Guiding tracked shape reconstruction for interventional procedures

Patent metadata

Field	Value
Publication number	US-2017368368-A1
Application number	US-201515533462-A
Country	US
Kind code	A1
Filing date	Nov 17, 2015
Priority date	Dec 10, 2014
Publication date	Dec 28, 2017
Grant date	—

Abstract

An intervention system employing an interventional device ( 10 ), and a sensor wire ( 20 ) manually translatable within the lumen ( 11 ). The intervention system further employs a reconstruction controller ( 44 ) for reconstructing a shape of the interventional tool ( 10 ) responsive to a sensing of a manual translation of the sensor wire ( 20 ) within the lumen ( 11 ) (e.g., a EM sensor being attached to/embedded within a guide wire), and for determining a reconstruction accuracy of a translation velocity of the sensor wire ( 20 ) within the lumen ( 11 ) to thereby facilitate an accurate reconstruction of the shape of the interventional tool ( 10 ). The reconstruction accuracy may be determined by the reconstruction controller ( 44 ) as an acceptable translation velocity being less than an acceptable threshold, an unacceptable translation velocity being greater than an unacceptable threshold, and/or a borderline translation velocity being greater than the acceptable threshold and less than the unacceptable threshold. The reconstruction controller ( 44 ) generates an acceptability indicator that may be visualizing or audibly communicated via a user interface ( 48 ).

First claim

1 . An intervention system, comprising:
an interventional device having a lumen; a sensor wire structurally configured to be manually translated within the lumen; and a reconstruction controller,
wherein the reconstruction controller is structurally configured in communication with the sensor wire to reconstruct a shape of the interventional tool responsive to a sensing of a manual translation of the sensor wire within the lumen, and
wherein the reconstruction controller is further structurally configured to determine a reconstruction accuracy of a translation velocity of the sensor wire within the lumen based on a measurement by the reconstruction controller of a reconstruction spacing of the is tool between at least two sensing points of the manual translation of the sensor wire within the lumen as a representative measurement of the translation velocity of the sensor wire within the lumen.

2 . The intervention system of claim 1 , wherein the interventional device is a catheter.

3 . The intervention system of claim 1 , wherein the sensor wire includes at least one electro-magnetic sensor in communication with the reconstruction controller.

4 . The intervention system of claim 1 , wherein an accuracy of the reconstruction spacing of the interventional tool between the at least two sensing points of the manual translation of the sensor wire within the lumen is a function of a sensing frequency of the manual translation of the sensor wire within the lumen.

5 . The intervention system of claim 4 , wherein the reconstruction controller is further structurally configured to generate an acceptability indicator of the translation velocity of the sensor wire within the lumen responsive to a measurement by the reconstruction controller of the reconstruction spacing of the interventional tool between the at least two sensing points of the manual translation of the sensor wire within the lumen relative to at least one accuracy threshold.

6 . The intervention system of claim 1 , wherein the reconstruction controller is further structurally configured to at least one of filter and smooth at least two measurements by the reconstruction controller of the reconstruction spacing of the interventional tool between at least three sensing points of the manual translation of the sensor wire within the lumen.

7 . The intervention system of claim 1 , wherein the reconstruction controller is further structurally configured to generate an acceptable indicator of the translation velocity of the sensor wire within the lumen responsive to the measured reconstruction spacing of the interventional tool between the at least two sensing points being less than an acceptable threshold indicative of a maximum acceptable reconstruction spacing of the interventional tool between the at least two sensing points.

8 . The intervention system of claim 7 , wherein the reconstruction controller is further structurally configured to generate a user interface communicating the acceptable indicator of the translation velocity of the sensor wire within the lumen.

9 . The intervention system of claim 1 ,
wherein the reconstruction controller is further structurally configured to generate a borderline indicator of the translation velocity of the sensor wire within the lumen responsive to the measured reconstruction spacing of the interventional tool between the at least two sensing points being greater than an acceptable threshold and being less than an unacceptable threshold; wherein the acceptable threshold is indicative of a maximum acceptable reconstruction spacing of the interventional tool between the at least two sensing points; and wherein the unacceptable threshold is indicative of a minimum unacceptable reconstruction spacing of the interventional tool between the at least two sensing points.

10 . The intervention system of claim 9 , wherein the reconstruction controller is further structurally configured to generate a user interface communicating the borderline indicator of the translation velocity of the sensor wire within the lumen.

11 . The intervention system of claim 1 , wherein the reconstruction controller is further structurally configured to generate an unacceptable indicator of the translation velocity of the sensor wire within the lumen responsive to the measured reconstruction spacing of the interventional tool between the at least two sensing points being at least greater than an unacceptable threshold indicative of a minimum unacceptable reconstruction spacing of the interventional tool between the at least two sensing points.

12 . The intervention system of claim 11 , wherein the reconstruction controller is further structurally configured to generate a user interface communicating the unacceptable indicator of the translation velocity of the sensor wire within the lumen.

13 . A reconstruction controller for an interventional procedure employing an interventional device and a sensor wire manually translatable within the lumen, the reconstruction controller comprising:
a shape reconstruction module structurally configured to reconstruct a shape of the interventional tool ( 10 ) responsive to a sensing of a manual translation of the sensor wire within the lumen, and a reconstruction accuracy module structurally configured in communication with the shape reconstruction module to determine a reconstruction accuracy of a translation velocity of the sensor wire within the lumen based on a measurement by the reconstruction accuracy module of a reconstruction spacing of the interventional tool between at least two sensing points of the manual translation of the sensor wire within the lumen as a representative measurement of the translation velocity of the sensor wire within the lumen.

14 . The reconstruction controller of claim 13 , wherein an accuracy of the reconstruction spacing of the interventional tool between the at least two sensing points of the manual translation of the sensor wire within the lumen is a function of a sensing frequency of the manual translation of the sensor wire within the lumen.

15 . The reconstruction controller of claim 14 , wherein the reconstruction accuracy module is further structurally configured to generate an acceptability indicator of the translation velocity of the sensor wire within the lumen responsive to a measurement by the reconstruction accuracy nodule of the reconstruction spacing of the interventional tool between the at least two sensing, points of the manual translation of the sensor wire within the lumen relative to at least one accuracy threshold.

16 . (canceled)

17 . (canceled)

18 . (canceled)

19 . (canceled)

20 . (canceled)

Assignees

• Koninklijke Philips Nv

Inventors

• Bharat Shyam
• Dehhghan Marvast Ehsan
• Kung Cynthia Ming-Fu
• Kruecker Jochen
• Ravi Ananth
• Venugopal Niranjan

Classifications

• A61B2034/2051

  Electromagnetic tracking systems · CPC title

• A61B2017/00292

  mounted on or guided by flexible, e.g. catheter-like, means · CPC title

• A61N5/1007 Primary

  Arrangements or means for the introduction of sources into the body · CPC title

• A61N5/1048 Primary

  Monitoring, verifying, controlling systems and methods · CPC title

• A61N2005/1062

  using virtual X-ray images, e.g. digitally reconstructed radiographs [DRR] · CPC title