Systems and methods for contextual awareness in cardiac catheterization

Abstract

Various systems (100) and methods (500) are provided for displaying information indicating whether a distance between a location of a feature in a region of interest of a subject and a location of a medical device (140) in the region of interest is within a safe range corresponding to the feature. The location of the feature in the region of interest may be determined (520). The position of the medical device (140) in the region of interest may be determined (530). The distance between the position of the feature and the position of the medical device (140) may be determined (540). Whether the distance is within the safety range may be determined (550). A display (218) may be controlled to display an ultrasound image (560) of the region of interest including the feature and the medical device (140) and to display the information (570) indicating whether the distance is within the safe range.

Description

Technical Field

[0001] This disclosure relates to a system and method for displaying information indicating whether the distance between the location of a feature in a region of interest of a subject and the location of a medical device in the region of interest is within a safe range corresponding to the feature. Background Technology

[0002] During interventional procedures, clinicians may navigate medical devices within a patient's region of interest. For example, during cardiac surgery, clinicians may navigate a catheter through the patient's heart to deliver a stent, ablate tissue, remove a thrombus, analyze cardiac function, etc. Regions of interest can include various features that the medical device should not touch or closely contact to ensure patient safety. For instance, in thermal ablation implementations, close proximity of the ablation catheter to a permanent pacing device may increase the risk of pacing dysfunction in both the pacemaker and the defibrillator. As another example, the His bundle is anatomically vulnerable to mechanical trauma during catheter insertion, as it travels through the membranous septum of the posterior sinus of the Valsalva, which is adjacent to the aortic sinus, and extends directly beneath the endocardium of the left ventricle. A single contact of the catheter tip with these structures can cause damage within the His bundle, leading to complete heart blockage. As yet another example, manipulating a catheter within the heart may inadvertently remove a thrombus. As yet another example, improper technique or aggressive manipulation of cardiac catheters can lead to damage to the lining of the heart or valves. Therefore, clinicians should be aware of the location of the medical device within the region of interest and the relative distances between the device and various features of that region. Furthermore, clinicians should be aware of how close the device can be safely positioned to these features while maintaining the patient's safety. Summary of the Invention

[0003] This invention provides a more detailed description of concepts in specific embodiments. It should not be used to identify essential features of the claimed subject matter, nor should it be used to limit the scope of the claimed subject matter.

[0004] In one aspect, a system may include: an ultrasound probe configured to acquire ultrasound data of a region of interest (ROI) of a subject; a display configured to display an ultrasound image corresponding to the ultrasound data; a memory configured to store instructions; and one or more processors configured to execute instructions to: receive information identifying a feature in the RIO of a subject to be tracked during an interventional procedure involving a medical device navigating in the RIO; determine the location of the feature in the RIO of the subject; determine the location of the medical device in the RIO of the subject during the interventional procedure; determine the distance between the location of the feature and the location of the medical device; determine whether the distance is within a safe range corresponding to the feature; control the display to display an ultrasound image of the RIO including the feature and the medical device; and control the display to display information indicating whether the distance between the location of the feature and the location of the medical device is within a safe range corresponding to the feature.

[0005] In another aspect, a method may include: receiving information identifying a feature in a region of interest (ROI) of a subject to be tracked during an interventional procedure involving a medical device navigating in the ROI; determining the location of the feature in the ROI of the subject; determining the location of the medical device in the ROI of the subject during the interventional procedure; determining the distance between the location of the feature and the location of the medical device; determining whether the distance is within a safe range corresponding to the feature; controlling a display to show an ultrasound image of the ROI including the feature and the medical device; and controlling the display to show information indicating whether the distance between the location of the feature and the location of the medical device is within a safe range corresponding to the feature.

[0006] In another aspect, a non-transitory computer-readable medium may store instructions that, when executed by one or more processors, cause the one or more processors to: receive information identifying a feature in a region of interest of a subject to be tracked during an interventional procedure involving a medical device navigating in the region of interest; determine the location of the feature in the region of interest of the subject; determine the location of the medical device in the region of interest of the subject during the interventional procedure; determine the distance between the location of the feature and the location of the medical device; determine whether the distance is within a safe range corresponding to the feature; control a display to display an ultrasound image of the region of interest including the feature and the medical device; and control the display to display information indicating whether the distance between the location of the feature and the location of the medical device is within a safe range corresponding to the feature. Attached Figure Description

[0007] Figure 1This is an illustration of an example system for displaying information indicating whether the distance between the location of a feature in the subject's region of interest and the location of a medical device within the region of interest is within a safe range corresponding to the feature.

[0008] Figure 2 This is an illustration of an example ultrasound system used to acquire ultrasound data of a patient's region of interest and to display information indicating whether the distance between the location of a feature in the patient's region of interest and the location of a medical device in the region of interest is within a safe range corresponding to the feature.

[0009] Figure 3 This is an illustration of an example tracking system used to collect tracking data of a medical device located within a subject's region of interest.

[0010] Figure 4 This is a diagram of an example preoperative imaging system used to acquire preoperative imaging data of the region of interest in a patient.

[0011] Figure 5 The flowchart is an example of a process for displaying information indicating whether the distance between the location of a feature in the subject's region of interest and the location of a medical device in the region of interest is within the safe range corresponding to the feature.

[0012] Figure 6 This is an illustration of an ultrasound image that shows features of the region of interest, medical devices, the safe zone of the features, and information indicating whether the corresponding location of the features is within the safe zone.

[0013] Figure 7 This is an illustration of an ultrasound image showing features of the region of interest and medical devices.

[0014] Figure 8 This is an illustration of an ultrasound image that shows features of the region of interest, medical devices, and information indicating whether the corresponding location of the features is within the safe range of the features.

[0015] Figure 9 This is an illustration of an ultrasound image that shows features of the region of interest, medical devices, and information indicating whether the corresponding location of the features is within the safe range of the features.

[0016] Figure 10 This is an illustration of an ultrasound image that shows features of the region of interest, medical devices, and information indicating whether the corresponding location of the features is within the safe range of the features.

[0017] Figure 11This is an illustration of a mapping map that shows features of the region of interest, medical devices, and information indicating whether the corresponding locations of the features are within the safe range of the features. Detailed Implementation

[0018] Figure 1 This is an illustration of an example system 100 for displaying information indicating whether the distance between the location of a feature in the subject's region of interest and the location of a medical device within that region of interest is within a safe range corresponding to the feature. Figure 1 As shown, system 100 may include ultrasound system 110, tracking system 120, preoperative imaging system 130, medical device 140, and network 150.

[0019] The ultrasound system 110 can be configured to acquire ultrasound data of a region of interest (ROI) of the subject. For example, the ultrasound system 130 can be a two-dimensional (2D) ultrasound system, a three-dimensional (3D) ultrasound system, a four-dimensional (4D) ultrasound system, a Doppler ultrasound system, etc. The subject can be a human, animal, phantom, etc. The ROI can be any anatomical region of the subject. For example, the ROI can be the heart, brain, organs, blood vessels, etc.

[0020] The tracking system 120 can be configured to acquire tracking data of the medical device 140 located within the region of interest of the subject. For example, the tracking system 120 can be an electromagnetic tracking system, an optical tracking system, an acoustic tracking system, an inertial tracking system, an ultrasonic tracking system, etc.

