System and method for identifying, marking and navigating to a target using real time two dimensional fluoroscopic data

Abstract

A system for facilitating identification and marking of a target in a fluoroscopic image of a body region of a patient, the system comprising one or more storage devices having stored thereon instructions for: receiving a CT scan and a fluoroscopic 3D reconstruction of the body region of the patient, wherein the CT scan includes a marking of the target; and generating at least one virtual fluoroscopy image based on the CT scan of the patient, wherein the virtual fluoroscopy image includes the target and the marking of the target, at least one hardware processor configured to execute these instructions, and a display configured to display to a user the virtual fluoroscopy image and the fluoroscopic 3D reconstruction.

1 . (canceled) 
     
     
         2 . A system for intraluminal navigation comprising:
 a workstation configured for receiving pre-procedure images; and   an application stored in a memory and configured for execution on a processor of the workstation, the application executing steps of:
 receiving a plurality of fluoroscopic images from a fluoroscopic sweep of a portion of a patient; 
 generating a three-dimensional (3D) volumetric reconstruction from the plurality fluoroscopic images received; 
 causing display of a slice image of the 3D volumetric reconstruction, wherein a user interface includes a scroll bar enabling scrolling to change the displayed slice image of the 3D volumetric reconstruction; 
 receiving an indication of a suspected lesion in two fluoroscopic images; 
 detecting a medical device in the 3D volumetric reconstruction; and 
 causing display of the 3D volumetric reconstruction, wherein the 3D volumetric reconstructions depicts the detected medical device relative to the indicated suspected lesion in the 3D volumetric reconstruction. 
   
     
     
         3 . The system of  claim 2 , wherein the indication of the suspected lesion is made in two slice images of the 3D volumetric reconstruction. 
     
     
         4 . The system of  claim 3 , wherein the two slice images are taken from two different angles of the 3D volumetric reconstruction. 
     
     
         5 . The system of  claim 2 , wherein the application, when executed by the processor to detect the medical device, detects the medical device in an automatic detection. 
     
     
         6 . The system of  claim 2 , wherein the indication of the suspected lesion is automatically generated by the application. 
     
     
         7 . The system of  claim 2 , wherein the application, when executed by the processor to detect the medical device, receives an input via the user interface on the slice image of the 3D volumetric reconstruction. 
     
     
         8 . The system of  claim 2 , wherein the indication of a suspected lesion is a manual indication received via the user interface on which the slice image of the 3D volumetric reconstruction is caused to be displayed. 
     
     
         9 . The system of  claim 2 , further comprising receiving an indication of a position of a distal tip of the medical device. 
     
     
         10 . A method for intraluminal navigation comprising:
 receiving fluoroscopic images from a fluoroscopic sweep of a desired portion of a patient;   generating a three-dimensional (3D) volumetric reconstruction from the received fluoroscopic images;   causing display of a slice image of the 3D volumetric reconstruction on a user interface, wherein the user interface includes a scroll bar enabling scrolling to change the displayed slice image of the 3D volumetric reconstruction;   receiving an indication of a suspected lesion in two slice images of the 3D volumetric reconstruction;   detecting a medical device in the 3D volumetric reconstruction; and   causing the display of the 3D volumetric reconstruction, wherein the 3D volumetric reconstruction depicts the detected medical device relative to the indicated suspected lesion in the 3D volumetric reconstruction.   
     
     
         11 . The method of  claim 10 , wherein the indication of the suspected lesion is made in two slice images of the 3D volumetric reconstruction. 
     
     
         12 . The method of  claim 11 , wherein the two slice images are taken from two different angles of the 3D volumetric reconstruction. 
     
     
         13 . The method of  claim 10 , wherein detecting the medical device is an automatic detection. 
     
     
         14 . The method of  claim 10 , wherein the indication of a suspected lesion is automatically determined. 
     
     
         15 . The method of  claim 10 , wherein the detecting of the medical device includes receiving on the displayed slice image via the user interface. 
     
     
         16 . The method of  claim 10 , wherein the indication of a suspected lesion is a manual indication received via the user interface. 
     
     
         17 . The method of  claim 10 , further comprising receiving an indication of a position of a distal tip of the medical device. 
     
     
         18 . The method of  claim 10 , wherein the images captured by the fluoroscopic sweep include representations of a plurality of markers located beneath the patient. 
     
     
         19 . The method of  claim 18 , wherein the representations of the markers in the fluoroscopic images enable pose estimation of the fluoroscopic imaging device. 
     
     
         20 . The method of  claim 16  further comprising navigating a catheter to a position proximate the suspected lesion in the 3D model. 
     
     
         21 . The method of  claim 20 , further comprising registering the volumetric 3D reconstruction to a pre-procedural 3D model of the patient.