US6493575B1
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Fluoroscopic tracking enhanced intraventricular catheter system
Assignee: Eclipse Surgical Technologies Inc
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Filing: 1999-06-04
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Granted: 2002-12-10
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Expires: 2019-06-04
Abstract
Abstract A catheter tracking system for visualization of fluoroscopic images, the system comprising a fluoroscope for generating fluoroscopic image data, a fluoroscopic image visualization monitor, a catheter having an elongated shaft, particularly an intraventricular catheter, distal tip and a radio opaque portion adjacent the distal tip. A circumferential radio opaque band may be used to determine the relative position, orientation and motion of the catheter. An image analysis system capable of analyzing the image of the catheter and the radio opaque band, for receiving fluoroscopic image data from the fluoroscope determining physical parameters related to the left ventricle, and the relative position, orientation and motion of the catheter therein, and for determining the location and other parameters of treatment on intraventricular surfaces.
Inventors
- 👤 Randy J. Kesten
- 👤 Michael J. Rosinko
- 👤 Douglas R. Murphy-Chutorian
- 👤 Mark Roush
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-04 11:04
CPC Classifications
A; A61; A61B; A61B90/00; A61B90/36; A61B6/00; A61B6/12; A61B6/44; A61B6/4429; A61B6/4435; A61B6/4441; A61B6/54; A61B6/547; A61M; A61M25/00; A61M25/01; A61M25/0105; A61M25/0108; A61B17/00; A61B17/00234; A61B2017/00238; A61B2017/00243; A61B2017/00247; A61B18/00; A61B2018/00315; A61B2018/00345; A61B2018/00351; A61B2018/00392; A61B90/37; A61B2090/376; A61B90/39; A61B2090/3966; A61B6/58; A61B6/582; A61B6/583; A61B6/584
Claims Analysis
Total Claims: 62
Claim 1
Independent Claim
240 words
A fluoroscopic tracking enhanced intraventricular catheter system for enhanced visualization of single-plane fluoroscopic images, the system comprising: a fluoroscope for generating fluoroscopic image data; a fluoroscopic image visualization monitor; an intraventricular catheter having an elongated shaft, distal tip and a radiopaque portion adjacent the distal tip, the catheter adapted for delivery of energy to predetermined treatment areas on intraventricular surfaces; and an image analysis means, the image analysis means for receiving fluoroscopic image data from the fluoroscope and for determining physical parameters related to the left ventricle, for determining the relative position, orientation and motion of the catheter therewithin, and for determining the location and other parameters of treatment on intraventricular surfaces; wherein the radiopaque portion comprises a circumferential radiopaque band such that when the distal tip of the catheter is oriented parallel with the plane of the image, the image of the radiopaque band appears as a rectangular stripe, and when the distal tip of the catheter is oriented perpendicular to the image plane, the image of the radiopaque band appears as a circular ring, and when the distal tip of the catheter is oriented at any predetermined angle other than parallel with or perpendicular to the image plane, the image of the radiopaque band appears to have a corresponding, predetermined ellipticity, the image analysis means capable of analyzing the image of the catheter and the radiopaque band, thereby determining the relative position, orientation and motion of the catheter.
Claim 2
Dependent Claim
240 words
A fluoroscopic tracking enhanced intraventricular catheter system for enhanced visualization of single-plane fluoroscopic images, the system comprising: a fluoroscope for generating fluoroscopic image data; a fluoroscopic image visualization monitor; an intraventricular catheter having an elongated shaft, distal tip and a radiopaque portion adjacent the distal tip, the catheter adapted for delivery of energy to predetermined treatment areas on intraventricular surfaces; and an image analysis means, the image analysis means for receiving fluoroscopic image data from the fluoroscope and for determining physical parameters related to the left ventricle, for determining the relative position, orientation and motion of the catheter therewithin, and for determining the location and other parameters of treatment on intraventricular surfaces; wherein the radiopaque portion comprises a circumferential radiopaque band such that when the distal tip of the catheter is oriented parallel with the plane of the image, the image of the radiopaque band appears as a rectangular stripe, and when the distal tip of the catheter is oriented perpendicular to the image plane, the image of the radiopaque band appears as a circular ring, and when the distal tip of the catheter is oriented at any predetermined angle other than parallel with or perpendicular to the image plane, the image of the radiopaque band appears to have a corresponding, predetermined ellipticity, the image analysis means capable of analyzing the image of the catheter and the radiopaque band, thereby determining the relative position, orientation and motion of the catheter.