[0021] The preoperative imaging system 130 can be configured to acquire preoperative imaging data of the patient's region of interest. For example, the preoperative imaging system 130 can be a computed tomography (CT) system, a magnetic resonance imaging (MRI) system, an ultrasound system, an X-ray system, a positron emission tomography (PET) device, etc.

[0022] Medical device 140 can be any medical device capable of navigating within a patient's region of interest. For example, medical device 140 can be a catheter, needle, cannula, or other similar device. Medical device 140 can be used in various interventional procedures involving the region of interest. For example, a catheter can be used to deliver a stent to a closed blood vessel, ablate tissue, analyze cardiac function, remove a thrombus from a closed blood vessel, etc. Alternatively, medical device 140 can be an implantable device to be implanted in a patient's heart. For example, an implantable device can be a pacemaker, stent, defibrillator, left ventricular assist device, valve clip, etc. Alternatively, medical device 140 can be any object capable of navigating throughout and / or traversing the region of interest.

[0023] Network 150 allows communication between ultrasound system 110, tracking system 120, and preoperative imaging system 130. For example, network 150 can be a local area network (LAN), wide area network (WAN), metropolitan area network (MAN), cellular network, private network, ad hoc network, intranet, Internet, fiber optic network, wired network, wireless network, and / or a combination of these or other types of networks.

[0024] The number and arrangement of systems 100 are provided as examples. In implementation, systems 100 may include additional systems, fewer systems, different systems, or systems related to... Figure 1 The systems shown are arranged differently. Additionally or alternatively, a group of systems of system 100 (e.g., one or more systems) may be integrated into a single system and / or perform one or more functions described as being performed by another system or another group of systems of system 100.

[0025] Figure 2 This illustration shows an example component of an ultrasound system 110 used to acquire ultrasound data of a patient's region of interest and to display information indicating whether the distance between the location of a feature in the patient's region of interest and the location of a medical device within the region of interest is within a safe range corresponding to the feature. Figure 2 As shown, the ultrasound system 110 may include an ultrasound probe 202, a transmitting beamformer 204, a transmitter 206, an element 208, a receiver 210, a receiving beamformer 212, a user input device 214, a processor 216, a display 218, a memory 220, and a communication interface 222. The aforementioned components may be connected via wired or wireless connections.

[0026] The ultrasound probe 202 can be configured to acquire ultrasound data. For example, the ultrasound probe 202 can be a linear probe, a phased array probe, a curved linear probe coupled to a position tracking system, a mechanically manipulated linear array transducer, a phased array transducer, a curved linear array transducer, an electronically manipulated 2D transducer array, an electronic 3D (e3D) probe, an electronic 4D (e4D) probe, or a low-profile wearable patch version of any of the aforementioned probes. According to one embodiment, the ultrasound probe 202 can be configured to generate ultrasound signals, emit ultrasound signals toward the region of interest of the subject, receive echo ultrasound signals backscattered from the region of interest of the subject, generate ultrasound data based on the echo ultrasound signals, and output ultrasound data.

[0027] Transmit beamformer 204 can be configured to apply a delay time to the electrical signal provided to element 208 to focus the corresponding ultrasonic signal at the region of interest. Transmitter 206 can be configured to send an electrical signal to element 208 to drive element 208 to emit an ultrasonic signal toward the region of interest. Element 208 can be configured to receive the electrical signal from transmitter 206, convert the electrical signal into an ultrasonic signal, and emit the ultrasonic signal toward the region of interest. Element 208 can be configured to receive the echo ultrasonic signal backscattered from the region of interest, convert the echo ultrasonic signal into an electrical signal, and provide the electrical signal to receiver 210. Receiver 210 can be configured to receive the electrical signal from element 208 and provide the electrical signal to receiver beamformer 212. Receiver beamformer 212 can apply a delay time to the electrical signal received from element 208.

[0028] User input device 214 can be configured to receive user input and provide the user input to processor 216. For example, user input device 214 can be a touchscreen display, keyboard, keypad, mouse, button, switch, microphone, etc. Additionally or alternatively, user input device 214 can be configured to sense information. For example, user input device 214 can sense information from an electromagnetic positioning system, inertial measurement system, accelerometer, gyroscope, actuator, etc.

[0029] Processor 216 may be configured to perform the operations described herein. For example, processor 216 may be a central processing unit (CPU), graphics processing unit (GPU), accelerated processing unit (APU), microprocessor, microcontroller, digital signal processor (DSP), field-programmable gate array (FPGA), application-specific integrated circuit (ASIC), or another type of processing unit. Processor 216 may be implemented in hardware, firmware, or a combination of hardware and software. Processor 216 may include one or more processors 216 configured to perform the operations described herein. For example, a single processor 216 may be configured to perform all the operations described herein. Alternatively, multiple processors 216 may be collectively configured to perform all the operations described herein, and each of the multiple processors 216 may be configured to perform a subgroup of operations described herein. For example, a first processor 216 may perform a first subgroup of operations described herein, a second processor 216 may be configured to perform a second subgroup of operations described herein, and so on.

[0030] Processor 216 can be configured to control ultrasound probe 202 to acquire ultrasound data. Processor 216 can be configured to control which elements in element 208 are active and to control the shape of the beam emitted from ultrasound probe 202. Processor 216 can generate ultrasound images for display. For example, processor 216 can generate B-mode images, color Doppler images, M-mode images, color M-mode images, etc. Ultrasound images can be 3D images, 2D images, single-plane images, dual-plane images, tri-plane images, multi-plane images, etc. Ultrasound images can correspond to various anatomical planes (e.g., sagittal, coronal, and transverse) of the region of interest.

[0031] The display 218 can be configured to display information. For example, the display 218 can be a monitor, LED display, cathode ray tube, projector display, touch screen, tablet computer, mobile phone, etc. The display 218 can display ultrasound images based on ultrasound data in real time. For example, the display 218 can display ultrasound images within one second, two seconds, five seconds, etc., of ultrasound data acquired by the ultrasound probe 202.

[0032] Memory 220 may be configured to store information and / or instructions for use by processor 216. Memory 220 may be a non-transitory computer-readable medium. For example, memory 220 may be random access memory (RAM), read-only memory (ROM), and / or another type of dynamic or static storage device (e.g., flash memory, magnetic memory, and / or optical memory) for storing information and / or instructions for use by processor 216. Memory 220 may be configured to store instructions that, when executed by processor 216, cause processor 216 to perform the operations described herein.

[0033] The communication interface 222 can be configured to enable the processor 216 to communicate with other systems, such as via a wired connection, a wireless connection, or a combination of wired and wireless connections. For example, the communication interface 222 may include an Ethernet interface, an optical interface, a coaxial interface, an infrared interface, a radio frequency (RF) interface, a universal serial bus (USB) interface, a Wi-Fi interface, a cellular network interface, etc.

