Detection of bifurcations using traceable imaging device and imaging tool

1. A system, comprising:

an interventional device including ultrasonic transducers configured to generate a signal to indicate presence of a branch or bifurcation of a lumen inside a subject;

a localizer configured to track the interventional device in the subject; and

a processor configured to compare a position of the interventional device against a reference image and to indicate the presence of the branch or bifurcation relative to the position in accordance with the signal for display of indications of the ultrasonic transducers on a screen by changing a visual effect of the displayed indications such that a displayed indication of a first transducer that overlaps the branch or bifurcation is changed to become different from displayed indications of other transducers that do not overlap the branch or bifurcation.

2. The system as recited in claim 1 , wherein the interventional device includes one of a catheter and a sheath.

3. The system as recited in claim 2 , wherein the one of the catheter and the sheath includes a rotating portion, the rotating portion including at least one of the ultrasonic transducers mounted thereon.

4. The system as recited in claim 1 , wherein the ultrasonic transducers include an array of ultrasonic transducers.

5. The system as recited in claim 1 , wherein the reference image includes one or more of a real-time image and a preoperative stored image.

6. The system as recited in claim 1 , wherein the processor is configured to visually indicate a status of each branch or bifurcation in the reference image.

7. The system as recited in claim 1 , wherein the interventional device includes a cutting tool.

8. The system of claim 1 , wherein the visual effect includes one of color, texture, shading.

9. The system of claim 1 , further comprising a speaker configured to provide a tone in accordance with amount and direction of blood flow in the branch or bifurcation, including providing different sounds for different transducers located in different alignment with the branch or bifurcation.

10. The system of claim 1 , wherein the processor is further configured to cause display on the screen of a first column and a second column, the first column including an indication of the of the branch or bifurcation and the indications of the ultrasonic transducers and move the indications of the ultrasonic transducers to simulate movement of the ultrasonic transducers inside the subject, and the second column including further indications of the ultrasonic transducers having different visual effect depending on overlap of the branch or bifurcation with the further indications of the ultrasonic transducers.

11. An interventional device, comprising:

an elongated body having a tip;

a localizer mounted in the tip configured to determine a position of the tip during a procedure;

ultrasonic transducers mounted on or in the elongated body and configured to output a signal to indicate presence of a branch or bifurcation within a lumen and, if present, a position of the branch or bifurcation is determined by a position of the tip as provided by the localizer; and

a processor configured to compare positions of the ultrasonic transducers and to indicate the presence of the branch or bifurcation relative to the positions for display of indications of the ultrasonic transducers on a screen by changing a visual effect of the displayed indications such that a displayed indication of a first transducer that overlaps the branch or bifurcation is changed to become different from displayed indications of other transducers that do not overlap the branch or bifurcation.

12. The device as recited in claim 11 , wherein the elongated body comprises one of a catheter and a sheath, and the one of the catheter and the sheath includes a rotating portion, the rotating portion including at least one ultrasonic transducer mounted thereon.

13. The device as recited in claim 11 , wherein the elongated body includes a cutting tool.

14. The device of claim 11 , further comprising a speaker configured to provide a tone in accordance with amount and direction of blood flow in the branch or bifurcation, including providing different sounds for different transducers located in different alignment with the branch or bifurcation.

15. The device of claim 11 , wherein the processor is further configured to cause display on the screen of a first column and a second column, the first column including an indication of the of the branch or bifurcation and the indications of the ultrasonic transducers and move the indications of the ultrasonic transducers to simulate movement of the ultrasonic transducers inside the subject, and the second column including further indications of the ultrasonic transducers having different visual effect depending on overlap of the branch or bifurcation with the further indications of the ultrasonic transducers.

16. A method for determining branching or bifurcation of an internal structure, comprising acts of:

determining a position of an interventional device having ultrasonic transducers in a main lumen using a localizer;

outputting ultrasonic signals from the ultrasonic transducers to construct an ultrasound image of the lumen;

determining a presence and position of a branch or bifurcation relative to the interventional device using the ultrasound signals;

indicating the branches or bifurcations in a reference image;

comparing positions of the ultrasonic transducers relative the position of the branch or bifurcation

indicating the presence of the branch or bifurcation relative to the positions of the ultrasonic transducers; and

displaying indications of the ultrasonic transducers on a screen by changing a visual effect of the displayed indications such that a displayed indication of a first transducer that overlaps the branch or bifurcation is chanced to become different from displayed indications of other transducers that do not overlap the branch or bifurcation.

17. The method as recited in claim 16 , wherein the reference image includes an X-ray image and the method further comprises updating the X-ray image and a status in real-time.

18. The method as recited in claim 16 , further comprising an act of registering a preoperative image to the reference image.

19. The method of claim 16 , further comprising controlling a speaker to provide a tone in accordance with amount and direction of blood flow in the branch or bifurcation, including providing different sounds for different transducers located in different alignment with the branch or bifurcation.

20. The method of claim 16 , further comprising an act of displaying on the screen of a first column and a second column, the first column including an indication of the of the branch or bifurcation and the indications of the ultrasonic transducers and move the indications of the ultrasonic transducers to simulate movement of the ultrasonic transducers inside the subject, and the second column including further indications of the ultrasonic transducers having different visual effect depending on overlap of the branch or bifurcation with the further indications of the ultrasonic transducers.