Claim 3
Dependent Claim
19 words
The system of claim 1 in which the radiopaque portion comprises a polymeric material loaded with a radiopaque material.
Claim 4
Dependent Claim
123 words
A fluoroscopic tracking enhanced intraventricular catheter system for enhanced visualization of single-plane fluoroscopic images, the system comprising: a fluoroscope for generating fluoroscopic image data; a fluoroscopic image visualization monitor; an intraventricular catheter having an elongated shaft, distal tip and a radiopaque portion adjacent the distal tip, the catheter adapted for delivery of energy to predetermined treatment areas on intraventricular surfaces; and an image analysis means, the image analysis means for receiving fluoroscopic image data from the fluoroscope and for determining physical parameters related to the left ventricle, for determining the relative position, orientation and motion of the catheter therewithin, and for determining the location and other parameters of treatment on intraventricular surfaces; wherein the radiopaque portion comprises a plurality of circumferential radiopaque markings.
Claim 5
Dependent Claim
123 words
A fluoroscopic tracking enhanced intraventricular catheter system for enhanced visualization of single-plane fluoroscopic images, the system comprising: a fluoroscope for generating fluoroscopic image data; a fluoroscopic image visualization monitor; an intraventricular catheter having an elongated shaft, distal tip and a radiopaque portion adjacent the distal tip, the catheter adapted for delivery of energy to predetermined treatment areas on intraventricular surfaces; and an image analysis means, the image analysis means for receiving fluoroscopic image data from the fluoroscope and for determining physical parameters related to the left ventricle, for determining the relative position, orientation and motion of the catheter therewithin, and for determining the location and other parameters of treatment on intraventricular surfaces; wherein the radiopaque portion comprises a plurality of circumferential radiopaque markings.
Claim 6
Dependent Claim
121 words
A fluoroscopic tracking enhanced intraventricular catheter system for enhanced visualization of single-plane fluoroscopic images, the system comprising: a fluoroscope for generating fluoroscopic image data; a fluoroscopic image visualization monitor; an intraventricular catheter having an elongated shaft, distal tip and a radiopaque portion adjacent the distal tip, the catheter adapted for delivery of energy to predetermined treatment areas on intraventricular surfaces; and an image analysis means, the image analysis means for receiving fluoroscopic image data from the fluoroscope and for determining physical parameters related to the left ventricle, for determining the relative position, orientation and motion of the catheter therewithin, and for determining the location and other parameters of treatment on intraventricular surfaces; wherein the radiopaque portion comprises an asymmetric radiopaque marker.
Claim 7
Dependent Claim
121 words
A fluoroscopic tracking enhanced intraventricular catheter system for enhanced visualization of single-plane fluoroscopic images, the system comprising: a fluoroscope for generating fluoroscopic image data; a fluoroscopic image visualization monitor; an intraventricular catheter having an elongated shaft, distal tip and a radiopaque portion adjacent the distal tip, the catheter adapted for delivery of energy to predetermined treatment areas on intraventricular surfaces; and an image analysis means, the image analysis means for receiving fluoroscopic image data from the fluoroscope and for determining physical parameters related to the left ventricle, for determining the relative position, orientation and motion of the catheter therewithin, and for determining the location and other parameters of treatment on intraventricular surfaces; wherein the radiopaque portion comprises an asymmetric radiopaque marker.
