Integration between 3D maps and fluoroscopic images

Patent metadata

Field	Value
Publication number	US-10441236-B2
Application number	US-201314045246-A
Country	US
Kind code	B2
Filing date	Oct 3, 2013
Priority date	Oct 19, 2012
Publication date	Oct 15, 2019
Grant date	Oct 15, 2019

Abstract

A coordinate system registration module, including radiopaque elements arranged in a fixed predetermined pattern and configured, in response to the radiopaque elements generating a fluoroscopic image, to define a position of the module in a fluoroscopic coordinate system of reference. The module further includes one or more connections configured to fixedly connect the module to a magnetic field transmission pad at a predetermined location and orientation with respect to the pad, so as to characterize the position of the registration module in a magnetic coordinate system of reference defined by the magnetic field transmission pad.

First claim

We claim:

1. An apparatus for generating a transformation between a magnetic coordinate system and a fluoroscopic coordinating system, said apparatus including:
a magnetic tracking coordinate system;
a magnetic system controller;
a fluoroscope;
a fluoroscope coordinate system;
a fluoroscope controller;
a patient table;
a location pad attached to the patient table;
coils attached to the location pad for transmitting magnetic fields under control of the magnetic system controller;
a coordinate system calibration jig; and
a plurality of spheres on the coordinate system calibration jig for providing a fluoroscopic image of the spheres whereby the fluoroscopic controller analyzes the fluoroscopic image to determine a location and an orientation of the coordinate system calibration jig in the fluoroscopic coordinate system;
a number of magnetic sensors attached to the coordinate system calibration jig whereby signals from the magnetic sensors generated in response to the transmitted magnetic fields from the location pad coils are analyzed by the magnetic system controller to determine a location and an orientation of the coordinate system calibration jig in the magnetic coordinate system;
a registration module comprising radiopaque elements arranged in a fixed predetermined pattern in fixed connection to the location pad and configured in response to the radiopaque elements being imaged by the fluoroscope to enable the fluoroscopic controller to generate a position of the registration module in the fluoroscopic coordinate system; and
a system processor which receives the results of the location and orientation of the coordinate system calibration jig in the fluoroscopic coordinate system and in the magnetic coordinate system as well as the registration module in the fluoroscopic coordinate system to generate a transformation between the fluoroscopic coordinate system and the magnetic coordinate system.

2. An apparatus according to claim 1 wherein the plurality of spheres on the coordinate system calibration jig are metal.

3. An apparatus according to claim 1 including one or more connections configured to connect the registration module to the location pad at a predetermined location and orientation with respect to the location pad, so as to characterize the position of the registration module in the magnetic coordinate system.

4. An apparatus according to claim 1 wherein the registration module comprises a pair of parallel plates defining a line of symmetry and wherein the radiopaque elements comprise a plurality of radiopaque markers distributed symmetrically above the line.

5. An apparatus according to claim 1 wherein the registration module comprises a pair of parallel plates defining a line of symmetry, and wherein the radiopaque markers are distributed symmetrically about the line.

6. An apparatus according to claim 1 wherein the predetermined shape is selected from a group containing a disk and a rectangle.

7. The apparatus according to claim 1 wherein the spheres are spaced evenly within a period of a helical pattern.

8. The apparatus according to claim 7 wherein each period of the helical pattern comprises a different number of radio opaque elements.

9. The apparatus according to claim 7 wherein at least some of the periods of the helical pattern have different lengths as compared to other periods of the helical pattern, and wherein the periods of the helical patterns are spaced unevenly.

10. The apparatus according to claim 1 further comprising a catheter having one or more coils, the coils being adapted to generate signals in response to magnetic fields generated by coils of the magnetic tracking system.

11. The apparatus according to claim 1 wherein the coordinate system calibration jig includes retro-reflectors having openings for receiving removable balls.

12. The apparatus according to claim 11 wherein the retro reflectors comprise a plurality of cavities in the exterior surface of the coordinate system calibration jig, and a plurality of removable balls each positioned in one of said plurality of cavities.

13. The apparatus according to claim 1 wherein the coordinate system calibration jig further comprises a catheter holder shaped to temporarily hold a catheter.

14. The apparatus according to claim 1 wherein the plurality of spheres are arranged in one or more straight lines along an exterior surface of the coordinate system calibration jig and wherein at least some of the spheres are not identical to other spheres which are arranged in the helical pattern.

15. The apparatus according to claim 1 wherein the plurality of spheres are arranged in each of two or more straight lines along an exterior surface of the coordinate system calibration jig, the straight lines being parallel to the center axis of the jig body; and wherein at least some of the spheres are not identical to the spheres which are arranged in the helical pattern.

Assignees

• Biosense Webster Israel Ltd

Inventors

• Bar-Tal Meir
• Demri Tamir
• Bar-On Tal Haim
• Zino Eliahu
• Glazer Ran
• Zigelman Gil
• Berman Dror

Classifications

• A61B90/37

  Surgical systems with images on a monitor during operation · CPC title

• A61B2090/364

  Correlation of different images or relation of image positions in respect to the body · CPC title

• A61B2090/376

  using X-rays, e.g. fluoroscopy · CPC title

• A61B2090/3954

  magnetic, e.g. NMR or MRI · CPC title

• A61B2090/3966

  Radiopaque markers visible in an X-ray image · CPC title