Abstract: A method and system for detecting a virtual electrode (VE) on a coronary sinus (CS) catheter in a fluoroscopic image sequence is disclosed. User inputs indicating locations of CS catheter electrodes and a location of a VE are received. A catheter electrode model and a VE part model is initialized in a first frame of the fluoroscopic image sequence. The VE is tracked by detecting electrode position candidates and catheter body point candidates in the subsequent frames of the fluoroscopic image sequence using respective trained detectors, tracking the catheter electrode model in the subsequent frames based on the detected electrode position candidates, generating VE part hypotheses in the subsequent frames based on detection of the most proximal electrode (MPE) in each subsequent frame, calculating a probability score for each of the VE part hypotheses, and selecting an VE part hypothesis with the highest probability score.

Abstract: A method for compensating cardiac and respiratory motion in atrial fibrillation ablation procedures includes (a) simultaneously determining a position of a circumferential mapping (CFM) catheter and a coronary sinus (CS) catheter in two consecutive image frames of a series of first 2-D image frames; (b) determining a distance between a virtual electrode on the CS catheter and a center of the CFM catheter for a first image frame of the two consecutive image frames, and for a second image frame of the two consecutive image frames; and (c) if an absolute difference of the distance for the first image frame and the distance for the second image frame is greater than a predetermined threshold, compensating for motion of the CFM catheter in a second 2-D image.

Abstract: An integrated catheter navigation system (100) and method (200) that combines anatomical imaging (302, 304) with catheter tip-to force information (306, 308) during an ablation procedure.

Abstract: A computer-implemented method for tracking one or more objects in a sequence of images includes generating a dictionary based on object locations in a first image included in the sequence of images. One or more object landmark candidates are identified in the sequence of images and a plurality of tracking hypothesis for the object landmark candidates are generated. A first tracking hypothesis is selected from the plurality of tracking hypothesis based on the dictionary.

Abstract: A method for three-dimensional esophageal reconstruction includes acquiring a first X-ray image from a first angle with respect to a subject using a first X-ray imager. At least a second X-ray image is acquired from a second angle, different than the first angle, with respect to the subject using a second X-ray imager. Additional X-ray images may be acquired from additional angle. A three-dimensional model of the esophagus is generated from the at least two X-ray images acquired at different angles. A set of fluoroscopic X-ray images is acquired using either the first X-ray imager or the second X-ray imager. The three-dimensional model of the esophagus is registered to the acquired set of fluoroscopic X-ray images. The three-dimensional model of the esophagus is displayed overlaying the set of fluoroscopic X-ray images.

Abstract: A method (200, 300) and system (100) for performing real-time, dynamic overlays on fluoroscopic images to aid in navigation and localization during medical procedures.

Abstract: A method for the detection of a balloon catheter within a fluoroscopic image, including: removing noise from a fluoroscopic image; detecting edges of a balloon catheter in the fluoroscopic image, wherein the detected edges include subsets of connected edges; extracting an edge subset from the subsets of connected edges; fitting a model to the extracted edge subset; removing outliers of the extracted edge subset based on the fitting of the model; adding the extracted edge subset without the outlier to a data set; repeating the extracting, fitting, removing and adding steps for the remainder of the subsets of connected edges; and fitting the model to the data set, wherein the data set is indicative of the balloon catheter.

Abstract: A method and system for detecting and tracking an ablation catheter tip in a fluoroscopic image sequence is disclosed. Catheter tip candidates are detected in each frame of the fluoroscopic image sequence using marginal space learning. The detected catheter tip candidates are then tracked over all the frames of the fluoroscopic image sequence in order to determine an ablation catheter tip location in each frame.

Abstract: A method and system for detecting a virtual electrode (VE) on a coronary sinus (CS) catheter in a fluoroscopic image sequence is disclosed. User inputs indicating locations of CS catheter electrodes and a location of a VE are received. A catheter electrode model and a VE part model is initialized in a first frame of the fluoroscopic image sequence. The VE is tracked by detecting electrode position candidates and catheter body point candidates in the subsequent frames of the fluoroscopic image sequence using respective trained detectors, tracking the catheter electrode model in the subsequent frames based on the detected electrode position candidates, generating VE part hypotheses in the subsequent frames based on detection of the most proximal electrode (MPE) in each subsequent frame, calculating a probability score for each of the VE part hypotheses, and selecting an VE part hypothesis with the highest probability score.

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: A system for planning a percutaneous procedure provides a patient 3-dimensional image data set within which an instrument trajectory is defined, for example, by selecting a skin entry point and a target point. A line, or “planned path,” is generated between the points. The system determines whether the path can be targeted so an optical axis of a movable arm coincides with the path so that a laser can be used for instrument guidance or whether a planned path can be targeted so that a C-arm can be made to coincide with the path so that the extension of the path is projected onto a radiation detector, using x-ray radiation. If neither laser guidance or x-ray guidance can be used, the path is replanned.

Abstract: A method and system for detecting and tracking coronary sinus (CS) catheter electrodes in a fluoroscopic image sequence is disclosed. An electrode model is initialized in a first frame of the fluoroscopic image sequence based on input locations of CS sinus catheter electrodes in the first frame. The electrode model is tracked in subsequent frames of the fluoroscopic image sequence by detecting electrode position candidates in the subsequent frames of the fluoroscopic image sequence using at least one trained electrode detector, generating electrode model candidates in the subsequent frames based on the detected electrode position candidates, calculating a probability score for each of the electrode model candidates, and selecting an electrode model candidate based on the probability score.

