System and method for local three dimensional volume reconstruction using a standard fluoroscope

Patent metadata

Field	Value
Publication number	US-11707241-B2
Application number	US-202016862467-A
Country	US
Kind code	B2
Filing date	Apr 29, 2020
Priority date	Aug 6, 2015
Publication date	Jul 25, 2023
Grant date	Jul 25, 2023

Abstract

A system and method for constructing fluoroscopic-based three dimensional volumetric data from two dimensional fluoroscopic images including a computing device configured to facilitate navigation of a medical device to a target area within a patient and a fluoroscopic imaging device configured to acquire a fluoroscopic video of the target area about a plurality of angles relative to the target area. The computing device is configured to determine a pose of the fluoroscopic imaging device for each frame of the fluoroscopic video and to construct fluoroscopic-based three dimensional volumetric data of the target area in which soft tissue objects are visible using a fast iterative three dimensional construction algorithm.

First claim

What is claimed is:

1. A system for constructing a three-dimensional volume, comprising:
a computing device including a processor and a display configured to display a graphical user interface and computer readable storage medium storing thereon instructions that when executed by the processor:
receive a position of a sensor on a medical device;
display a position of the medical device in a three-dimensional model based on the received position of the sensor;
receive a sequence of fluoroscopic images from a fluoroscopic imaging device, each image of the sequence including a target area, a target within the target area, at least one marker, and the medical device positioned relative to the target;
record a two-dimensional position of the at least one marker and the medical device in a plurality of the images from the sequence of fluoroscopic images;
determine a pose of the fluoroscopic imaging device at which each of the plurality of images was acquired;
construct a three-dimensional volume from the sequence of fluoroscopic images based on the pose of the fluoroscopic imaging device determined for each of the plurality of images;
register the three-dimensional volume with a previously generated three-dimensional model; and
update the displayed position of the medical device in the three-dimensional model based on the recorded positions of the medical device in the plurality of images from the sequence of fluoroscopic images.

2. The system of claim 1 , wherein the instructions when executed by the processor determines the pose of the fluoroscopic imaging device using a structure-from-motion technique.

3. The system of claim 1 , wherein the instructions when executed by the processor presents the three-dimensional volume constructed from the plurality of images in the user interface on the display.

4. The system of claim 1 , wherein the instructions, when executed by the processor presents a re-projected two-dimensional image from the constructed three-dimensional volume in the user interface on the display.

5. The system of claim 1 , wherein the received sequence of fluoroscopic images is acquired from a fluoroscopic sweep of about 120 degrees.

6. The system of claim 1 , wherein the received sequence of fluoroscopic images is acquired from a fluoroscopic sweep of about 150 degrees.

7. The system of claim 1 , wherein the received sequence of fluoroscopic images is acquired from a fluoroscopic sweep of about 180 degrees.

8. The system of claim 1 , wherein the medical device is a microwave ablation catheter.

9. A system for constructing a three-dimensional volume, comprising:
a computing device including a processor and a display configured to display a graphical user interface and a computer readable storage medium storing thereon instructions that when executed by the processor:
receive a position of a sensor on a medical device;
display a position of the medical device in a three-dimensional model based on the received position of the sensor;
receive a sequence of fluoroscopic images from a fluoroscopic imaging device, each image of the sequence including a target area, a target within the target area, and the medical device positioned relative to the target;
record a two-dimensional position of the medical device in a plurality of images from the sequence of fluoroscopic images;
determine a pose of the fluoroscopic imaging device at which each of the plurality of images was acquired;
construct a three-dimensional volume from the sequence of fluoroscopic images based on the pose of the fluoroscopic imaging device determined for each of the plurality of images; and
update the displayed position of the medical device in the three-dimensional model based on the recorded positions of the medical device in the plurality of images from the sequence of fluoroscopic images.

10. The system of claim 9 , wherein the instructions when executed by the processor determine the pose of the fluoroscopic imaging device using an angle measurement device.

11. The system of claim 10 , wherein the instructions when executed by the processor utilize fluoroscope calibration data to determine the pose of the fluoroscopic imaging device.

12. The system of claim 11 , wherein the fluoroscope calibration data includes canonical fluoroscope projection parameters and geometry.

13. The system of claim 9 , wherein the instructions when executed by the processor presents the three-dimensional volume constructed from the sequence of fluoroscopic images in the user interface on the display.

14. The system of claim 9 , wherein the instructions, when executed by the processor presents a re-projected two-dimensional image from the constructed three-dimensional volume in the user interface on the display.

15. The system of claim 9 , wherein the received sequence of fluoroscopic images is acquired from a fluoroscopic sweep of about 150 degrees.

16. The system of claim 9 , wherein the received sequence of fluoroscopic images is acquired from a fluoroscopic sweep of about 180 degrees.

17. The system of claim 9 , wherein the medical device is a microwave ablation catheter.

18. A system for constructing a three-dimensional volume, comprising:
a computing device including a processor and a display configured to display a graphical user interface and computer readable storage medium storing thereon instructions that when executed by the processor:
receive a position of a sensor on a medical device;
display a position of the medical device in a three-dimensional model based on the received position of the sensor;
receive a sequence of fluoroscopic images from a fluoroscopic imaging device, each image of the sequence acquired from a fluoroscopic sweep of at least about 120 degrees and including a target area, a target within the target area, and the medical device positioned relative to the target;
record a two-dimensional position of the medical device in each image;
determine a pose of the fluoroscopic imaging device at which a plurality of images from the sequence of fluoroscopic images was acquired;
construct a three-dimensional volume from the sequence of fluoroscopic images based on the pose of the fluoroscopic imaging device determined for each of the plurality of images; and
update the displayed position of the medical device in the three-dimensional model based on the recorded positions of the medical device in the plurality of images from the sequence of fluoroscopic images.

Assignees

• Covidien Lp

Inventors

• Barak Ron
• Weingarten Oren P

Classifications

• G06T12/20

  Inverse problem, i.e. transformations from projection space into object space · CPC title

• A61B6/487 Primary

  involving fluoroscopy · CPC title

• A61B5/1073

  Measuring volume, e.g. of limbs · CPC title

• A61B5/6852

  Catheters · CPC title

• A61B6/025

  Tomosynthesis · CPC title