[0034] Figure 2 The number and arrangement of components in the ultrasound system 110 shown are provided as an example. In practice, the ultrasound system 110 may include additional components, fewer components, different components, or components related to... Figure 2 The components shown are arranged differently. Additionally or alternatively, a set of components (e.g., one or more components) of the ultrasound system 110 may perform one or more functions described as being performed by another set of components of the ultrasound system 110.

[0035] Figure 3This is a diagram of example components of the tracking system 120. (Example...) Figure 3 As shown, the tracking system 120 may include a transmitter 302, a receiver 304, a user input device 306, a processor 308, a display 310, a memory 312, and a communication interface 314.

[0036] Transmitter 302 can be configured to generate a magnetic field. Receiver 304 can be configured to output a signal in response to the magnetic field generated by transmitter 302. Processor 308 can receive the output signal from receiver 304 and acquire tracking data identifying the position and / or orientation of receiver 304. According to one embodiment, receiver 304 can be attached to ultrasound probe 202 to track the position and / or orientation of ultrasound probe 202. Alternatively, receiver 304 can be attached to medical device 140 to track the position and / or orientation of medical device 140. Alternatively, receiver 304 can be attached to features in a region of interest.

[0037] User input device 306 can be configured to receive user input and provide the user input to processor 308. For example, user input device 306 can be a touchscreen display, keyboard, keypad, mouse, button, switch, microphone, etc. Additionally or alternatively, user input device 306 can be configured to sense information. For example, user input device 306 can sense information from an electromagnetic positioning system, inertial measurement system, accelerometer, gyroscope, actuator, etc.

[0038] Processor 308 may be configured to perform the operations described herein. For example, processor 308 may be a CPU, GPU, APU, microprocessor, microcontroller, DSP, FPGA, ASIC, etc. Processor 308 may be implemented using hardware, firmware, or a combination of hardware and software. Processor 308 may include one or more processors 308 configured to perform the operations described herein. For example, a single processor 308 may be configured to perform all the operations described herein. Alternatively, multiple processors 308 may be collectively configured to perform all the operations described herein, and each of the multiple processors 308 may be configured to perform a subgroup of operations described herein. For example, a first processor 308 may perform a first subgroup of operations described herein, a second processor 308 may be configured to perform a second subgroup of operations described herein, and so on.

[0039] Processor 308 can be configured to control transmitter 308 to acquire tracking data. Processor 308 can be configured to control the excitation of transmitter 302 to generate a magnetic field. Processor 308 can acquire tracking data based on controlling transmitter 302.

[0040] The display 310 can be configured to display information. For example, the display 310 can be a monitor, LED display, cathode ray tube, projector display, touch screen, tablet computer, mobile phone, etc. The display 310 can display tracking data in real time. For example, the display 310 can display tracking data within one second, two seconds, five seconds, etc.

[0041] Memory 312 may be configured to store information and / or instructions for use by processor 308. Memory 312 may be a non-transitory computer-readable medium. For example, memory 312 may be RAM, ROM, flash memory, magnetic memory, optical memory, etc. Memory 312 may be configured to store instructions that, when executed by processor 308, cause processor 308 to perform the operations described herein.

[0042] The communication interface 314 can be configured to enable the processor 308 to communicate with other systems, such as via wired connections, wireless connections, or a combination of wired and wireless connections. For example, the communication interface 314 may include an Ethernet interface, an optical interface, a coaxial interface, an infrared interface, an RF interface, a USB interface, a Wi-Fi interface, a cellular network interface, etc.

[0043] Figure 3 The number and arrangement of components in the tracking system 120 shown are provided as an example. In implementation, the tracking system 120 may include additional components, fewer components, different components, or components related to... Figure 3 The components shown are arranged differently. Additionally or alternatively, a set of components (e.g., one or more components) of the tracking system 120 may perform one or more functions described as being performed by another set of components of the tracking system 120.

[0044] although Figure 3 Tracking system 120 is described as an electromagnetic tracking system, but it should be understood that the implementation described herein is applicable to other types of tracking systems, such as optical tracking systems, acoustic tracking systems, ultrasonic tracking systems, AI-based tracking systems, etc.

[0045] Figure 4 This is an illustration of an example preoperative imaging system 130 used to acquire preoperative imaging data of the region of interest in a subject. Figure 4 As shown, the preoperative imaging system 130 may include a gantry 402, a rotating frame 404, an X-ray source 406, an X-ray detector 408, a worktable 410, a processor 412, a memory 414, a display 416, a user input device 418, a communication interface 420, a picture archiving and communication system (PACS) 422, and a server 424.

[0046] Processor 412 can be configured to control the operation of preoperative imaging system 130. For example, processor 412 can be a CPU, GPU, APU, microprocessor, microcontroller, DSP, FPGA, ASIC, etc. Processor 412 can be implemented using hardware, firmware, or a combination of hardware and software. Processor 412 may include one or more processors 412 configured to perform the operations described herein. For example, a single processor 412 can be configured to perform all the operations described herein. Alternatively, multiple processors 412 can be collectively configured to perform all the operations described herein, and each of the multiple processors 412 can be configured to perform a subgroup of operations described herein. For example, a first processor 412 can perform a first subgroup of operations described herein, a second processor 412 can be configured to perform a second subgroup of operations described herein, and so on.

[0047] The processor 412 can be configured to control the movement of the rack 402, the rotating frame 404, the X-ray source 406, the X-ray detector 408, and the stage 410.

[0048] Memory 414 may be configured to store information and / or instructions for use by processor 412. Memory 414 may be a non-transitory computer-readable medium. For example, memory 414 may be RAM, ROM, flash memory, magnetic memory, optical memory, etc. Memory 414 may be configured to store instructions that, when executed by processor 412, cause processor 412 to perform the operations described herein.

[0049] The display 416 can be configured to display information. For example, the display 416 can be a monitor, LED display, cathode ray tube, projector display, touch screen, tablet computer, mobile phone, etc.

[0050] User input device 418 can be configured to receive user input and provide the user input to processor 412. For example, user input device 418 can be a touchscreen display, keyboard, keypad, mouse, button, switch, microphone, etc. Additionally or alternatively, user input device 418 can be configured to sense information. For example, user input device 418 can sense information from an electromagnetic positioning system, inertial measurement system, accelerometer, gyroscope, actuator, etc.

[0051] Communication interface 420 can be configured to enable processor 412 to communicate with other devices, such as via wired connections, wireless connections, or a combination of wired and wireless connections. For example, communication interface 420 may include an Ethernet interface, an optical interface, a coaxial interface, an infrared interface, an RF interface, a USB interface, a Wi-Fi interface, a cellular network interface, etc. PACS 422 can be configured to communicate with external systems and / or networks to allow users at various locations to access medical images. Server 424 can be configured to store one or more models as described herein. For example, server 424 may be an on-premises server, a cloud server, a virtual machine, etc.

[0052] Figure 5 The flowchart is an example of a process for displaying information indicating whether the distance between the location of a feature in the subject's region of interest and the location of a medical device in the region of interest is within the safe range corresponding to the feature.

[0053] like Figure 5 As shown, process 500 may include receiving information identifying features of a patient’s region of interest to be tracked during an interventional procedure involving a medical device navigating in the region of interest (operation 510). For example, ultrasound system 110 may receive information identifying features of a patient’s region of interest to be tracked during an interventional procedure involving a medical device 140 navigating in the patient’s region of interest.

