Endovascular navigation system and method
A method of navigating and positioning an endovascular device in a vasculature is disclosed. Initially, a system including an endovascular device and at least one transducer is inserted into the lumen of a patient. An acoustic signal is then transmitted within the lumen. A reflected signal is pre-processed to extract one or more acoustic features. The one or more acoustic features are processed using a computer readable set of rules to produce an output related to guidance of the instrument within a blood vessel or a position of the instrument within the blood vessel.
1. A method of determining a position of a medical device in vasculature of a patient, the method comprising:
receiving an electrical signal from an electrode on the medical device;
extracting one or more ECG features from the electrical signal;
calculating a first indicator score by inputting the one or more ECG features into a first indicator equation;
calculating a second indicator score by inputting the one or more ECG features into a second indicator equation;
identifying a positional state of the medical device by comparing the first and second indicator scores; and
displaying an indicator on an output device indicating the positional state.
2. The method of claim 1 , wherein the one or more ECG features includes a plurality of ECG features.
3. The method of claim 1 , wherein the one or more ECG features corresponds to one or more of:
a portion of a QRS complex;
a ratio of a magnitude of a P-wave measured by the electrode on the medical device and a magnitude of a P-wave measured by an external electrode; and/or
an indication of a presence of a biphasic P-wave.
4. The method of claim 1 , further comprising:
receiving a reflected ultrasound signal;
extracting an ultrasound feature from the reflected ultrasound signal;
inputting the ultrasound feature into the first indicator equation; and
inputting the ultrasound feature into the second indicator equation.
5. The method of claim 1 , wherein the one or more ECG features infer a distinct position in the vasculature.
6. The method of claim 1 , wherein the first and second indicator equations represent positioning probabilities.
7. The method of claim 1 , wherein the first and second indicator equations correspond to membership functions.
8. The method of claim 1 , wherein calculating the first indicator score includes applying a weighting factor to the one or more ECG features.
9. The method of claim 1 , wherein identifying the positional state further comprises selecting the positional state that corresponds to a higher or highest indicator score.
10. The method of claim 1 , wherein calculating the first indicator score and the second indicator score further comprises solving the first and second indicator equations based on a correlation between the one or more ECG features and a probability of a particular position or state of navigation of the medical device.
11. A non-transitory computer readable storage medium including a program configured to be executed by a processor to perform a method of determining a position of a medical device in vasculature of a patient, the method comprising:
receiving an electrical signal from an electrode on the medical device;
extracting one or more ECG features from the electrical signal;
calculating a first indicator score by inputting the one or more ECG features into a first indicator equation;
calculating a second indicator score by inputting the one or more ECG features into a second indicator equation;
identifying a positional state of the medical device by comparing the first and second indicator scores; and
displaying an indicator on an output device indicating the positional state.
12. The non-transitory computer readable storage medium of claim 11 , wherein the one or more ECG features includes a plurality of ECG features.
13. The non-transitory computer readable storage medium of claim 11 , wherein the one or more ECG features corresponds to one or more of:
a portion of a QRS complex;
a ratio of a magnitude of a P-wave measured by the electrode on the medical device and a magnitude of a P-wave measured by an external electrode; and/or
an indication of a presence of a biphasic P-wave.
14. The non-transitory computer readable storage medium of claim 11 , wherein the method further comprises:
receiving a reflected ultrasound signal;
extracting an ultrasound feature from the reflected ultrasound signal;
inputting the ultrasound feature into the first indicator equation; and
inputting the ultrasound feature into the second indicator equation.
15. The non-transitory computer readable storage medium of claim 11 , wherein the one or more ECG features infer a distinct position in the vasculature.
16. The non-transitory computer readable storage medium of claim 11 , wherein the first and second indicator equations represent positioning probabilities and/or correspond to membership functions.
17. The non-transitory computer readable storage medium of claim 11 , wherein calculating the first indicator score includes applying a weighting factor to the one or more ECG features.
18. The non-transitory computer readable storage medium of claim 11 , wherein identifying the positional state further comprises selecting the positional state that corresponds to the highest indicator score.
19. The non-transitory computer readable storage medium of claim 11 , wherein calculating the first indicator score and the second indicator score further comprises solving the first and second indicator equations based on a correlation between the one or more ECG features and a probability of a particular position or state of navigation of the medical device.
20. A system configured to determine a position of a medical device in vasculature of a patient, the system comprising:
a pre-processor configured to:
receive an electrical signal from an electrode on the medical device, and
extract one or more ECG features from the electrical signal
a processor configured to:
receive the one or more extracted ECG features from the pre-processor,
calculate a first indicator score by inputting the one or more ECG features into a first indicator equation,
calculate a second indicator score by inputting the one or more ECG features into a second indicator equation, and
identify a positional state of the medical device by comparing the first and second indicator scores; and
an output device configured to display an indicator indicating the positional state.