Automatic correction and utilization of a vascular roadmap comprising a tool

摘要

Apparatus and methods are described including generating a road map of a blood vessel. Subsequent to the generation of the road map, a tool is inserted into the blood vessel. While the tool is inside the blood vessel, the position of the tool is determined. The road map is modified to account for the determined position of the tool. Other embodiments are also described.

主权项

1. A method, comprising:
acquiring at least one extraluminal image of a blood vessel, using a medical imaging device; using at least one computer processor: determining locations of boundaries of the blood vessel in the extraluminal image of the blood vessel; generating, upon a display, a first road map of the blood vessel that indicates the determined locations of the boundaries of the blood vessel; subsequently, while a tool is inside the blood vessel, following the generation of the first road map: acquiring at least one intraprocedural image of the tool inside the blood vessel; overlaying the roadmap on the intraprocedural image of the tool inside the blood vessel; and in response thereto, determining that a position of at least a portion of the tool is not within the boundaries of the blood vessel as indicated by the road map; and generating an updated road map by modifying the first road map, such that the portion of the tool appears within the boundaries of the blood vessel indicated by the updated road map, to account for the determined position of the portion of the tool; and displaying the updated road map upon display.