[0054] According to one implementation scheme, the region of interest can be any area of ​​the subject. For example, the region of interest can be the heart, brain, liver, blood vessels, etc. The subject can be a patient, animal, phantom, etc. The region of interest can be an area associated with an interventional procedure involving medical device 140. For example, the interventional procedure can be a medical procedure involving the navigation of medical device 140 within the region of interest.

[0055] According to one implementation scheme, features in the region of interest (ROI) of the subject can be anatomical features. For example, in the case of the heart, features could include the His bundle, mitral valve, tricuspid valve, sinoatrial node, atrioventricular node, left atrial appendage, etc. Alternatively, features in the ROI can be implantable devices. For example, in the case of the heart, features could include pacemakers, stents, defibrillators, left ventricular assist devices, valve clips, etc. Alternatively, features in the ROI can be biological materials. For example, in the case of the heart, features could include thrombi, plaques, inflammation, etc.

[0056] According to one embodiment, the ultrasound system 110 can receive information identifying features within a region of interest based on user input. For example, a user can interact with the user interface of the ultrasound system 110 to input information identifying features. As an example, the ultrasound system 110 can display an ultrasound image of the region of interest, and the user can provide user input to select a specific feature in the displayed ultrasound image; the ultrasound system 110 can then receive information identifying features based on this user input. Alternatively, the ultrasound system 110 can display a user interface including a list of features, and the user can provide user input to select a feature from the list; the ultrasound system 110 can then receive information identifying features based on this user input.

[0057] According to one implementation, the ultrasound system 110 can receive information identifying features in a region of interest based on the patient's historical information. For example, the patient's historical information may include medical records, medical images, diagnoses, surgical history, etc. The patient's historical information can identify features to be tracked during the interventional procedure. For example, the patient's historical information may identify features such as implanted devices, thrombi, stents, or anatomical features susceptible to trauma.

[0058] According to one embodiment, the ultrasound system 110 can receive information identifying features in the region of interest based on detected features within that region. For example, the ultrasound system 110 can acquire ultrasound images of the region of interest and use these images to detect features within the region of interest. Alternatively, the ultrasound system 110 can receive preoperative imaging data from a preoperative imaging system 130 and use this data to detect features in the region of interest. In either case, the ultrasound system 110 can use template matching techniques (e.g., speckle tracking), image registration techniques, image segmentation techniques, AI techniques, etc., to detect features.

[0059] According to one embodiment, the ultrasound system 110 can receive information identifying n features of interest within a region of interest to be tracked during the interventional procedure. For example, the ultrasound system 110 can receive information identifying a single feature, two features, five features, etc. In this way, the ultrasound system 110 can identify one or more specific features to be tracked during the interventional procedure.

[0060] like Figure 5 As shown, process 500 may include determining the location of features in the region of interest of the subject (operation 520). For example, ultrasound system 110 may determine the location of features in the region of interest of the subject.

[0061] According to one embodiment, the ultrasound system 110 can determine the location of features within a region of interest based on user input. For example, the ultrasound system 110 can display a user interface (which displays the region of interest), receive user input identifying the location of features within the region of interest, and determine the location of features within the region of interest based on the user input.

[0062] According to one implementation, the ultrasound system 110 can determine the location of features in a region of interest (ROI) based on detection features using techniques such as template matching (e.g., speckle tracking), image registration, image segmentation, and AI. For example, the ultrasound system 110 can segment features within the ROI and determine the location of features within the ROI based on the segmented features. Alternatively, the ultrasound system 110 can use an AI model to determine the location of features within the ROI. For example, the ultrasound system 110 can input an image of the ROI into an AI model and determine the location of features within the ROI based on the output of the AI ​​model that identifies the location of features within the ROI.

[0063] According to one embodiment, the ultrasound system 110 can determine the location of features in the region of interest based on information received from the preoperative imaging system 130. For example, the preoperative imaging system 130 can provide information identifying the location of features in the region of interest to the ultrasound system 110, and the ultrasound system 110 can determine the location of features in the region of interest based on the information received from the preoperative imaging system 130.

[0064] According to one embodiment, the ultrasound system 110 can determine the location of features in the region of interest based on information received from an external device. For example, the external device can store patient history information identifying the location of features in the region of interest and provide this patient history information to the ultrasound system 110. In this case, the ultrasound system 110 can determine the location of features in the region of interest based on the patient history information received from the external device.

[0065] According to one embodiment, the location of features in the region of interest may include a set of coordinates in the coordinate system of the ultrasound system 110. For example, the coordinate system of the ultrasound system 110 may be a coordinate system for establishing the coordinates of features in the region of interest in an ultrasound image acquired by the ultrasound system 110.

[0066] According to one implementation, the ultrasound system 110 can determine the n positions of n features in a region of interest. For example, the ultrasound system 110 can determine the position of a single feature in the region of interest, the positions of two features in the region of interest, the positions of five features in the region of interest, and so on.

[0067] According to one embodiment, the ultrasound system 110 can determine the location of features in the region of interest prior to an interventional procedure involving the medical device 140. For example, the ultrasound system 110 can acquire ultrasound data of the region of interest prior to the interventional procedure and use the ultrasound data to determine the location of features in the region of interest. Alternatively, the ultrasound system 110 can acquire preoperative imaging data from a preoperative imaging system 130 and use the preoperative imaging data to determine the location of features in the region of interest.

[0068] According to one embodiment, the ultrasound system 110 can determine the location of features in the region of interest substantially in real time during an interventional procedure involving the medical device 140. For example, the ultrasound system 110 can determine the location of features in the region of interest simultaneously with the movement of the medical device 140 within the region of interest during the interventional procedure. As used herein, "substantially in real time" can refer to an event occurring within a threshold time range of another event (such as within 10 milliseconds, one second, two seconds, etc.). In this case, the ultrasound system 110 can acquire ultrasound data of the region of interest during the interventional procedure and use template matching techniques (e.g., speckle tracking), image registration techniques, AI techniques, etc., to track the location of features in the region of interest.

[0069] According to one embodiment, the ultrasound system 110 can determine the location of a feature in the region of interest n times. For example, the ultrasound system 110 can determine the location of a feature in the region of interest once and use the determined location during the interventional procedure. Additionally or alternatively, the ultrasound system 110 can continuously determine the location of a feature in the region of interest at specific intervals (such as every second, every ten seconds, etc.).

[0070] According to one embodiment, the ultrasound system 110 can generate a spatial mapping map of a region of interest (ROI), which identifies the locations of features within the ROI, and determine the locations of features within the ROI based on the spatial mapping map. The spatial mapping map can identify the locations of features within the ROI. For example, the spatial mapping map can include a set of coordinates of the features within the ROI in the coordinate system of the ultrasound system 110.

[0071] According to one embodiment, the ultrasound system 110 can generate a spatiotemporal mapping of a region of interest (ROI) that identifies a set of locations of features within the ROI across a time span, and determines the location of the features within the ROI based on the spatiotemporal mapping. The spatiotemporal mapping of a feature can identify a set of locations of a feature within the ROI across a time span. For example, the spatiotemporal mapping can include multiple sets of coordinates of the features within the ROI across a time span in the coordinate system of the ultrasound system 110. For example, during a cardiac cycle, cardiac features can change location during the contraction and relaxation of the myocardium. In this case, the spatiotemporal mapping can identify the location of cardiac features during the cardiac cycle.