Claim 8
Independent Claim
122 words
A method of performing an intraventricular procedure utilizing a fluoroscopic tracking enhanced intraventricular catheter system, the catheter of the catheter system having a generally elongated shape and a radiopaque portion adjacent the distal tip thereof, the method comprising the following steps: generating digital data from a single-plane fluoroscopic image of the ventricle, thereby determining the shape of the left ventricle; introducing the distal tip of the catheter into a ventricle; detecting the radiopaque portion of the catheter in a single-plane fluoroscopic image, thereby determining the position of the distal tip of the catheter inside the ventricle; and performing out-of-plane processing of the radiopaque portion single-plane fluoroscopic image data, thereby determining the orientation of the distal tip of the catheter inside the ventricle.
Claim 9
Independent Claim
122 words
A method of performing an intraventricular procedure utilizing a fluoroscopic tracking enhanced intraventricular catheter system, the catheter of the catheter system having a generally elongated shape and a radiopaque portion adjacent the distal tip thereof, the method comprising the following steps: generating digital data from a single-plane fluoroscopic image of the ventricle, thereby determining the shape of the left ventricle; introducing the distal tip of the catheter into a ventricle; detecting the radiopaque portion of the catheter in a single-plane fluoroscopic image, thereby determining the position of the distal tip of the catheter inside the ventricle; and performing out-of-plane processing of the radiopaque portion single-plane fluoroscopic image data, thereby determining the orientation of the distal tip of the catheter inside the ventricle.
Claim 10
Dependent Claim
23 words
The method of claim 5 further comprising the following step: mapping the locations within the ventricle at which the intraventricular procedure was performed.
Claim 11
Dependent Claim
35 words
The method of claim 5 further comprising the following step: enhancing the digital data from the single-plane fluoroscopic image by registration of the image with data input corresponding to the cardiac cycle of the patient.
Claim 12
Dependent Claim
35 words
The method of claim 5 further comprising the following step: enhancing the digital data from the single-plane fluoroscopic image by registration of the image with data input corresponding to the respiratory cycle of the patient.
Claim 13
Dependent Claim
34 words
The method of claim 5 further comprising the following step: enhancing the digital data from the single-plane fluoroscopic image by registration of the image with data input corresponding to physical movement of the patient.
Claim 14
Dependent Claim
26 words
The method of claim 5 further comprising the following step: detecting contact between the distal tip of the catheter and an inner surface of the ventricle.
Claim 15
Dependent Claim
32 words
The method of claim 10 in which contact is determined based on fluoroscopic visualization of the relative motion between the distal tip of the catheter and an inner surface of the ventricle.
Claim 16
Dependent Claim
28 words
The method of claim 10 in which contact is determined by a positive correlation between the motion of the distal tip of the catheter and the cardiac cycle.
Claim 17
Dependent Claim
22 words
The method of claim 10 in which contact is determined by a predetermined periodic movement of the distal tip of the catheter.
Claim 18
Dependent Claim
25 words
The method of claim 5 further comprising the following step: determining the orientation of the distal tip of catheter prior to performing the intraventricular procedure.
Claim 19
Dependent Claim
26 words
The method of claim 14 further comprising the following step: determining the orientation of the distal tip of the catheter during performance of the intraventricular procedure.
Claim 20
Dependent Claim
30 words
The method of claim 14 further comprising the following step: determining a map of the motion of the distal tip of the catheter throughout the performance of the intraventricular procedure.
Claim 21
Dependent Claim
37 words
The method of claim 14 further comprising the following step: determining a map of treatment areas on the inner surfaces of the ventricle by the distal tip of the catheter throughout the performance of the intraventricular procedure.
Claim 22
Dependent Claim
28 words
The method of claim 5 in which the step of performing the out-of-plane processing determines the degree of foreshortening of the image of the catheter within the ventricle.
