Patent ID: 7729743
Filing Date: 2010-06-01
Classification: A61B

Abstract:
1. A method of tracking an instrument that is inserted into the body of a patient, the method comprising the steps of: a) detecting a movement signal which represents movement phases of a periodic internal movement of the body, wherein the movement signal comprises both (i) an electrocardiogram movement signal and (ii) a breathing movement signal; b) generating 2D images of a body volume of interest, and storing each 2D image in an image database together with (i) associated imaging parameters and (ii) an associated movement phase; c) measuring (i) a current spatial position of the instrument and (ii) a corresponding movement phase of the periodic internal movement of the body comprising (ii)(a) an electrocardiogram movement signal and (ii)(b) a breathing movement signal; d) selecting at least one 2D image from the image database, wherein selecting the at least one 2D image takes place only in response to ascertaining whether (i) the at least one 2D image's associated movement phase corresponds to (ii) the movement phase belonging to the current measured spatial position of the instrument, otherwise the selecting does not take place; e) determining the position of the instrument on the at least one selected 2D image, wherein determining the position of the instrument on the at least one selected 2D image includes using interpolation to calculate a superposed position of the instrument on the 2D image, and wherein determining further includes compensating for a breathing-induced movement of a given body part within the body volume of interest based on a measured breathing position using a movement model of the body part; and f) superposing the determined position of the instrument on the at least one selected 2D image.