[0072] like Figure 5 As further shown, process 500 may include determining the location of a medical device in the region of interest of the subject (operation 530). For example, ultrasound system 110 may determine the location of medical device 140 in the region of interest of the subject.

[0073] According to one embodiment, the ultrasound system 110 can use ultrasound data acquired by the ultrasound system 110 to determine the location of a medical device 140 in the region of interest (ROI) of a patient. For example, the ultrasound system 110 can acquire ultrasound data of the RRI during an interventional procedure and use template matching techniques (e.g., speckle tracking), image registration techniques, AI techniques, etc., to determine the location of the medical device 140 in the RRI. Additionally or alternatively, the ultrasound system 110 can use tracking data acquired by the tracking system 120 to determine the location of features in the RRI. For example, the tracking system 120 can acquire tracking data of the medical device 140 during an interventional procedure and provide the tracking data to the ultrasound system 110, and the ultrasound system 110 can determine the location of the medical device 140 based on the tracking data.

[0074] According to one embodiment, the ultrasound system 110 can determine the position of the medical device 140 in the region of interest substantially in real time during an interventional procedure involving the medical device 140. For example, the ultrasound system 110 can determine the position of the medical device 140 in the region of interest simultaneously with the movement of the medical device 140 within the region of interest during the interventional procedure.

[0075] According to one embodiment, the position of the medical device 140 in the region of interest may include a set of coordinates of the medical device 140 in the coordinate system of the ultrasound system 110. For example, the coordinate system of the ultrasound system 110 may be a coordinate system that establishes the coordinates of features in the ultrasound image acquired by the ultrasound system 110 and establishes the coordinates of the medical device 140 in the region of interest. In this way, the corresponding coordinates of the features and the medical device 140 can be compared, as described below.

[0076] like Figure 5 As further shown, process 500 may include determining the distance between the location of the feature and the location of the medical device (operation 540). For example, ultrasound system 110 may determine the distance between the location of the feature and the location of medical device 140.

[0077] According to one embodiment, the ultrasound system 110 can compare the set of coordinates of the location of the feature with the set of coordinates of the location of the medical device 140, and determine the distance based on the comparison of the set of coordinates of the location of the feature with the set of coordinates of the location of the medical device 140.

[0078] According to one embodiment, the distance between the location of the feature and the location of the medical device 140 can be the distance between the actual real-time location of the feature in the region of interest and the actual real-time location of the medical device 140 in the region of interest. For example, this distance can be the actual real-time distance between the feature and the medical device 140.

[0079] According to one embodiment, the distance between the location of the feature and the location of the medical device 140 can be the expected distance between the actual real-time location of the feature in the region of interest and the desired location of the medical device 140. For example, the ultrasound system 110 can determine the actual real-time location of the feature, determine the desired location of the medical device 140 based on the trajectory of the medical device 140, and determine the distance between the actual real-time location of the feature and the desired location of the medical device 140.

[0080] According to one embodiment, the distance between the location of the feature and the location of the medical device 140 can be the expected distance between the desired location of the feature and the actual location of the medical device 140. For example, the ultrasound system 110 can determine the desired location of the feature, the actual real-time location of the medical device 140, and the distance between the desired location of the feature and the actual real-time location of the medical device 140 based on a spatiotemporal mapping.

[0081] According to one embodiment, the distance between the location of the feature and the location of the medical device 140 can be the expected distance between the expected location of the feature and the expected location of the medical device 140. For example, the ultrasound system 110 can determine the expected location of the feature based on a spatiotemporal mapping, determine the expected location of the medical device 140 based on the trajectory of the medical device 140, and determine the distance between the expected location of the feature and the expected location of the medical device 140.

[0082] In the aforementioned case, the desired location of the feature can be a specific location derived from a spatiotemporal mapping. For example, the desired location could be the location of a feature at the point of maximum contraction of the myocardium, the point of maximum relaxation of the myocardium, etc.

[0083] In this way, the ultrasound system 110 can determine the distance between the location of a feature in the region of interest and the location of the medical device 140 in the region of interest, and determine whether the distance is within a safe range, as described below.

[0084] like Figure 5 As further shown, process 500 may include determining whether the distance is within the safe range corresponding to the feature (operation 550). For example, ultrasound system 110 may determine whether the distance is within the safe range corresponding to the feature.

[0085] According to one implementation scheme, the safe range can be one or more distances. Meeting these distances ensures safety for the examinee, safe operation of the medical device 140, and safety for the features within the examinee, reducing or preventing harm to the examinee, and reducing or preventing harm to the features. For example, if the distance is within the safe range, the medical device 140 may not harm the examinee, may not harm the features, may not affect the operation of the features, and may not cause health problems. Conversely, if the distance is not within the safe range, the medical device 140 may harm the examinee, may harm the features, or may affect the operation of the features.

[0086] According to one implementation, the safety range can be a threshold distance. For example, the safety range can be 3 centimeters (cm). In this case, if the distance is less than 3 cm, then the distance is not within the safety range. Alternatively, if the distance is greater than 3 cm, then the distance is within the safety range. It should be understood that the safety range can include any threshold distance and may depend on specific characteristics.

[0087] According to one implementation, the safety range may include a set of layers. For example, the safety range may include a first layer with the highest security, a second layer with security less than the first layer but greater than the third layer, a third layer with security less than both the first and second layers, and so on. According to one implementation, the safety range may include a single layer comprising a single safety distance. For example, the first layer of the safety range may be 0cm to 3cm, the second layer may be 3cm to 6cm, the third layer may be 6+cm, and so on.

[0088] According to one implementation, the ultrasound system 110 can receive information identifying safe zones, or can be pre-configured with information identifying safe zones. Safe zones can be established based on clinical guidelines, user input, etc.

[0089] According to one implementation, the ultrasound system 110 can determine a safe range based on specific features. For example, a first feature may be associated with a first safe range, a second feature with a third safe range, and so on. In other words, the safe or acceptable distance between a feature in the region of interest and the medical device 140 may depend on the specific potential feature. As an example, the medical device 140 may be able to be positioned very close to or in contact with a first feature without causing substantial harm to the patient or the feature, but may not be able to be positioned within a certain distance of a second feature without causing substantial harm to the patient or the feature. It should be understood that different features may include different safe ranges, which describe the degree of proximity to the feature that the medical device 140 can be positioned to without causing harm.

[0090] According to one embodiment, the ultrasound system 110 can compare the distance between a feature in the region of interest and the position of the medical device 140 with a safe range and determine whether the distance is within the safe range corresponding to the feature. For example, the ultrasound system 110 can determine whether the distance is within the safe range. Additionally or alternatively, the ultrasound system 110 can determine whether the distance is within a specific layer of the safe range. In this way, the ultrasound system 110 can control a display to show information indicating whether the distance is within the safe range, as described below.