Abstract: A method for visualizing temporal phenomena and constructing 3D views from a series of medical images includes providing a first time series of digital images of contrast-enhanced blood flow in a patient, each acquired from a same viewing point with a known epipolar geometry, each said image comprising a plurality of intensities associated with an N-dimensional grid of points, calculating one or more time-density curves from said first time series of digital images, each curve indicative of how the intensity at corresponding points in successive images changes over time, and generating one or more overview images from said time density curves using a color coding technique, wherein said each overview image depict how a physical property value changes from said blood flow at selected corresponding points in said first time series of images.

Abstract: A method for three-dimensional esophageal reconstruction includes acquiring a first X-ray image from a first angle with respect to a subject using a first X-ray imager. At least a second X-ray image is acquired from a second angle, different than the first angle, with respect to the subject using a second X-ray imager. Additional X-ray images may be acquired from additional angle. A three-dimensional model of the esophagus is generated from the at least two X-ray images acquired at different angles. A set of fluoroscopic X-ray images is acquired using either the first X-ray imager or the second X-ray imager. The three-dimensional model of the esophagus is registered to the acquired set of fluoroscopic X-ray images. The three-dimensional model of the esophagus is displayed overlaying the set of fluoroscopic X-ray images.

Abstract: A method for simultaneous visualization of the outside and the inside of a surface model at a selected view orientation includes receiving a digitized representation of a surface of a segmented object, where the surface representation comprises a plurality of points, receiving a selection of a viewing direction for rendering the object, calculating an inner product image be calculating an inner product {right arrow over (n)}p·{right arrow over (d)} at each point on the surface mesh, where {right arrow over (n)}p is a normalized vector representing the normal direction of the surface mesh at a point p towards the exterior of the object and {right arrow over (d)} is a normalized vector representing the view direction, and rendering the object using an opacity that is a function of the denoised inner product image to yield a rendered object, where an interior of the object is rendered.

Abstract: A method for registering a two-dimensional image of a cardiocirculatory structure and a three-dimensional image of the cardiocirculatory structure includes acquiring a three-dimensional image including the cardiocirculatory structure using a first imaging modality. The acquired three-dimensional image is projected into two-dimensions to produce a two-dimensional projection image of the cardiocirculatory structure. A structure of interest is segmented either from the three-dimensional image prior to projection or from the projection image subsequent to projection. A two-dimensional image of the cardiocirculatory structure is acquired using a second imaging modality. The structure of interest is segmented from the acquired two-dimensional image. A first distance map is generated based on the two-dimensional projection image and a second distance map is generated based on the acquired two-dimensional image.

Abstract: For calibrating a multi-plane X-ray unit, an internal matrix mapping coordinate system internal to the unit onto coordinate system of a first radiographic plane is predefined in a reference projection geometry. An external matrix mapping coordinate system external to the unit onto coordinate system of the first plane is determined from image data captured by the first plane at calibration points and coordinates of the calibration points. An external matrix mapping coordinate system external to the unit onto coordinate system of a second radiographic plane is determined from image data captured by the second plane at the calibration points and the coordinates of the calibration points. A measure of position of the second plane with respect to coordinate system internal to the unit or with respect to the first plane is determined from the internal and external matrix of the first plane and the external matrix of the second plane.

Abstract: A system and method are disclosed for planning a percutaneous procedure and for guiding an instrument to engage a target within a patient's body. A patient 3-dimensional image data set is provided, within which a user selects a skin entry point and a target point. A line, or “planned path,” is generated between the points which is used to align a movable arm to achieve a “Bull's Eye View,” in which the two points are superimposed. The instrument is placed at the skin entry point and aligned using the Bull's Eye View along a desired trajectory that intersects the target. Initial alignment is verified using fluoroscopy. Progression fluoroscopic views are used during the insertion procedure to ensure the instrument remains on the planned path. When the instrument reaches the target, a procedure may be performed, such as a biopsy, a drainage procedure, a radiofrequency ablation, or other medical interventional procedure.

Abstract: For calibrating a multi-plane X-ray unit, an internal matrix mapping coordinate system internal to the unit onto coordinate system of a first radiographic plane is predefined in a reference projection geometry. An external matrix mapping coordinate system external to the unit onto coordinate system of the first plane is determined from image data captured by the first plane at calibration points and coordinates of the calibration points. An external matrix mapping coordinate system external to the unit onto coordinate system of a second radiographic plane is determined from image data captured by the second plane at the calibration points and the coordinates of the calibration points. A measure of position of the second plane with respect to coordinate system internal to the unit or with respect to the first plane is determined from the internal and external matrix of the first plane and the external matrix of the second plane.

Abstract: A system and method for planning and performing a percutaneous medical procedure is described. A three dimensional data set of a patient is registered with respect to a patient position and an interventional apparatus, which may be a C-arm X-ray device. A target within the patient is identified in the image data, and a skin entry point chosen for planning the procedure. The image data set is processed so as to compute a two dimensional fluoroscopic overlay image upon which the target and the skin entry point are displayed. The angulation of the volumetric representation of the C-arm is controlled so as to plan the guiding path for an interventional device, and the planning attempts to achieve one of a bull's eye orientation or a generalized bull's orientation. The interventional device is aligned with the guiding axis to perform the procedure, which may be monitored using X-ray progression views.