3D Model Registration with Fluoroscopy for Cardiac Navigation
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Solution Overview
Problem
Current medical imaging systems, particularly fluoroscopy, struggle to accurately visualize and navigate anatomical structures like pulmonary veins and the coronary sinus during interventional procedures, such as AF ablation and bi-ventricular pacing, due to limited contrast and complex 3D geometry, leading to cumbersome and less effective procedures.
Innovation Solution
A system and method that register 3D models of anatomical regions with projection images using a common anatomical reference system, allowing for precise alignment and navigation of catheters and pacing leads by integrating CT imaging with fluoroscopy, enabling better visualization and placement of therapeutic devices.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If fluoroscopy is used for real-time imaging during interventional procedures, then real-time visualization is achieved, but anatomical structures like pulmonary veins and coronary sinus are not well depicted due to lack of contrast
Solution Approach 1:
The system merges fluoroscopy imaging with 3D model imaging by registering their respective coordinate systems. The fluoroscopy provides real-time 2D projection images while the 3D model (from CT or MRI) provides detailed anatomical structures. By transforming and overlaying these images, the system achieves both real-time visualization and precise anatomical depiction simultaneously.
Solution Approach 2:
The patent introduces an image registration and transformation system as an intermediary between the fluoroscopy images and the 3D anatomical models. This intermediary process aligns the coordinate systems of both imaging modalities and overlays the 3D model projections onto the real-time fluoroscopy images, enabling the fluoroscopy to display detailed anatomical structures that would otherwise be invisible.
2Measurement precision
If 3D models are used to improve anatomical visualization, then anatomical structure detail is enhanced, but the complexity of integrating multiple imaging systems increases
Solution Approach 1:
The system employs a universal coordinate system transformation approach that can handle multiple imaging modalities (fluoroscopy, CT, MRI) through a common mathematical framework. The registration process uses identifiable anatomical landmarks and transformation matrices that work across different imaging types, reducing the need for modality-specific integration procedures and simplifying the overall system architecture.
3Measurement precision
If multiple imaging systems are integrated for comprehensive visualization, then anatomical accuracy is improved, but the procedural time and complexity increase
Solution Approach 1:
The system performs preliminary actions by acquiring 3D anatomical models (CT or MRI scans) before the interventional procedure and pre-registering them with the fluoroscopy system. The coordinate system transformation and image registration are completed in advance, so that during the actual procedure, the system only needs to overlay the pre-processed 3D models onto the real-time fluoroscopy images, significantly reducing procedural time.
4Ease of operation
If fluoroscopy images are used alone for catheter navigation, then the procedure is simpler to operate, but the ability to visualize target anatomical structures is insufficient
Solution Approach 1:
The system creates a virtual copy of the 3D anatomical model and projects it onto the 2D fluoroscopy images. This virtual copy contains complete anatomical information (pulmonary veins, coronary sinus, etc.) that is then overlaid on the real-time fluoroscopy display. The physician interacts with the familiar fluoroscopy interface while the overlaid 3D model provides additional anatomical information, maintaining ease of operation while preventing information loss.
Data Source
AI summary
An imaging system for use in a medical intervention procedure is disclosed. A first image acquisition system is configured to produce a fluoroscopy image of an anatomical region. A second image acquisition system is configured to produce a 3D model of the anatomical region. An interventional tracking system, which includes a position indicator, is configured to maneuver within the anatomical region. A first anatomical reference system is common to both the first and the second image acquisition systems, and a second anatomical reference system is common to both the first image acquisition system and the interventional tracking system. A processing circuit configured to process executable instructions for registering the second image acquisition system with the first image acquisition system to define a first registration, registering the interventional tracking system with the first image acquisition system to define a second registration, and in response to the first and second registrations, registering the interventional tracking system with the second image acquisition system.