Method, apparatuses, and systems useful in conducting image guided interventions

Abstract

Methods, apparatuses, and systems relating to image guided interventions on dynamic tissue. One embodiment is a method that includes creating a dataset that includes images, one of the images depicting a non-tissue internal reference marker, being linked to non-tissue internal reference marker positional information, and being at least 2-dimensional. Another embodiment is a method that includes receiving a position of an instrument reference marker coupled to an instrument; transforming the position into image space using a position of a non-tissue internal reference marker implanted in a patient; and superimposing a representation of the instrument on an image in which the non-tissue internal reference marker appears. Computer readable media that include machine readable instructions for carrying out the steps of the disclosed methods. Apparatuses, such as integrated circuits, configured to carry out the steps of the disclosed methods. Systems that include devices configured to carry out steps of the disclosed methods.

What is claimed is: 
     
         1 . A method comprising:
 creating a dataset that includes images, one of the images (a) depicting a non-tissue internal reference marker, (b) being linked to non-tissue internal reference marker positional information, and (c) being at least 2-dimensional.   
     
     
         2 . The method of  claim 1 , where the non-tissue internal reference marker positional information comprises a dataset vector 
     
     
         3 .- 7 . (canceled) 
     
     
         8 . The method of  claim 2 , further comprising:
 loading a gated dataset into memory, the gated data set including the images, one of the images (a) depicting the non-tissue internal reference marker, and (b) being linked to a sample of a first periodic human characteristic signal.   
     
     
         9 . The method of  claim 8 , where each image (a) depicts the non-tissue internal reference marker, and (b) is linked to a sample of a first periodic human characteristic signal. 
     
     
         10 . The method of  claim 8 , further comprising:
 receiving a second periodic human characteristic signal; and   comparing a sample of the second periodic human characteristic signal to the sample of the first periodic human characteristic signal.   
     
     
         11 . The method of  claim 10 , where the first and second periodic human characteristic signals are electrocardiogram (ECG) signals. 
     
     
         12 . The method of  claim 10 , further comprising:
 recognizing a sample of the second periodic human characteristic signal that matches the sample of the first periodic human characteristic signal; and   receiving (a) a position of an external reference marker and (b) a position of the non-tissue internal reference marker.   
     
     
         13 . The method of  claim 12 , further comprising:
 calculating the dataset vector using (a) the position of the external reference marker and (b) the position of the non-tissue internal reference marker.   
     
     
         14 .- 23 . (canceled) 
     
     
         24 . A method comprising:
 receiving a position of an instrument reference marker coupled to an instrument;   transforming the position into image space using a position of a non-tissue internal reference marker implanted in a patient; and   superimposing a representation of the instrument on an image in which the non-tissue internal reference marker appears.   
     
     
         25 . The method of  claim 24 , where the image was taken using fluoroscopy. 
     
     
         26 . The method of  claim 24 , where the image was taken using computed tomography (CT). 
     
     
         27 . The method of  claim 24 , where the image was taken using magnetic resonance imaging (MRI). 
     
     
         28 . The method of  claim 24 , where the transforming includes transforming the position into image space using a transformation that is based, in part, on the position of the non-tissue internal reference marker implanted in the patient. 
     
     
         29 . The method of  claim 28 , further comprising:
 calculating the transformation using image space coordinates of the internal reference marker in the image.   
     
     
         30 . The method of  claim 29 , further comprising:
 linking the transformation to the image.   
     
     
         31 . The method of  claim 30 , further comprising:
 loading the transformation into memory.   
     
     
         32 . The method of  claim 24 , further comprising:
 receiving an image signal that includes the image.   
     
     
         33 . The method of  claim 32 , further comprising:
 receiving a position of the non-tissue internal reference marker in the image.   
     
     
         34 . The method of  claim 33 , further comprising:
 calculating a vector using the position   
     
     
         35 . The method of  claim 34 , further comprising:
 linking the vector with the image.   
     
     
         36 . The method of  claim 35 , where the transforming includes transforming the position into image space using a transformation that is based, in part, on the position of the non-tissue internal reference marker implanted in the patient. 
     
     
         37 . The method of  claim 36 , further comprising:
 linking the transformation from tracking space to image space with the image.   
     
     
         38 . A computer readable medium comprising machine readable instructions for carrying out the steps of  claim 24 . 
     
     
         39 . A method comprising:
 receiving an image signal that includes images, each image depicting a non-tissue internal reference marker;   receiving a position of the non-tissue internal reference marker in one of the images (image I 1 );   calculating a vector using the position;   linking the vector with an image I 1 ;   linking a transformation from tracking space to image space with image I 1 ;   receiving a current position of an instrument reference marker coupled to an instrument;   applying the transformation to the current position of the instrument reference marker; and   superimposing a representation of the instrument on image I 1 .   
     
     
         40 . A computer readable medium comprising machine readable instructions for carrying out the steps of  claim 39 .