Systems and methods for interventional procedure planning

1. A method of deploying an interventional instrument, the method performed by a processing system, the method comprising:

registering a distal segment of a guide catheter with a patient coordinate system;

tracking, using a tracking system, a position of the distal segment of the guide catheter;

determining an insertion length between an imaging probe and the distal segment of the guide catheter based on the tracked position of the distal segment of the guide catheter, wherein the imaging probe is extendably disposed within the guide catheter;

with the imaging probe extended to the insertion length relative to the distal segment of the guide catheter, receiving an image of an anatomic structure from the imaging probe, the image having an image frame of reference, the distal segment of the guide catheter having a catheter frame of reference;

receiving location data associated with a target structure identified in the image, wherein the received location data is in the image frame of reference; and

transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference based on the determined insertion length and the tracked position of the distal segment of the guide catheter, wherein transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference further includes determining a roll angle for the image frame of reference with respect to the catheter frame of reference.

2. The method of claim 1 further comprising:

registering the catheter frame of reference to a patient frame of reference; and

transforming the location data associated with the target structure from the catheter frame of reference to the patient frame of reference.

3. The method of claim 1 further comprising:

receiving location data associated with the target structure identified in a patient model; and

determining an offset correction vector between the location data associated with the target structure identified in the image and the location data associated with the target structure identified in the patient model.

4. The method of claim 3 further comprising:

generating an image of the patient model with an image of the target structure adjusted based upon the offset correction vector.

5. The method of claim 1 wherein determining the insertion length includes receiving position indication data from an electromagnetic sensor.

6. The method of claim 1 wherein determining the insertion length includes receiving position indication data from an encoder located outside a patient anatomy.

7. The method of claim 1 wherein determining the insertion length includes monitoring motion of a stepping motor.

8. The method of claim 1 wherein determining the roll angle for the image frame of reference with respect to the catheter frame of reference includes interfacing a roll alignment feature of the imaging probe with the guide catheter.

9. The method of claim 1 wherein determining the roll angle for the image frame of reference with respect to the catheter frame of reference includes obtaining the roll angle from a roll sensor located outside of a patient anatomy.

10. The method of claim 1 wherein determining the roll angle for the image frame of reference with respect to the catheter frame of reference includes detecting a feature having a known angle with respect to the guide catheter in the image.

11. The method of claim 1 wherein determining the roll angle for the image frame of reference with respect to the catheter frame of reference includes locating a contrast region in the image, wherein the contrast region is caused by a feature on the guide catheter.

12. The method of claim 1 wherein the imaging probe is an ultrasound imaging probe.

13. A system comprising:

non-transitory computer readable media containing computer executable instructions for planning a procedure to deploy an interventional instrument including:

instructions for registering a distal segment of a guide catheter with a patient coordinate system;

instructions for tracking, using a tracking system, a position of the distal segment of the guide catheter;

instructions for determining an insertion length between an imaging probe and the distal segment of the guide catheter based on the tracked position of the distal segment of the guide catheter, wherein the imaging probe is extendably disposed within the guide catheter;

instructions for receiving an image of an anatomic structure from the imaging probe while extended the insertion length beyond the distal segment of the guide catheter, the image having an image frame of reference, the distal segment of the guide catheter having a catheter frame of reference;

instructions for receiving location data associated with a target structure identified in the image, wherein the received location data is in the image frame of reference; and

instructions for transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference based on the insertion length and the tracked position of the distal segment of the guide catheter, wherein transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference further includes determining a roll angle for the image frame of reference with respect to the catheter frame of reference.

14. The system of claim 13 further comprising:

the guide catheter.

15. The system of claim 13 further comprising:

the imaging probe.

16. The system of claim 13 wherein the non-transitory computer readable media contains computer executable instructions for planning the procedure to deploy the interventional instrument further including:

instructions for registering the catheter frame of reference to a patient frame of reference; and

instructions for transforming the location data associated with the target structure from the catheter frame of reference to the patient frame of reference.

17. The system of claim 13 wherein the non-transitory computer readable media contains computer executable instructions for planning the procedure to deploy the interventional instrument further including:

instructions for receiving location data associated with the target structure identified in a patient model; and

instructions for determining an offset correction vector between the location data associated with the target structure identified in the image and the location data associated with the target structure identified in the patient model.

18. The system of claim 17 wherein the non-transitory computer readable media contains computer executable instructions for planning the procedure to deploy the interventional instrument further including:

instructions for displaying an image of the patient model with an image of the target structure adjusted based upon the offset correction vector.

19. The system of claim 13 wherein the insertion length is from a distal end of the guide catheter to a plane of the image received from the imaging probe.

20. The system of claim 19 wherein the instructions for determining the insertion length include instructions for receiving position indication data from an electromagnetic sensor on the imaging probe.

21. The system of claim 19 wherein the instructions for determining the insertion length include instructions for receiving position indication data from an encoder located outside a patient anatomy.

22. The system of claim 19 wherein the instructions for determining the insertion length include instructions for monitoring motion of a stepping motor.

23. The system of claim 13 wherein the instructions for determining the roll angle for the image frame of reference with respect to the catheter frame of reference include instructions for interfacing a roll alignment feature of the imaging probe with the guide catheter.

24. The system of claim 13 wherein the instructions for determining the roll angle for the image frame of reference with respect to the catheter frame of reference include instructions for obtaining the roll angle from a roll sensor located outside of a patient anatomy.

25. The system of claim 13 wherein the instructions for determining the roll angle for the image frame of reference with respect to the catheter frame of reference include instructions for detecting a feature having a known angle with respect to the guide catheter in the image.

26. The system of claim 13 wherein the imaging probe is an ultrasound imaging probe.

27. The method of claim 1 further comprising:

determining a location of the target structure relative to the distal segment of the guide catheter based on the location data in the catheter frame of reference.