Claim 23
Independent Claim
61 words
A method for performing an intracardiac catheter-based procedure using an enhanced fluoroscopic image, the method comprising the following steps: obtaining a fluoroscopic image of the catheter; enhancing the fluoroscopic image with an input device, wherein the fluoroscopic image is enhanced for showing the outline of the cardiac chamber being treated; and injecting radiopaque contrast agent into the chamber to be visualized.
Claim 24
Independent Claim
61 words
A method for performing an intracardiac catheter-based procedure using an enhanced fluoroscopic image, the method comprising the following steps: obtaining a fluoroscopic image of the catheter; enhancing the fluoroscopic image with an input device, wherein the fluoroscopic image is enhanced for showing the outline of the cardiac chamber being treated; and injecting radiopaque contrast agent into the chamber to be visualized.
Claim 25
Dependent Claim
37 words
The method of claim 19 in which the fluoroscopic image is enhanced for showing treatment sites within the cardiac chamber being treated, the method further comprising the step of marking the treatment sites as they are formed.
Claim 26
Dependent Claim
38 words
The method of claim 19 in which the fluoroscopic image is enhanced by detecting anatomical landmarks within the patient being treated, the method further comprising the step of using the anatomical landmarks as reference points for providing treatment.
Claim 27
Dependent Claim
40 words
The method of claim 19 in which the fluoroscopic image is enhanced by detecting fluoroscopically visible material within the patient being treated, the method further comprising the step of using the fluoroscopically visible material as reference points for providing treatment.
Claim 28
Dependent Claim
35 words
The method of claim 19 in which the intracardiac catheter-based procedure utilizes an image analysis computer, and the step of enhancing the fluoroscopic image includes the step of performing image analysis on the fluoroscopic image.
Claim 29
Dependent Claim
16 words
The method of claim 23 in which the image analysis step consists of performing edge detection.
Claim 30
Dependent Claim
16 words
The method of claim 23 in which the image analysis step consists of performing motion detection.
Claim 31
Dependent Claim
22 words
The method of claim 23 in which the image analysis step consists of tracking the location of the tip of the catheter.
Claim 32
Dependent Claim
22 words
The method of claim 23 in which the image analysis step consists of tracking the location of treatment performed by the catheter.
Claim 33
Dependent Claim
36 words
The method of claim 19 in which a cylindrical radiopaque tip marker is used to assess both the 2-dimensional location of the catheter within the fluoroscopic image as well as the rotational orientation of the catheter.
Claim 34
Dependent Claim
15 words
The method of claim 28 in which the shape of the radiopaque marker is detected.
Claim 35
Dependent Claim
26 words
The method of claim 29 in which cylindrical marker appears circular when the rotational orientation of the catheter is to target the lateral and septal regions.
Claim 36
Dependent Claim
28 words
The method of claim 29 in which cylindrical marker appears like a stripe when the rotational orientation of the catheter is to target the anterior and inferior regions.
Claim 37
Dependent Claim
33 words
The method of claim 19 in which the step of enhancing the fluoroscopic image includes the step of providing a “clockface” LAO projection in conjunction with an RAO projection of the fluoroscopic image.
Claim 38
Dependent Claim
57 words
The method of claim 32 in which the “clockface” LAO projection shows the anterior region from about 11 o'clock to about 2 o'clock, the lateral region from about 2 o'clock to about 5 o'clock, the inferior region from about 5 o'clock to about 8 o'clock, and the septal region from about 8 o'clock to about 11 o'clock.
Claim 39
Dependent Claim
34 words
The method of claim 19 in which the step of enhancing the fluoroscopic image of the catheter is performed by detecting an asymmetrical shaft marker mounted proximal to the distal tip of the catheter.
Claim 40
Dependent Claim
18 words
The method of claim 34 further comprising the step of determining the orientation of the asymmetrical shaft marker.
