ROBOTIC IMAGE CONTROL SYSTEM

摘要

This disclosure involves the use of X-ray markers that appear in fluoroscopic images and are detected by image processing software to partially or fully automate or assist in the performance of one or more of the steps of a percutaneous interventional procedure typically involving a catheter device.

主权项

1. A process for mapping the three dimensional configuration of a blood vessel of a human subject comprising:
providing an elongated percutaneous device; providing a system for measuring advancement and retraction of the elongated percutaneous device; providing a fluoroscopic imaging system which provides a two dimensional image of a portion of the elongated percutaneous device in the blood vessel; advancing or retracting the elongated percutaneous device within the blood vessel; obtaining a first fluoroscopic image when the portion of the elongated percutaneous device is at a first location within the blood vessel and a second fluoroscopic image when the portion of the elongated percutaneous device is at a second location within the blood vessel; measuring a first distance that the elongated percutaneous device has advanced or retracted when the first fluoroscopic image is taken; measuring a second distance that the elongated percutaneous device has advanced or retracted between the first fluoroscopic image and the second fluoroscopic image; correlating the fluoroscopic images with the distance measurements to provide an indication of the travel of the elongated percutaneous device out of the plane of the fluoroscopic image.