[0091] like Figure 5 As further shown, process 500 may include controlling a display to show an ultrasound image of the region of interest, including features and a medical device (operation 560). For example, ultrasound system 110 may control display 218 of ultrasound system 110 to show an ultrasound image of the region of interest, including features and a medical device 140.

[0092] According to one embodiment, ultrasound system 110 can acquire and display substantially real-time ultrasound images of a region of interest. The ultrasound images may include features and medical devices 140. For example, ultrasound system 110 can track features and medical devices 140 and display ultrasound images to include the tracked features and the tracked medical devices 140. In this way, a user can assess the relative positions of the features and medical devices 140, and can assess the distance between the features and the medical devices 140.

[0093] like Figure 5 As further shown, process 500 may include controlling a display to show information indicating whether the distance is within the safe range corresponding to the feature (operation 570). For example, ultrasound system 110 may control display 218 to show information indicating whether the distance is within the safe range corresponding to the feature.

[0094] According to one embodiment, information indicating whether the distance is within the safe range of the corresponding feature can identify the feature and indicate whether the distance is within the safe range. For example, the information can identify the feature using a label, name, highlighting, or bounding box surrounding the feature. Furthermore, the information indicating whether the distance is within the safe range of the corresponding feature can include a visual indication of whether the distance is within the safe range. For example, the visual indication can be "yes," "no," green, red, "safe," "unsafe," etc. Additionally or alternatively, the information indicating whether the distance is within the safe range of the corresponding feature can include a visual indication of a discrete value of the distance. For example, the visual indication can be the value of the distance.

[0095] According to one embodiment, the information indicating whether the distance is within the safety range corresponding to the feature may include a visual indication of the safety range of the feature. For example, the visual indication of the safety range of the feature may be a drawing depicting a lower limit and an upper limit of the safety range. The lower limit may be the minimum distance of the safety range, and the upper limit may be the maximum distance of the safety range. Additionally or alternatively, the visual indication may include a marker positioned between the lower and upper limits of the safety range and indicating the distance between the feature and the medical device 140. In this case, the ultrasound system 110 may update the visual indication substantially in real time, such that the marker moves relative to the lower and upper limits as the distance between the feature and the medical device 140 changes as the medical device 140 navigates the region of interest.

[0096] According to one embodiment, information indicating whether the distance is within the safe range corresponding to the feature can be a warning indicating that the distance is not within the safe range. For example, the ultrasound system 110 can display a warning indicating that the distance between the feature and the medical device 140 is unsafe. As mentioned above, the distance can be the actual distance or the expected distance. Therefore, if the distance is the expected distance, the warning can be a preemptive warning. For example, the warning can indicate that the trajectory of the medical device 140 may be unsafe based on the safe range and the expected or actual location of the feature.

[0097] According to one implementation, a visual indication of the safety zone can be a visual depiction of the boundaries and limits of the safety zone. For example, a visual indication can be a visual depiction of the area surrounding features that identify the safety zone. Compared to image parameters of other parts of the ultrasound image within the safety zone, the visual depiction can include different image parameters (e.g., color, opacity, hue, intensity, etc.) for areas outside the safety zone.

[0098] According to one embodiment, the information indicating whether the distance is within a safe range corresponding to the feature can be a visual instruction including instructions for the user to move the medical device 140 in a specific direction. For example, the visual instruction can include instructions to move the medical device 140 in a direction that would cause the distance between the feature and the medical device 140 to be within a safe range.

[0099] According to one embodiment, the ultrasound system 110 can output an audio indication indicating whether the distance is within the safe range corresponding to the feature. For example, the ultrasound system 110 can output the audio indication based on the occurrence of a specific event. For example, a specific event could be the distance between the feature and the medical device 140 leaving the safe range and entering an unsafe range. Alternatively, a specific event could be the distance between the feature and the medical device 140 leaving a specific layer of the safe range and entering another layer of the safe range. Alternatively, a specific event could be a decrease in the distance between the feature and the medical device 140. Furthermore, the ultrasound system 110 can output an audio indication identifying the relative distance between the feature and the medical device 140. For example, the ultrasound system 110 can display an audio indication having audio parameters (e.g., level, pitch, frequency, etc.) that change based on the distance between the feature and the medical device 140. As a specific example, the ultrasound system 110 can increase the frequency of the audio indication based on a decrease in distance.

[0100] In this way, the user of medical device 140 can be context-aware as medical device 140 navigates within a region of interest and assess whether medical device 140 is within safe limits of various features of the region of interest. Therefore, some embodiments described herein improve patient safety, improve the outcome of interventional procedures, and increase the efficiency and speed of interventional procedures. Furthermore, some embodiments described herein provide an improved user interface for viewing medical images of the region of interest during interventional procedures.

[0101] Figure 5 The number and arrangement of operations in process 500 are provided as an example. In implementation, process 500 may include additional operations, fewer operations, different operations, or sequences or arrangements. Figure 5 The operations shown are different operations.

[0102] Figure 6 Illustration 600 of an ultrasound image shows features of the region of interest, medical devices, the safe range of the features, and information indicating whether the corresponding location of the features is within the safe range of the features.

[0103] like Figure 6As shown, the ultrasound system 110 can display an ultrasound image 602 of a region of interest (e.g., the heart). The ultrasound image 602 may include visual indicators 604 for a first feature (e.g., the His bundle), visual indicators 606 for a second feature (e.g., the mitral valve), visual indicators 608 for a third feature (e.g., the left atrial appendage), visual indicators 610 for a fourth feature (e.g., the sinoatrial node), and visual indicators 612 for a medical device 140 (e.g., a catheter). In this way, when a user navigates the medical device 140 within the region of interest, the user can visually assess the relative position of the features with respect to the medical device 140.

[0104] like Figure 6 As further shown, the ultrasound system 110 can display a visual indication of a safe range 614, which identifies a considered safe distance between the corresponding feature and the medical device 140. The safe range 614 may include a relatively safe first layer 616 and a second layer 618 with greater safety than the first layer 616. Furthermore, the ultrasound system 110 can display an unsafe range 620, which includes a considered unsafe distance between the corresponding feature and the medical device 140.

[0105] like Figure 6 As further shown, the ultrasound system 110 can display a visual indication 622 for the first feature and a marked visual indication 622 indicating the distance between the first feature and the medical device 140. Furthermore, the visual indication 622 indicates that the distance between the first feature and the medical device 140 is within an unsafe range 620. In this way, the user can assess whether the medical device 140 is positioned too close to the first feature and whether the medical device 140 may cause harm to the first feature and / or the patient.

[0106] like Figure 6 As further shown, the ultrasound system 110 can display a visual indication 626 for the second feature and a marked visual indication 628 indicating the distance between the second feature and the medical device 140. Furthermore, the visual indication 628 indicates that the distance between the second feature and the medical device 140 is within a second layer 618 of a safety range 614. In this way, the user can assess whether the medical device 140 is safely positioned relative to the second feature.

[0107] like Figure 6As further shown, the ultrasound system 110 can display a visual indication 630 for the third feature and a marked visual indication 632 indicating the distance between the third feature and the medical device 140. Furthermore, the visual indication 632 indicates that the distance between the third feature and the medical device 140 is within a second layer 618 of a safety range 614. In this way, the user can assess whether the medical device 140 is safely positioned relative to the third feature.

