Image-Based Probe Positioning

Abstract

A framework for image-based probe positioning is disclosed herein. The framework receives a current image from a probe. The current image is acquired by the probe within a structure of interest. The framework predicts a position of the probe and generates a recommendation of a next maneuver to be performed using the probe by applying the current image to a trained classifier. The framework then outputs the predicted position and the recommendation of the next maneuver.

What is claimed is: 
     
         1 . One or more non-transitory computer-readable media embodying instructions executable by machine to perform operations for intracardiac catheter positioning, comprising:
 (i) receiving a current intracardiac echocardiogram (ICE) image acquired by a catheter configured to be inserted into a heart;   (ii) predicting a position of the catheter and generating a recommendation of a next maneuver to be performed using the catheter by applying the current ICE image and a time history of a plurality of views to a trained classifier, wherein the time history of the plurality of views comprises a current sequence of a predetermined number of the views previously generated by the trained classifier; and   (iii) displaying the predicted position and the recommendation of the next maneuver.   
     
     
         2 . The one or more non-transitory computer-readable media of  claim 1  wherein the displaying the predicted position comprises displaying the catheter at the predicted position in a graphical representation of the heart. 
     
     
         3 . The one or more non-transitory computer-readable media of  claim 1  wherein the operations further comprise training the classifier based on a plurality of ICE training images and using a mapping between the plurality of ICE training images and a plurality of ICE catheter positions from which the plurality of ICE training images were acquired as ground truth. 
     
     
         4 . The one or more non-transitory computer-readable media of  claim 1  wherein the next maneuver is represented by navigational instructions. 
     
     
         5 . The one or more non-transitory computer-readable media of  claim 4  wherein the navigational instructions comprise machine instructions that are executable by a robotic controller to automatically steer the catheter to a desired position. 
     
     
         6 . A method of probe positioning, comprising:
 (i) receiving a current image acquired by a probe within a structure of interest;   (ii) predicting a position of the probe and generating a recommendation of a next maneuver to be performed using the probe by applying the current image and a time history of a plurality of views to a trained classifier, wherein the time history of the plurality of views comprises a current sequence of a predetermined number of the views previously generated by the trained classifier; and   (iii) displaying the predicted position and the recommendation of the next maneuver.   
     
     
         7 . The method of  claim 6  wherein the current image comprises an intracardiac echocardiogram (ICE) image. 
     
     
         8 . The method of  claim 6  further comprising training the classifier based on a plurality of training images and using a mapping between the plurality of training images and a plurality of probe positions from which the plurality of training images were acquired as ground truth. 
     
     
         9 . The method of  claim 6  wherein the next maneuver is represented by navigational instructions. 
     
     
         10 . The method of  claim 9  wherein the navigational instructions comprise machine instructions that are executable by a robotic controller to automatically steer the probe to a desired position. 
     
     
         11 . The method of  claim 6  wherein the displaying the predicted position comprises displaying the probe at the predicted position in a graphical representation of the structure of interest. 
     
     
         12 . The method of  claim 11  wherein the graphical representation of the structure of interest comprises a three-dimensional rendering of the structure of interest. 
     
     
         13 . The method of  claim 11  wherein the graphical representation of the structure of interest comprises an image-derived model of the structure of interest. 
     
     
         14 . The method of  claim 11  further comprising repeating steps (i), (ii) and (iii) to update the graphical representation in substantially real time as the probe acquires a new current image at a new position. 
     
     
         15 . The method of  claim 6  wherein the time history of the plurality of views comprises a home view, an aortic valve view, a left ventricle view, a right ventricular outflow tract view, a left atrium view, a left superior pulmonary vein view, a left inferior pulmonary vein view, an esophagus view, a right pulmonary veins view, or a combination thereof. 
     
     
         16 . A system for probe positioning, comprising:
 a non-transitory memory device for storing computer readable program code; and   a processor in communication with the non-transitory memory device, the processor being operative with the computer readable program code to perform steps including
 (i) receiving a current image acquired by a probe within a structure of interest, 
 (ii) predicting a position of the probe and generating a recommendation of a next maneuver to be performed using the probe by applying the current image and a time history of a plurality of views to a trained classifier, wherein the time history of the plurality of views comprises a current sequence of a predetermined number of the views previously generated by the trained classifier, and 
 (iii) displaying the predicted position and the recommendation of the next maneuver. 
   
     
     
         17 . The system of  claim 16  wherein the probe comprises an intracardiac echocardiogram (ICE) catheter. 
     
     
         18 . The system of  claim 16  wherein the processor is operative with the computer readable program code to display the predicted position by displaying the probe at the predicted position in a graphical representation of the structure of interest. 
     
     
         19 . The system of  claim 18  wherein the graphical representation comprises a plane projection of a three-dimensional rendering of the structure of interest. 
     
     
         20 . The system of  claim 16  wherein the time history of the plurality of views comprises a home view, an aortic valve view, a left ventricle view, a right ventricular outflow tract view, a left atrium view, a left superior pulmonary vein view, a left inferior pulmonary vein view, an esophagus view, a right pulmonary veins view, or a combination thereof.