Method and apparatus for the cancellation of motion artifacts in medical interventional navigation

摘要

A method and apparatus for mapping a location of a point within the body is disclosed. A plurality of positional reference nodes are determined, each aligned on a first element. A second element is mapped with reference to the plurality of reference nodes to determine the relative location of a point on the second element.

主权项

1. A method for determining a motion compensated node location in a three-dimensional coordinate system associated with a node disposed on a first medical device within a body, the method comprising:
determining a plurality of reference locations in said coordinate system corresponding to a positional reference node within the body and corresponding to a plurality of secondary reference nodes relative to the positional reference node, wherein the positional reference node and each of the secondary reference nodes are disposed on a second medical device; determining a mapping transformation function configured to transform, for the positional reference node and each of the plurality of secondary reference nodes, the respective determined reference locations to be defined as corresponding constant locations over time in said coordinate system such that the reference locations are an input to the mapping transformation function and the corresponding constant are an output to the mapping function to thereby define a static model of the second medical device, wherein the transformed reference locations of the corresponding constant locations define a static position of the second medical device; and determining the motion compensated node location associated with the node disposed on the first medical device by
applying the determined mapping transformation function to a raw node location in said coordinate system associated with the node, wherein the node disposed on the first medical device comprises a first node and wherein the first medical device further comprises a second node, the first node and the second node selected from at least one of an electromagnetic field node and a magnetic position node, wherein applying the determined mapping transformation to the raw mode location includes:applying the determined mapping transformation function to a first raw node location associated with the first node to determine a first motion compensated node location associated with the first node; andapplying the determined mapping transformation to a second node location associated with the second node to determine a second motion compensated node location associated with the second node.