[0108] like Figure 6 As further shown, the ultrasound system 110 can display a visual indication 634 for the fourth feature and a marked visual indication 636 indicating the distance between the fourth feature and the medical device 140. Furthermore, the visual indication 636 indicates that the distance between the fourth feature and the medical device 140 is within the first layer 616 of the safe range 614. In this way, the user can assess that the medical device 140 is relatively safely positioned relative to the fourth feature, but caution should be exercised to avoid this distance entering the unsafe range 620.

[0109] although Figure 6 The safe range 614 and the unsafe range 620 are described as being the same for each feature, but it should be understood that the safe range and the unsafe range may vary based on a particular feature.

[0110] Figure 7 Illustration 700 shows an ultrasound image displaying features of the region of interest and medical instruments. (Example) Figure 7 As shown, the ultrasound system 110 can display an ultrasound image 702 that includes visual indications of the medical device 140, a first feature 706, and a third feature 708. The ultrasound image 702 includes a plane perpendicular to the trajectory of the medical device 140. In this way, a user can evaluate the features and the corresponding positions of the medical device 140 from different viewing planes corresponding to the trajectory of the medical device 140.

[0111] Figure 8 Illustration 800 of an ultrasound image shows features of a region of interest, medical devices, and information indicating whether the corresponding location of the features is within the safe range of the features.

[0112] like Figure 8As shown, the ultrasound system 110 can display an ultrasound image 802 of a region of interest (e.g., the heart). The ultrasound image 802 may include visual indicators 804 for a first feature (e.g., the His bundle), visual indicators 806 for a second feature (e.g., the mitral valve), visual indicators 808 for a third feature (e.g., the left atrial appendage), visual indicators 810 for a fourth feature (e.g., the sinoatrial node), and visual indicators 812 for a medical device 140 (e.g., a catheter). In this way, when a user navigates the medical device 140 within the region of interest, the user can visually assess the relative position of the features with respect to the medical device 140.

[0113] like Figure 8 As further shown, the ultrasound system 110 can display a visual indication 814 for the first feature and a visual indication 816 indicating that the medical device 140 is outside the safety range corresponding to the first feature. For example... Figure 8 As further shown, the ultrasound system 110 can display visual indications 818 for the second feature and visual indications 820 identifying the medical device 140 within a safety range corresponding to the second feature. For example... Figure 8 As further shown, the ultrasound system 110 can display visual indications 822 for the third feature and visual indications 824 identifying the medical device 140 within the safety range corresponding to the third feature. For example... Figure 8 As further shown, the ultrasound system 110 can display visual indications 826 for the fourth feature and visual indications 826 indicating that the medical device 140 is within a safe range corresponding to the fourth feature. In this way, the user can assess whether the medical device 140 is safely or unsafely positioned relative to the feature.

[0114] Figure 9 Illustration 900 of an ultrasound image shows features of a region of interest, medical devices, and information indicating whether the corresponding location of the features is within the safe range of the features.

[0115] like Figure 9 As shown, the ultrasound system 110 can display an ultrasound image 902 of a region of interest (e.g., the heart). The ultrasound image 902 may include visual indicators 904 for a first feature (e.g., the His bundle), visual indicators 906 for a second feature (e.g., the mitral valve), visual indicators 908 for a third feature (e.g., the left atrial appendage), visual indicators 910 for a fourth feature (e.g., the sinoatrial node), and visual indicators 912 for a medical device 140 (e.g., a catheter). In this way, when a user navigates the medical device 140 within the region of interest, the user can visually assess the relative position of the features with respect to the medical device 140. Figure 9As further shown, the ultrasound system 110 can display a visual indication 914 indicating that the medical device 140 is not within the safe zone corresponding to the first feature. In this way, the user can assess whether the medical device 140 is safely or unsafely positioned relative to the feature.

[0116] Figure 10 Illustration 1000 of an ultrasound image shows features of a region of interest, medical devices, and information indicating whether the corresponding location of the features is within the safe range of the features.

[0117] like Figure 10 As shown, the ultrasound system 110 can display an ultrasound image 1002 of a region of interest (e.g., the heart). The ultrasound image 1002 may include visual indicators 1004 for a first feature (e.g., the His bundle), visual indicators 1006 for a second feature (e.g., the mitral valve), visual indicators 1008 for a third feature (e.g., the left atrial appendage), visual indicators 1010 for a fourth feature (e.g., the sinoatrial node), and visual indicators 1012 for a medical device 140 (e.g., a catheter). In this way, when a user navigates the medical device 140 within the region of interest, the user can visually assess the relative position of the features with respect to the medical device 140. Figure 10 As further shown, the ultrasound system 110 can display a visual indication 1014 that identifies the medical device 140 on a trajectory that would cause the medical device 140 to be positioned outside the safe range corresponding to the first feature. In this way, the user can assess whether the medical device 140 is positioned safely or unsafely relative to the feature.

[0118] Figure 11 Illustration 1100 is a mapping map that shows features of the region of interest, medical devices, and information indicating whether the corresponding locations of the features are within the safe range of the features.

[0119] like Figure 11As shown, the ultrasound system 110 can display a mapping map 1102, which includes a set of layers representing the unsafe range of the medical device 140 relative to a set of features, and a set of layers representing the safe range of the medical device 140 relative to the same set of features. For example, the mapping map 1102 may include a first layer 1104 representing the unsafe range of the medical device 140 relative to the same set of features, and a second layer 1106 representing the unsafe range of the medical device 140 relative to the same set of features. In this case, the first layer 1104 may be less safe than the second layer 1106. As further shown, the mapping map 1102 may include a first layer 1108 representing the safe range of the medical device 140 relative to the same set of features, a second layer 1110 representing the safe range of the medical device 140 relative to the same set of features, a third layer 1112 representing the safe range of the medical device 140 relative to the same set of features, and a fourth layer 1114 representing the safe range of the medical device 140 relative to the same set of features. The first layer 1104, the second layer 1106, the first layer 1108, the second layer 1110, the third layer 1112, and the fourth layer 1114 can be displayed with different image parameters (e.g., color, opacity, hue, intensity, etc.).

[0120] The ultrasound system 110 can display a visual indicator 1116 of the medical device 140 on a mapping map 1102. The visual indicator 1116 can be fixed at the center of the mapping map 1102. The ultrasound system 110 can display a visual indicator 1118 of a first feature of the region of interest. The visual indicator 1118 can include a position on the mapping map 1102 that indicates the distance of the first feature relative to the medical device 140, indicates the position of the first feature relative to the medical device 140, and indicates whether the distance is within the safe range of the first feature. Here, the visual indicator 1118 is in a second layer 1110 of the safe range, indicating that the distance is relatively safe. The ultrasound system 110 can display a visual indicator 1120 of a second feature of the region of interest. The visual indicator 1120 can include a position on the mapping map 1102 that indicates the distance of the second feature relative to the medical device 140, indicates the position of the second feature relative to the medical device 140, and indicates whether the distance is within the safe range of the second feature. Here, visual indication 1120 is in the first layer 1108 of the safety range, and this indication should be used with caution. The ultrasound system 110 can display visual indication 1120 of a third feature within the region of interest. Visual indication 1122 may include a position on the mapping map 1102 that identifies the distance of the third feature relative to the medical device 140, identifies the position of the third feature relative to the medical device 140, and indicates whether the distance is within the safety range of the third feature. Here, visual indication 1122 is in the fourth layer 1114 of the safety range, indicating that the distance is relatively safe.