Claim 41
Dependent Claim
19 words
The method of claim 35 further comprising the step of determining the angular rotation and orientation of the catheter.
Claim 42
Dependent Claim
17 words
The method of claim 35 further comprising the step of distinguishing the lateral and the septal orientations.
Claim 43
Dependent Claim
28 words
The method of claim 19 further comprising the step of detecting a plurality of evenly-spaced radiopaque bands along the distal portion of a catheter with a deflectable tip.
Claim 44
Dependent Claim
20 words
The method of claim 38 further comprising the step of distinguishing changes in catheter rotation from changes in catheter deflection.
Claim 45
Dependent Claim
17 words
The method of claim 19 in which the step of enhancing the fluoroscopic image comprises cardiac gating.
Claim 46
Dependent Claim
17 words
The method of claim 19 in which the step of enhancing the fluoroscopic image comprises respiratory gating.
Claim 47
Independent Claim
63 words
A method for performing an intracardiac catheter-based procedure using an enhanced fluoroscopic image, the method comprising the following steps: obtaining a fluoroscopic image of the catheter; enhancing the fluoroscopic image with an input device, wherein the fluoroscopic image is enhanced by detecting external radiopaque material applied to the patient being treated; and using the external radiopaque material as reference points for providing treatment.
Claim 48
Independent Claim
63 words
A method for performing an intracardiac catheter-based procedure using an enhanced fluoroscopic image, the method comprising the following steps: obtaining a fluoroscopic image of the catheter; enhancing the fluoroscopic image with an input device, wherein the fluoroscopic image is enhanced by detecting external radiopaque material applied to the patient being treated; and using the external radiopaque material as reference points for providing treatment.
Claim 49
Dependent Claim
24 words
The method of claim 42 in which the fluoroscopic image is formed using data obtained from at least two orthogonal projections of the chamber.
Claim 50
Dependent Claim
15 words
The method of claim 43 in which the orthogonal projections are about 90 degrees apart.
Claim 51
Dependent Claim
16 words
The method of claim 43 in which the orthogonal projections are about RAO-30 and about LAO-60.
Claim 52
Dependent Claim
38 words
The method of claim 42 in which the fluoroscopic image is obtained with a bi-plane fluoroscope, the method further comprising the step of enhancing the fluoroscopic image by superimposing on the image a map of the therapeutic treatment.
Claim 53
Dependent Claim
15 words
The method of claim 46 in which the bi-plane fluoroscopic image is a live image.
Claim 54
Dependent Claim
15 words
The method of claim 46 in which the bi-plane fluoroscopic image is a captured image.
Claim 55
Dependent Claim
16 words
The method of claim 46 in which the bi-plane fluoroscopic image is obtained from orthogonal projections.
Claim 56
Dependent Claim
15 words
The method of claim 46 in which the single-plane fluoroscopic image is a live image.
Claim 57
Dependent Claim
38 words
The method of claim 42 in which the fluoroscopic image is obtained with a single-plane fluoroscope, the method further comprising the step of enhancing the fluoroscopic image by superimposing on the image a map of the therapeutic treatment.
Claim 58
Dependent Claim
15 words
The method of claim 51 in which the single-plane fluoroscopic image is a captured image.
Claim 59
Dependent Claim
16 words
The method of claim 51 in which the single-plane fluoroscopic image is obtained from orthogonal projections.
Claim 60
Dependent Claim
23 words
The method of claim 53 in which the method further comprises the step of storing a portion of the image for future display.
Claim 61
Dependent Claim
17 words
The method of claim 54 in which the stored portion of the image is a still image.
Claim 62
Dependent Claim
17 words
The method of claim 54 in which the stored portion of the image is a video image.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2005-12-09 | 2006-06-10 | 2006-12-10 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2009-12-09 | 2010-06-10 | 2010-12-10 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2013-12-09 | 2014-06-10 | 2014-12-10 | $7700.00 | Window Closed / Lapsed |