Patent Document ID: 9271678
Application ID: 13410444
Patent Status: 1

Claim One:
1. A method for model based motion tracking of a catheter during an ablation procedure comprising: receiving a training series of biplanar fluoroscopic images of a catheter, wherein each biplanar image is a pair of images in different planes acquired at a same time; segmenting and processing the series of biplanar images to produce a distance transform image for each biplanar image at each acquisition time; minimizing, for each pair of biplanar images at each acquisition time, a first cost function of the distance transform image for each pair of biplanar images to yield a translation parameter that provides a best fit for a 3-dimensional (3-D) model of the catheter to each pair of biplanar images at each acquisition time; and calculating an updated catheter model for each acquisition time from said translation parameter, wherein the first cost function is ∑ i ⁢ ⁢ ( I DT , A , t ⁡ ( P A , t · T t u ⁡ ( r t ) · m i , t ) + I DT , B , t ⁡ ( P B , t · T t u ⁡ ( r j ) · m i , t ) ) , wherein P A,t and P B,t are projection matrices for biplanar image planes A and B, I DT, At , I DT, Bt are the distance transform images for each image in the pair of biplane images at time t, T t u ⁡ ( r ) = ( 1 0 0 r t , x 0 1 0 r t , y 0 0 1 r t , z 0 0 0 1 ) is a transformation matrix for the fluoroscopic images at time t with translation parameters r t =(r t,x , r t,y , r t,z ) T and superscript u for ‘unconstrained’, respectively, and m i,t , is the 3-D catheter model at time t, and the sum is over all points i in the catheter model, wherein said catheter model is used to track a circumferential mapping catheter in a catheter ablation procedure using mono-plane fluoroscopic images acquired in real time.