| 摘要 |
The invention relates to a method, a system for generating a spatial roadmap for an interventional device and a quality control system for guarding the spatial accuracy thereof. In an embodiment of the system 100 for practicing the invention an X-ray imager 100 a is used for acquiring suitable images D<SUB>i-1</SUB>, D<SUB>i</SUB>, . . . , D<SUB>N</SUB>, showing the volume under examination, comprising the catheters 182 a , 182 b. These X-ray images are then processed by means of per se known reconstruction method to yield a motion-corrected three-dimensional volume of examination. This volume is then presented by means of suitable user-interface 181 on a display unit 183 together with distal portions of the catheters 182 a , 182 b provided with detectable markers (for simplicity only one detectable marker per catheter is shown). The motion-corrected three-dimensional image of the target organ 184 is used to construct the motion-corrected target organ-oriented three-dimensional coordinate system which is then used for drawing the spatial roadmap 183 and which is also used to locate a spatial position of a displaceable catheter 185 , provided with a further detectable marker 185 '. These computations are carried out using computing means 160 . The computing means 160 can be further arranged to carry out a further computation comprising a computation of a spatial discrepancy between the envisaged spatial roadmap 183 and the position of the displaceable catheter 185 '. In case a substantial discrepancy is signalled and in case the catheters are positioned within the target organ by means of a controllable navigation system 190 , the computing means calculates a control signal S to be applied to the navigation system 190 to correct for the mismatch between the spatial roadmap 183 and the position of the displaceable catheter 185 . The control unit then applies a correction signal S to the navigation system 190 after which an interventional procedure carries on. |
