摘要:
A method of detecting dislodgement of a navigational reference for a localization system includes securing a reference catheter, including at least one reference localization element, at an initial reference location within a localization field. The positions of one or more of the reference localization elements are monitored for a perceived displacement that suggests that the reference catheter has become dislodged from the initial reference location (e.g., a displacement above a certain threshold, such as about 4 mm). The direction of this perceived displacement may then be further analyzed (e.g., compared to a predicted or most likely direction of displacement) to determine whether there has been an actual dislodgement of the reference catheter, and, if so, an appropriate signal (e.g., an audible or visual warning) may be generated. Upon dislodgement, guidance may be provided to aid the practitioner in restoring the reference catheter to its initial location.
摘要:
A method of detecting dislodgement of a navigational reference for a localization system includes securing a reference catheter, including at least one reference localization element, at an initial reference location within a localization field. The positions of one or more of the reference localization elements are monitored for a perceived displacement that suggests that the reference catheter has become dislodged from the initial reference location (e.g., a displacement above a certain threshold, such as about 4 mm). The direction of this perceived displacement may then be further analyzed (e.g., compared to a predicted or most likely direction of displacement) to determine whether there has been an actual dislodgement of the reference catheter, and, if so, an appropriate signal (e.g., an audible or visual warning) may be generated. Upon dislodgement, guidance may be provided to aid the practitioner in restoring the reference catheter to its initial location.
摘要:
A system for visually rendering an elongate medical device in a body is provided. The system includes an electronic control unit configured to find a measured physical location for each of a plurality of position sensors on the elongate medical device. The electronic control unit is further configured to apply a spline function to each of the measured physical locations to determine a display location for each position sensor. The electronic control unit is further configured to interpolate between display locations of adjacent position sensors to identify display locations for portions of the elongate medical device between adjacent position sensors. The electronic control unit is further configured to generate image data for display of an image of the elongate medical device including the display locations of the position sensors and the display locations of the portions of the elongate medical device between adjacent position sensors.
摘要:
A method of operating a positioning system by registering a first coordinate system of a first positioning system in a second coordinate system of a second positioning system includes determining an interpolation function configured to register the first, non-orthonormal coordinate system in the second, orthonormal coordinate system. Fiducial pairs are collected by the respective positioning systems, each of which contain a respective coordinate in the respective coordinate system, both of which refer to the same physical point in three dimensional space. Establishing a working interpolation function involves an analysis of the fiducial pairs using a thin-plate spline algorithm. The method further includes repeatedly obtaining a first coordinate in the first coordinate system and determining a corresponding second coordinate in the second coordinate system in accordance with the interpolation function.
摘要:
A method of operating a positioning system by registering a first coordinate system of a first positioning system in a second coordinate system of a second positioning system includes determining an interpolation function configured to register the first, non-orthonormal coordinate system in the second, orthonormal coordinate system. Fiducial pairs are collected by the respective positioning systems, each of which contain a respective coordinate in the respective coordinate system, both of which refer to the same physical point in three dimensional space. Establishing a working interpolation function involves an analysis of the fiducial pairs using a thin-plate spline algorithm. The method further includes repeatedly obtaining a first coordinate in the first coordinate system and determining a corresponding second coordinate in the second coordinate system in accordance with the interpolation function.
摘要:
A system for visually rendering an elongate medical device in a body is provided. The system includes an electronic control unit configured to find a measured physical location for each of a plurality of position sensors on the elongate medical device. The electronic control unit is further configured to apply a spline function to each of the measured physical locations to determine a display location for each position sensor. The electronic control unit is further configured to interpolate between display locations of adjacent position sensors to identify display locations for portions of the elongate medical device between adjacent position sensors. The electronic control unit is further configured to generate image data for display of an image of the elongate medical device including the display locations of the position sensors and the display locations of the portions of the elongate medical device between adjacent position sensors.
摘要:
A method of generating a multi-dimensional surface model of a geometric structure is provided. The method comprises acquiring a set of location data points comprising a plurality of location data points corresponding to respective locations on the surface of a region of the geometric structure. The method further comprises defining a bounding box containing each location data point of the set of location data points, and constructing a voxel grid based on the bounding box, wherein the voxel grid comprises a plurality of voxels. The method still further comprises extracting a multi-faceted surface model from certain of the plurality of voxels of the voxel grid using, for example, an alpha-hull approximation technique. The method may further comprise one or more of decimating and smoothing the surface of the multi-faceted surface model. A system comprising a processing apparatus for performing the aforedescribed method is also provided.
摘要:
A method of constructing a bounding box comprises: acquiring a set of sensed data points; adding, for each sensed data point, at least one calculated data point; and defining a bounding box containing the sensed and calculated data points. A method of identifying voxels in a voxel grid corresponding to a plurality of data points comprises: calculating, for each data point, a distance between it and each voxel; creating a subset of voxels comprising voxels having a distance from one data point that is less than a predetermined distance; creating another subset comprising those voxels that neighbor a voxel in the first subset; computing, for each voxel in the second subset, a distance between it and each voxel in the first subset; and identifying each voxel in the first subset that is a distance away from each voxel in the second subset that exceeds a predetermined distance.
摘要:
A method of constructing a bounding box comprises: acquiring a set of sensed data points; adding, for each sensed data point, at least one calculated data point; and defining a bounding box containing the sensed and calculated data points. A method of identifying voxels in a voxel grid corresponding to a plurality of data points comprises: calculating, for each data point, a distance between it and each voxel; creating a subset of voxels comprising voxels having a distance from one data point that is less than a predetermined distance; creating another subset comprising those voxels that neighbor a voxel in the first subset; computing, for each voxel in the second subset, a distance between it and each voxel in the first subset; and identifying each voxel in the first subset that is a distance away from each voxel in the second subset that exceeds a predetermined distance.
摘要:
A method and system for generating and/or repairing surface models is provided. The method comprises acquiring data points corresponding to surface locations of a structure. The method further comprises generating a surface model of the structure based on the data points. The method further comprises adding additional data points to the point cloud formed by the acquired data points, and updating the model by constructing a surface model based on the added data points. The system comprises a processing apparatus configured to acquire data points corresponding to respective surface locations of a structure. The processing apparatus is further configured to generate a surface model of the structure based on the data points. The processing apparatus is further configured to add additional data points to the point cloud formed by the acquired data points, and update the surface model by constructing a surface model based on the added data points.