System and method for visualizing heart morphology during electrophysiology mapping and treatment
Systems and methods for facilitating visual detection of one or more catheter tips in relation to the morphology of an anatomical structure include locating reference catheters relative to heart tissue using an automated navigation support that draws upon prominent image features that are visible in the x-ray fluoroscopy images. The prominent features include catheter tips of reference catheters that are placed at known standard positions in relation to the anatomical structures. Based on the noted prominent features, the systems and methods achieve alignment of the anatomical structures, e.g., the heart morphology, with the interventional devices, e.g., ablation catheter(s) introduced by the physician, and generate a fused or overlaid image.
1. A method of determining a position of a catheter in relation to a region of interest of a patient during an interventional procedure, the method comprising the acts of:
placing catheter tips, each tip of the catheter tips corresponding to one of a plurality of reference catheters, at a known position within the body of the patient;
identifying positions of a respective position of each of the plurality of reference catheter tips in a pre-interventional data volume obtained from previous images of the region of interest of the patient prior to the interventional procedure;
segmenting the plurality of reference catheter tips in the pre-interventional data volume to form segmented tips;
assigning coordinates to each position of the segmented tips in an x-ray image obtained during the interventional procedure;
computing by a processor a geometric transformation that transforms the identified positions of each of the segmented tips in the pre-interventional data volume given as 3-D coordinates in a manner that a projection through the volume results in 2-D coordinates that correspond to a 2-D coordinates that match obtained positions obtained from the x-ray image obtained during the interventional procedure; and
displaying one of a fused or overlaid image of the pre-interventional data volume and the x-ray image to verify the location of the catheter in relation to a morphology of the patient.
2. The method of claim 1 , wherein the x-ray image is a fluoroscopy image.
3. The method of claim 1 , wherein the previous images are acquired by at least one of 3-D CT scan and an MRI scan.
4. The method of claim 1 , wherein the segmenting and assigning acts includes using an annotated model to form annotated points at positions of the segmented tips.
5. The method of claim 4 , wherein the annotated model includes all common positions of the plurality of reference catheters.
6. The method of claim 4 , wherein using the annotated model includes the acts of:
deforming the annotated model to match the obtained positions obtained during the interventional procedure; and
moving the annotated points to respective positions in a patient data set.
7. The method of claim 1 , wherein the identifying includes marking the positions in the pre-interventional data volume by a user.
8. The method of claim 1 , wherein the computing act includes a rigid transformation of one static segmentation result of the morphology of the region of interest of the patient to match an estimated position of each of the plurality of reference catheters.
9. The method of claim 1 , wherein the region of interest includes morphology of the heart.
10. The method of claim 1 , wherein the geometric transformation includes a rigid transformation to correspond to at least one of depth of respiration intake and phase in the cardiac cycle using information from an electrocardiogram and respiration sensor, respectively, with respect to motion of the catheter due to heart beat and respiration, respectively.
11. The method of claim 1 , wherein the interventional procedure comprises an electrophysiologic procedure.
12. An imaging system for imaging a region of interest of the body and visualizing a catheter of interest, the system comprising:
a catheter of interest configured for at least one of mapping and ablation;
a plurality of reference catheters, each having a catheter tip placed at known position of the region of interest of the body;
an image processing unit coupled to the catheter of interest and the plurality of reference catheters and configured to:
identify positions of a respective position of each of the plurality of reference catheter tips in a pre-interventional data volume obtained from previous images of the region of interest of the patient prior to the interventional procedure,
segment the plurality of reference catheter tips in the pre-interventional data volume to form segmented tips,
assign coordinates to each of position of the segmented tips in an x-ray image obtained during the interventional procedure, and
compute a geometric transformation that transforms the identified positions of each of the segmented tips in the pre-interventional data volume given as 3-D coordinates in a manner that a projection through the volume results in 2-D coordinates that correspond to a 2-D coordinates that match obtained positions obtained from the x-ray image obtained during the interventional procedure; and
a display means coupled to the image processing unit to display one of a fused or overlaid image of the pre-interventional data volume and the x-ray image to verify the location of the catheter in relation to a morphology of the patient.
13. The system of claim 12 , wherein the x-ray image is a fluoroscopy image.
14. The system of claim 12 , wherein the previous images are acquired by at least one of 3-D CT scan and an MRI image scan.
15. The system of claim 12 , wherein the region of interest includes morphology of the heart.
16. A tangible computer readable medium embodying non-transitory computer instructions for determining a position of a catheter in relation to a region of interest of a patient during an interventional procedure, the non-transitory computer instructions being operative, when read by a computer, cause the computer to:
identify positions of a respective position of each of a plurality of reference catheter tips in a pre-interventional data volume obtained from previous images of the region of interest of the patient prior to the interventional procedure, each catheter tip being placed at known position of the region of interest of the patient;
segment the plurality of reference catheter tips in the pre-interventional data volume to form segmented tips;
assign coordinates to each position of the segmented tips in an x-ray image obtained during the interventional procedure;
compute a geometric transformation that transforms the identified positions of each of the segmented tips in the pre-interventional data volume given as 3-D coordinates in a manner that a projection through the volume results in 2-D coordinates that correspond to a 2-D coordinates that match obtained positions obtained from the x-ray image obtained during the interventional procedure; and
display one of a fused or overlaid image of the pre-interventional data volume and the x-ray image to verify the location of the catheter in relation to a morphology of the patient.
17. The tangible computer readable medium of claim 16 , wherein the x-ray image is a fluoroscopy image.
18. The tangible computer readable medium of claim 16 , wherein the pre-interventional data volume is derived from at least one of a previously acquired 3-D CT scan and a MRI image.
19. The tangible computer readable medium claim 16 , wherein the region of interest includes morphology of the heart.