Abstract: Disclosed are method and apparatus for guiding a needle during an interventional radiology procedure. The target and skin entry point are pre-determined in three-dimensional medical imaging scans. The needle trajectory is defined by the target and skin entry point, which is physically marked on the skin. A dual-headed laser emitting two laser beams is positioned and aligned such that one laser beam is aimed at the skin entry point and the other laser beam is aimed at an external reference point, which is determined such that the axis of the laser beam aimed at the skin entry point is substantially collinear with the needle trajectory. The needle is inserted while maintaining the axis of the needle substantially collinear with the axis of the laser beam aimed at the skin entry point.

Abstract: A pointing light device includes a light pointer, such as a laser pointer; and an elongated pointing member detachably associated with the light pointer. The pointing member contains at least two bead-like members. Also, a method for aligning a light pointer with a predetermined medical interventional device trajectory. The method includes attaching a pointing member to an output end the light pointer to form a movable pointing light device; imaging two or more bead-like members of the pointing member to create live projection images or shadows in the live projection image; projecting at least first and second points associated with the predetermined medical interventional device trajectory onto the live projection image; and moving the pointing light device until the live projection images of the two members are aligned with corresponding ones of the projected first and second points in the live projection image.

Abstract: An improved method is disclosed for imaging in an interventional medical procedure that is more advanced than a conventional 2D image processing application and less restrictive than a 3D reconstruction image processing application. In contrast to the prior art 2D imaging application in which a single 2D image is acquired, the inventive method acquires and stores a set of 2D anatomical images while rotating a C-arm/X-ray source using a single injection of contrast agent. In lieu of performing a 3D reconstruction, the multiplicity of anatomical views provided by the set of 2D anatomical images adequately serve as a visual “rotatable roadmap” to perform classical 2D-roadmapping navigation. The “rotatable roadmap” assists a user to locate an ideal working view of the patient's region of operative interest.

Abstract: A system and method are disclosed for reconstructing an instrument in 3 dimensions for use during interventional medical procedures to provide enhanced instrument visualization with respect to a patient's vasculature. A patient vessel tree volume is co-registered with a live fluoroscopic image of a percutaneously-inserted instrument, such as a guidewire. The fluoroscopic image is segmented to eliminate images of surrounding tissue and to retain the guidewire image. The black pixels of the image are backprojected to the focal point of the x-ray source, through the co-registered vessel tree. The vessel tree is divided into segments that are scored based on proximity to the backprojected black pixels. Candidate instrument-containing vessel paths are identified based on the scores of the segments, and errant candidate vessel paths are eliminated to produce a refined list of candidate paths. Thresholding and visualization are performed to further refine the candidate vessel paths.

Abstract: A system and method are disclosed for reconstructing an instrument in 3 dimensions for use during interventional medical procedures to provide enhanced instrument visualization with respect to a patient's vasculature. A patient vessel tree volume is co-registered with a live fluoroscopic image of a percutaneously-inserted instrument, such as a guidewire. The fluoroscopic image is segmented to eliminate images of surrounding tissue and to retain the guidewire image. The black pixels of the image are backprojected to the focal point of the x-ray source, through the co-registered vessel tree. The vessel tree is divided into segments that are scored based on proximity to the backprojected black pixels. Candidate instrument-containing vessel paths are identified based on the scores of the segments, and errant candidate vessel paths are eliminated to produce a refined list of candidate paths. Thresholding and visualization are performed to further refine the candidate vessel paths.

Abstract: Disclosed are method and apparatus for guiding a needle during an interventional radiology procedure. The target and skin entry point are pre-determined in three-dimensional medical imaging scans. The needle trajectory is defined by the target and skin entry point, which is physically marked on the skin. A dual-headed laser emitting two laser beams is positioned and aligned such that one laser beam is aimed at the skin entry point and the other laser beam is aimed at an external reference point, which is determined such that the axis of the laser beam aimed at the skin entry point is substantially collinear with the needle trajectory. The needle is inserted while maintaining the axis of the needle substantially collinear with the axis of the laser beam aimed at the skin entry point.

Abstract: A pointing light device includes a light pointer, such as a laser pointer; and an elongated pointing member detachably associated with the light pointer. The pointing member contains at least two bead-like members. Also, a method for aligning a light pointer with a predetermined medical interventional device trajectory. The method includes attaching a pointing member to an output end the light pointer to form a movable pointing light device; imaging two or more bead-like members of the pointing member to create live projection images or shadows in the live projection image; projecting at least first and second points associated with the predetermined medical interventional device trajectory onto the live projection image; and moving the pointing light device until the live projection images of the two members are aligned with corresponding ones of the projected first and second points in the live projection image.

Abstract: An improved method is disclosed for imaging in an interventional medical procedure that is more advanced than a conventional 2D image processing application and less restrictive than a 3D reconstruction image processing application. In contrast to the prior art 2D imaging application in which a single 2D image is acquired, the inventive method acquires and stores a set of 2D anatomical images while rotating a C-arm/X-ray source using a single injection of contrast agent. In lieu of performing a 3D reconstruction, the multiplicity of anatomical views provided by the set of 2D anatomical images adequately serve as a visual “rotatable roadmap” to perform classical 2D-roadmapping navigation. The “rotatable roadmap” assists a user to locate an ideal working view of the patient's region of operative interest.

Abstract: A method is provided for simulating a flexible tube in an environment. The method comprises determining a model of the flexible tube according to a plurality of internal constraints of the flexible tube and a plurality of external constraints of the flexible tube, determining a workspace of the flexible tube according to a model of the flexible tube, and determining a model of an active bending behavior of a tip of the flexible tube.

Abstract: A method for determining instructions for handling a flexible instrument comprises parameterizing the flexible instrument according to a plurality of parameters for handling the instrument, determining at least one instrument configuration, wherein the configuration describes at least one parameter, and determining instructions for handling the instrument according to the configuration.

Abstract: Techniques are provided to determine, for a given set of possible initial needle positions, the smallest set of needles needed to guarantee a successful biopsy. Advantageously, this problem may be formulated as a “Set Covering Problem” (SCP), a well-known combinatorial optimization problem for which good approximations are known. Additionally, the present invention provides techniques to maximize the coverage of the possible initial positions for a given maximum number of k needles. This aspect of the invention may be formulated as a “Maximum k-Coverage Problem”.

Abstract: A method is provided for simulating a flexible tube in an environment. The method comprises determining a model of the flexible tube according to a plurality of internal constraints of the flexible tube and a plurality of external constraints of the flexible tube, determining a workspace of the flexible tube according to a model of the flexible tube, and determining a model of an active bending behavior of a tip of the flexible tube.

Abstract: A method for determining instructions for handling a flexible instrument comprises parameterizing the flexible instrument according to a plurality of parameters for handling the instrument, determining at least one instrument configuration, wherein the configuration describes at least one parameter, and determining instructions for handling the instrument according to the configuration.