table (2) and/or the C-arm (4).
2. An apparatus according to claim 1, characterised in that the three-dimensional image information concerning the vascular tree of the patient (3) is stored in a memory (8) of the processing unit (5).
3. An apparatus according to claim 1 or 2, characterised in that the patient's examination table (2) and/or the C-arm (4) are provided with position and/or situation sensors that are coupled to pass signals to the processing unit 5.
4. A method for navigating an instrument in a vascular tree of a patient (3) , wherein in an adjustable X-ray orientation first X-ray images of the patient (3) are obtained on which the instrument is visible, and wherein said first X-ray images are combined with second image data re- lating to at least a portion of the patient's (3) vascular tree, characterised in that the second image data are obtained by - in a projection orientation that corresponds with the X-ray orientation of the patient (3) - deriving a projection image from three-dimensional image information relating to the vascular tree of the patient (3) , and by combining this projection image with the first X-ray images.
5. A method according to claim 4, characterised in that the projection image is derived from the three- dimensional image information with a magnification of the image that is equal to the magnification of the first X-ray images .
6. A method according to claim 4 or 5, characterised in that the three-dimensional image information is obtained prior to obtaining the first X-ray images.
7. A method according to one of the claims 4-6, characterised in that during the navigation of the instrument the direction of X-raying is varied, and that the direction of the projection varies correspondingly.
8. A computer program for collaborating with the processing unit (5) forming part of the apparatus (11) according to one of the claims 1-3 for implementing the method in accordance with one of the claims 4-7.
9. A data carrier loaded with a computer program according to claim 8.
PCT/NL2004/000360 2003-05-21 2004-05-19 Apparatus and method of navigating an instrument Ceased WO2004103198A1 (en)

Applications Claiming Priority (2)

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NL1023485 2003-05-21
NL1023485A NL1023485C2 (en) 2003-05-21 2003-05-21 Device and method for navigation of an instrument.

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006103580A1 (en) 2005-03-29 2006-10-05 Koninklijke Philips Electronics N.V. Method and apparatus for the observation of a catheter in a vessel system
FR2884703A1 (en) * 2005-04-25 2006-10-27 Gen Electric Radiological vascular images processing method, for use during angioplasty treatment, involves extracting part of image representing vascular structure from fluoroscopic image of treatment zone, and displaying reference image on screen

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5852646A (en) * 1996-05-21 1998-12-22 U.S. Philips Corporation X-ray imaging method
DE10047314A1 (en) * 1999-09-30 2001-04-05 Siemens Corp Res Inc Producing virtual contrast agent for extended angioscopy of blood vessels involves acquisition of data for production and subsequent segmentation of computer generated model of blood vessels
US20010029334A1 (en) * 1999-12-28 2001-10-11 Rainer Graumann Method and system for visualizing an object

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5852646A (en) * 1996-05-21 1998-12-22 U.S. Philips Corporation X-ray imaging method
DE10047314A1 (en) * 1999-09-30 2001-04-05 Siemens Corp Res Inc Producing virtual contrast agent for extended angioscopy of blood vessels involves acquisition of data for production and subsequent segmentation of computer generated model of blood vessels
US20010029334A1 (en) * 1999-12-28 2001-10-11 Rainer Graumann Method and system for visualizing an object

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006103580A1 (en) 2005-03-29 2006-10-05 Koninklijke Philips Electronics N.V. Method and apparatus for the observation of a catheter in a vessel system
JP2008534103A (en) * 2005-03-29 2008-08-28 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ Intravascular catheter observation method and apparatus
US8046051B2 (en) 2005-03-29 2011-10-25 Koninklijke Philips Electronics N.V. Method and apparatus for the observation of a catheter within a vessel system
FR2884703A1 (en) * 2005-04-25 2006-10-27 Gen Electric Radiological vascular images processing method, for use during angioplasty treatment, involves extracting part of image representing vascular structure from fluoroscopic image of treatment zone, and displaying reference image on screen

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