Patent ID: 8676300

Claim:
A system for generating a 3D model of an occluded tubular organ of a patient and navigating through the tubular organ, the tubular organ having an occluded segment adjoining a proximal segment at a proximal end thereof, and a distal segment at a distal end thereof, the system comprising: a medical imaging system including an imaging radiation transmitter and an imaging radiation detector, said medical imaging system being configured to acquire first and second first-injection two-dimensional (2D) images of said tubular organ respectively from first and second perspectives and first and second second-injection two-dimensional (2D) images of said tubular organ respectively from said first and second perspectives; an organ timing signal detector, for detecting the activity state of said tubular organ, simultaneously with the acquisition of said 2D images; a Medical Positioning System (MPS) configured to determine the position and orientation of a guidewire tip inserted into said tubular organ, at a plurality of positions along said tubular organ, said MPS including a plurality of MPS transmitters, coupled with said medical imaging system, a reference sensor, coupled with the body of said patient, and an MPS sensor, coupled with the tip of said guidewire; an occlusion navigation processor, coupled with said medical imaging system, said organ timing signal detector, and said MPS, said occlusion navigation processor being configured to generate a first superimposed 2D image associated with said first perspective by combining said first first-injection image and said first second-injection image, and a second superimposed 2D image associated with said second perspective by combining said second first-injection image and said second second-injection image, each of said first and second superimposed 2D images including a respective representation of said proximal segment and said distal segment, said occlusion navigation processor being configured to determine respective boundary regions of said proximal segment and said distal segment in said first and second superimposed 2D images, said occlusion navigation processor being configured to determine, for each of said first and second superimposed 2D images, a respective boundary region of said occluded segment by interpolating between said boundary regions of said proximal segment and said distal segment in each of said first and second superimposed 2D images, said occlusion navigation processor being configured to generate a 3D model of said tubular organ from said first and second superimposed 2D images and said determined boundary regions, said occlusion navigation processor being configured to determine a 3D center line of said tubular organ according to the boundary region of said occluded segment, said 3D center line passing through said proximal segment, said occluded segment and said distal segment, said 3D center line defining a safe trajectory at least within said occluded segment of said tubular organ.