Device and method for the determination of the position of a catheter in a vascular system
The invention relates to a device and a method for the determination of the position of a catheter in a vascular system ( 8 ). In this, the measured positions (r 1 , r 2 ) of two magnetic localizers at the tip of a catheter are displaced by correction vectors (k 1 , k 2 ) while optimizing a quality dimension. The quality dimension includes a component taking account both of the deviation of the measured positions (r 1 , r 2 ) from the vascular layout and of the deviation of the associated orientation (r 2 −r 1 ) from the orientation of the vascular layout according to a vascular map. In addition, the quality dimension may include components which evaluate the measured shape of the catheter compared to the vascular map. An additional correction step can further ensure that the corrected positions (r 1 ′, r 2 ″) correspond to the preset fixed distance (d) of the localizers ( 4, 5 ).
1. A device for determining a position of an instrument in a vascular system, comprising:
two localizers fitted to the instrument, each of the localizers incorporating a magnetic field sensor configured to measure a plurality of spatial positions of the localizers used to determine an orientation of the instrument and/or a shape of a section of the instrument between the two localizers;
a memory to store a vascular map representing a vascular layout of the vascular system in which the instrument is positioned; and
a processor configured to correct the measured plurality of spatial positions of the localizers taking into account a distance of the spatial positions from the vascular layout represented on the vascular map, a difference between the spatial positions of the two localizers, and a quality dimension including a first weighted component indicating a deviation of the measured plurality of spatial positions of the two localizers from the vascular layout as represented by the vascular map, and a second weighted component indicating a deviation of the measured orientation of the instrument and/or shape of the section from the vascular layout as represented by the vascular map.
2. The device as claimed in claim 1 , wherein the processor is further configured to calculate a locally continuous transformation from respective corrections of the plurality of spatial positions.
3. The device as claimed in claim 1 , wherein the localizers are attached to the instrument in a known relative position used to correct the measured plurality of spatial positions.
4. The device as claimed in claim 3 , wherein the quality dimension is used in accordance with the vascular layout, so that the corrected plurality of spatial positions adopt the known relative position.
5. The device as claimed in claim 1 , wherein the processor is further configured to output a warning if the corrected plurality of spatial positions includes one of an orientation of the instrument and/or a shape of the section of the instrument that deviates by more than a preset limit value from the indicating orientation of the instrument and/or shape of the section.
6. The device as claimed in claim 1 , wherein the plurality of spatial positions relative to the vascular layout is verified.
7. The device according to claim 1 , further comprising an imaging device configured to generate the vascular map.
8. A method for determining a position of an instrument in a vascular system, the method comprising acts of:
providing two localizers attached to the instrument each of the localizers incorporating a magnetic field sensor and a vascular map representing a vascular layout of the vascular system in which the instrument is positioned
measuring a plurality of spatial position of the localizers;
determining an orientation of the instrument and/or shape of a section of the instrument between at least two localizers; and
correcting the measured plurality of spatial positions using a distance of the spatial positions from the vascular layout represented on the vascular map, a difference between the spatial positions of the two localizers, and a quality dimension including a first weighted component indicating of a deviation of the measured plurality of spatial positions of the two localizers from the vascular layout as represented by the vascular map, and a second weighted component indicating a deviation of the measured orientation of the instrument and/or shape of the section from the vascular layout as represented by the vascular map.
9. The method as claimed in claim 8 , comprising an act of calculating a spatially continuous transformation on the basis of a plurality of corrections.