[0121] As the medical device 140 navigates throughout the region of interest, the ultrasound system 110 can update the corresponding positions of visual indicators 1118, 1120, and 1122. In this way, as the user navigates the medical device 140 within the region of interest, the user can visually assess the relative position of features with respect to the medical device 140.

[0122] The ultrasound system 110 can overlay a mapping map 1102 onto an ultrasound image, such as ultrasound image 602, ultrasound image 702, ultrasound image 802, ultrasound image 902 and / or ultrasound image 1002.

[0123] Although the embodiments described herein are performed using ultrasound data and ultrasound images, it should be understood that the embodiments described herein are applicable to other imaging modalities. Furthermore, although the embodiments described herein are performed in conjunction with cardiac surgery, it should be understood that the embodiments described herein are applicable to any other type of interventional procedure involving any anatomical region of the patient.

[0124] The embodiments shown in the accompanying drawings and described above are merely illustrative embodiments and are not intended to limit the scope of the appended claims, including any equivalents included within the scope of the claims. Various modifications are possible and will be apparent to those skilled in the art. Any combination of non-mutually exclusive features described herein is intended to be within the scope of the invention. That is, features of the embodiments may be combined with any suitable aspect described above, and optional features of any aspect may be combined with any other suitable aspect. Similarly, features listed in dependent claims may be combined with non-mutually exclusive features of other dependent claims, particularly where the dependent claims are subordinate to the same independent claim. In some jurisdictions that claim a single dependent claim, such dependent claims may have been used in practice, but this should not be construed as meaning that features in dependent claims are mutually exclusive.

Claims

1. A system (100), the system comprising: An ultrasound probe (202) is configured to acquire ultrasound data of a region of interest of a subject; A display (218) configured to display an ultrasound image corresponding to the ultrasound data; Memory (220), the memory being configured to store instructions; as well as One or more processors (216), said one or more processors being configured to execute the instructions to: Receive (510) information identifying features of the subject in the region of interest to be tracked during the intervention procedure, the intervention procedure involving a medical device (140) navigating in the region of interest; Determine the location of the feature in the region of interest of the subject (520); Determine (530) the location of the medical device (140) in the region of interest of the subject during the intervention procedure; Determine the distance between the location of the feature (540) and the location of the medical device (140); Determine (550) whether the distance is within a safe range corresponding to the feature; control (560) the display (218) to display the ultrasound image of the region of interest, including the feature and the medical device (140); as well as The display (570) is controlled to display information indicating whether the distance between the location of the feature and the location of the medical device (140) is within the safe range corresponding to the feature.

2. The system (100) of claim 1, wherein the information indicating whether the distance between the location of the feature and the location of the medical device (140) is within the safety range corresponding to the feature includes a marker indicating the distance between the location of the feature and the location of the medical device (140) and moving relative to a lower limit of the safety range.

3. The system (100) of claim 1, wherein the information indicating whether the distance between the location of the feature and the location of the medical device (140) is within the safety range corresponding to the feature includes a visual indication of the safety range.

4. The system (100) of claim 1, wherein the information indicating whether the distance between the location of the feature and the location of the medical device (140) is within the safe range corresponding to the feature includes a warning indicating that the distance is not within the safe range.

5. The system (100) according to claim 1, wherein the one or more processors (216) are further configured to: Generate a spatiotemporal mapping map of the region of interest, wherein the spatiotemporal mapping map identifies a set of locations of the features within the region of interest across a time range. Determining the distance between the location of the feature and the location of the medical device (140) includes using the spatiotemporal mapping to determine the distance between the location of the feature and the location of the medical device (140).

6. The system (100) according to claim 1, wherein the one or more processors (216) are further configured to: The display (218) is controlled to display information indicating whether the corresponding distance between the corresponding location of a plurality of features and the location of the medical device (140) is within the corresponding safety range corresponding to the plurality of features.

7. The system (100) of claim 1, wherein the feature includes anatomical features or implantable devices.

8. A method (500), the method comprising: Receive (510) information identifying features in the subject’s region of interest to be tracked during the intervention procedure, the intervention procedure involving a medical device (140) navigating in the region of interest; Determine the location of the feature in the region of interest of the subject (520); Determine (530) the location of the medical device (140) in the region of interest of the subject during the intervention procedure; Determine the distance between the location of the feature (540) and the location of the medical device (140); Determine (550) whether the distance is within the safe range corresponding to the feature; Control (560) the display (218) to display an ultrasound image corresponding to the ultrasound data of the region of interest, the ultrasound image including the features and the medical device (140); and Control (570) the display (218) to display information indicating whether the distance between the location of the feature and the location of the medical device (140) is within the safety range corresponding to the feature.

9. The method (500) of claim 8, wherein the information indicating whether the distance between the location of the feature and the location of the medical device (140) is within the safety range corresponding to the feature includes a marker indicating the distance between the location of the feature and the location of the medical device (140) and moving relative to a lower limit of the safety range.

10. The method (500) of claim 8, wherein the information indicating whether the distance between the location of the feature and the location of the medical device (140) is within the safety range corresponding to the feature includes a visual indication of the safety range.

11. The method (500) of claim 9, wherein the information indicating whether the distance between the location of the feature and the location of the medical device (140) is within the safe range corresponding to the feature includes a warning indicating that the distance is not within the safe range.

12. The method (500) according to claim 9, further comprising: Generate a spatiotemporal mapping map of the region of interest, wherein the spatiotemporal mapping map identifies a set of locations of the features within the region of interest across a time range. Determining the distance between the location of the feature and the location of the medical device (140) includes using the spatiotemporal mapping to determine the distance between the location of the feature and the location of the medical device (140).

13. The method (500) according to claim 9, further comprising: The display (218) is controlled to display information indicating whether the corresponding distance between the corresponding location of a plurality of features and the location of the medical device (140) is within the corresponding safety range corresponding to the plurality of features.

14. The method (500) of claim 9, wherein the feature includes anatomical features or an implantable device.

15. A non-transitory computer-readable medium storing instructions, said instructions causing said one or more processors, when executed, to: Receive (510) information identifying features in the subject’s region of interest to be tracked during the intervention procedure, the intervention procedure involving a medical device (140) navigating in the region of interest; Determine the location of the feature in the region of interest of the subject (520); Determine (530) the location of the medical device (140) in the region of interest of the subject during the intervention procedure; Determine the distance between the location of the feature (540) and the location of the medical device (140); Determine (550) whether the distance is within the safe range corresponding to the feature; Control the display (218) (560) to display an ultrasound image of the region of interest, including the features and the medical device (140); as well as The display (570) is controlled to display information indicating whether the distance between the location of the feature and the location of the medical device (140) is within the safe range corresponding to the feature.

Images