Methods And Systems For Performing Medical Procedures With Reference To Projective Image And With Respect To Pre-Stored Images

Abstract

A catheter is navigated within a body cavity of a patient. This navigation is enabled by the provision of the transmitter of electromagnetic radiation under platform, a receiver of electromagnetic radiation rigidly attached to fluoroscope, and a receiver of radiation rigidly attached to the catheter, all three of which are connected by wires to a computer. The computer displays, on a display unit, the image of the body cavity acquired by the fluoroscope, with an icon representing the catheter superposed on the image in the location and orientation of catheter relative to the body. There is no representational imaging device equipped with a receiver in the apparatus of the current invention.

1 - 10 . (canceled) 
     
     
         11 . A method of treating a body of a patient, comprising the steps of:
 simultaneously:
 acquiring a first image of at least a portion of the body, using an imaging device, 
 measuring a disposition of said imaging device relative to a reference frame, and 
 measuring a disposition of the body relative to said reference frame: 
   restoring said imaging device and the body to respective dispositions that are equivalent to said measured dispositions; and   performing a medical procedure on the body with reference to said first image after said restoring of said imaging device and of the body to said equivalent dispositions.   
     
     
         12 . The method of  claim 11 , wherein said measuring of said disposition of said imaging device is effected using a disposing system that includes a disposition implement associated with said imaging device and a disposing implement associated with said reference frame. 
     
     
         13 . The method of  claim 11 , wherein said measuring of said disposition of said imaging device is effected using a disposing system that includes a disposing implement associated with said imaging device and a disposition implement associated with said reference frame. 
     
     
         14 . The method of  claim 11 , wherein said measuring of said disposition of the body is effected using a disposing system that includes a disposition implement associated with the body and a disposing implement associated with said reference frame. 
     
     
         15 . The method of  claim 11 , wherein said measuring of said disposition of the body is effected using a disposing system that includes a disposing implement associated with the body and a disposition implement associated with said reference frame. 
     
     
         16 . The method of  claim 11 , further comprising the step of:
 acquiring a second image of said at least portion of the body, using said imaging device, after said imaging device and the body have been restored to said equivalent dispositions thereof; said medical procedure being performed with reference to both said images.   
     
     
         17 . The method of  claim 11 , wherein said performing of said medical procedure includes navigating a probe to a point-of-interest in said at least portion of the body with reference to said first image. 
     
     
         18 . The method of  claim 17 , further comprising the steps of:
 acquiring a second image of said at least portion of the body, using said imaging device, after said imaging device and the body have been restored to said equivalent dispositions; said navigating being with reference to both said images.   
     
     
         19 . The method of  claim 17 , wherein said navigating includes measuring a disposition of said probe relative to said reference frame. 
     
     
         20 . The method of  claim 17 , wherein said measuring of said disposition of said probe is effected using a disposing system that includes a disposition implement associated with said probe and a disposing implement associated with said reference frame. 
     
     
         21 . The method of  claim 17 , wherein said measuring of said disposition of said probe is effected using a disposing system that includes a disposing implement associated with said probe and a disposition implement associated with said reference frame. 
     
     
         22 . The method of  claim 19 , wherein said measuring of said disposition of said imaging device, said measuring of said disposition of the body and said measuring of said disposition of said probe are effected using a common disposing system that includes a first disposition implement associated with said imaging device, a second disposition implement associated with the body, a third disposition implement associated with said probe and a common disposing implement associated with said reference frame. 
     
     
         23 . The method of  claim 19 , wherein said measuring of said disposition of said imaging device, said measuring of said disposition of the body and said measuring of said disposition of said probe are effected using a common disposing system that includes a first disposing implement associated with said imaging device, a second disposing implement associated with the body, a third disposing implement associated with said probe and a common disposition implement associated with said reference frame. 
     
     
         24 . A method of treating a body of a patient, comprising the steps of:
 simultaneously:
 acquiring a first image of at least a portion of the body, using an imaging device, 
 measuring a disposition of said imaging device relative to a reference frame, and 
 measuring a first disposition of the body relative to said reference frame; 
   measuring a second disposition of the body relative to said reference frame; and   performing a medical procedure on the body with reference to said first image and with reference to all three said dispositions.   
     
     
         25 . The method of  claim 24 , wherein said measuring of said disposition of said imaging device is effected using a disposing system that includes a disposition implement associated with said imaging device and a disposing implement associated with said reference frame. 
     
     
         26 . The method of  claim 24 , wherein said measuring of said disposition of said imaging device is effected using a disposing system that includes a disposing implement associated with said imaging device and a disposition implement associated with said reference frame. 
     
     
         27 . The method of  claim 24 , wherein said measuring of said dispositions of the body is effected using a disposing system that includes a disposition implement associated with the body and a disposing implement associated with said reference frame. 
     
     
         28 . The method of  claim 24 , wherein said measuring of said dispositions of the body is effected using a disposing system that includes a disposing implement associated with the body and a disposition implement associated with said reference frame. 
     
     
         29 . The method of  claim 24 , wherein said performing of said medical procedure includes navigating a probe to a point-of-interest in said at least portion of the body. 
     
     
         30 . The method of  claim 29 , wherein said navigating includes measuring a disposition of the probe relative to said reference frame. 
     
     
         31 . The method of  claim 30 , wherein said measuring of said disposition of said probe is effected using a disposing system that includes a disposition implement associated with said probe and a disposing implement associated with said reference frame. 
     
     
         32 . The method of  claim 30 , wherein said measuring of said disposition of said probe is effected using a disposing system that includes a disposing implement associated with said probe and a disposition implement associated with said reference frame. 
     
     
         33 . The method of  claim 30 , wherein said measuring of said disposition of said imaging device, said measuring of said dispositions of the body and said measuring of said disposition of said probe are effected using a common disposing system that includes a first disposition implement associated with said imaging device, a second disposition implement associated with the body, a third disposition implement associated with said probe and a common disposing implement associated with said reference frame. 
     
     
         34 . The method of  claim 30 , wherein said measuring of said disposition of said imaging device, said measuring of said dispositions of the body and said measuring of said disposition of said probe are effected using a common disposing system that includes a first disposing implement associated with said imaging device, a second disposing implement associated with the body, a third disposing implement associated with said probe and a common disposition implement associated with said reference frame.