Method and device for catheter navigation in three-dimensional vascular tree exposures

US6317621A · kind A · utility

Assignee

• Siemens Aktiengesellschaft · DE

Inventors

• Rainer Graumann · Annaberg-Buchholz, DE
• Norbert Rahn · Forchheim, DE

Key dates

• Filing date: Apr 27, 2000
• Grant date: Nov 13, 2001
• Expiry date: Apr 27, 2020

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61M25/0108
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

In a method and apparatus for catheter navigation in three-dimensional vascular tree exposures, particularly for intercranial application, the catheter position is detected and mixed into the 3D image of the pre-operatively scanned vascular tree reconstructed in a navigation computer and an imaging (registering) of the 3D patient coordination system ensues on the 3D image coordination system prior to the intervention using a number of markers placed on the patient's body, the position of these markers being registered by the catheter. The markers of a C-arm x-ray device for 3D angiography are detected in at least two 2D projection images, from which the 3D angiogram is calculated, and are projected back on to the imaged subject in the navigation computer and are brought into relation to the marker coordinates in the patient coordinate system, using projection matrices applied to the respective 2D projection images, these matrices already having been determined for the reconstruction of the 3D volume set of the vascular tree.