Method of and device for determining the position of a medical instrument
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United States of America Patent
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Oct 29, 2002
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N/A
app pub date -
Sep 29, 2000
filing date -
Sep 30, 1999
priority date (Note) -
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Abstract
The invention relates to a method of and a device for determining the position of a medical instrument (4), introduced into the body of a patient (2), relative to a periodically moving organ (3) of the body, which method includes the steps of: a) determining the spatial position (c, r) of the medical instrument (4) and of a reference probe (6) while acquiring at the same time a periodic motion signal (E.sub.2) which relates to the periodic motion of the body organ (3), b) selecting a 3D image data set (p) from an image data base which contains 3D image data sets (p) of the body organ (3) which have been acquired pre-operatively and simultaneously with the same motion signal (E.sub.1) and are associated with individual motion phases (e.sub.1, e.sub.2, . . . ), in such a manner that that 3D image data set (p) is selected which is associated with the motion phase (e.sub.1, e.sub.2, . . . ) during the determination of the spatial position (c, r) of the medical instrument (4) and of the reference probe (6), and c) determining the position of the medical instrument (4) relative to the body organ (3) by converting the spatial position (6) of the medical instrument (4) by means of the positions of the reference probe which are known in space and in the selected 3D image data set.
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