Method and apparatus for catheter guidance using a combination of ultrasound and x-ray imaging

Abstract

An apparatus for tracking movement of a foreign object within a subject has an X-ray fluoroscopic system with an X-ray detector and an ultrasound system that has a probe with a position sensor. A display is configured to display a static X-ray image acquired by the X-ray fluoroscopic system and a real-time ultrasound image acquired by the ultrasound system. The X-ray image and the ultrasound image each display at least a portion of the foreign object and at least a portion of surrounding area. A tracking module is configured to track movement of the foreign object within the ultrasound image and the display is further configured to display an indication of the movement of the foreign object on the X-ray image

1 . An apparatus for tracking movement of a foreign object within a subject, the apparatus comprising:
 an X-ray fluoroscopic system comprising an X-ray detector;   an ultrasound system comprising a probe having a position sensor;   a display configured to display a static X-ray image acquired by the X-ray fluoroscopic system and a real-time ultrasound image acquired by the ultrasound system, the X-ray image and the ultrasound image each displaying at least a portion of the foreign object and at least a portion of surrounding area; and   a tracking module configured to track movement of the foreign object within the ultrasound image, the display further configured to display an indication of the movement of the foreign object on the X-ray image.   
     
     
         2 . The apparatus of  claim 1 , further comprising one of a wired connection and a wireless connection interconnecting the X-ray fluoroscopic system and the ultrasound system, the wired or wireless connection configured to convey at least imaging data between the ultrasound system and the X-ray fluoroscopic system. 
     
     
         3 . The apparatus of  claim 1 , wherein the ultrasound system and the X-ray fluoroscopic system are integrated together into one system. 
     
     
         4 . The apparatus of  claim 1 , further comprising a user input for identifying a tip of the foreign object on at least one of the X-ray image and the ultrasound image. 
     
     
         5 . The apparatus of  claim 1 , further comprising a processor configured to automatically identify a tip of the foreign object on at least one of the X-ray image and the ultrasound image. 
     
     
         6 . The apparatus of  claim 1 , further comprising a registration module configured to register the X-ray and ultrasound images with respect to each other based on at least one point identified in each of the X-ray and ultrasound images. 
     
     
         7 . The apparatus of  claim 1 , wherein the indication of the movement on the X-ray image is one of a number, a line, a dotted line, displayed in a different color than a color of the foreign object in the X-ray image, and displayed in a different intensity than an intensity of the foreign object in the X-ray image. 
     
     
         8 . The apparatus of  claim 1 , wherein the display is further configured to display a projection of a face of the probe on the X-ray image. 
     
     
         9 . The apparatus of  claim 1 , wherein the X-ray image is a contrast-enhanced X-ray image. 
     
     
         10 . A method for positioning a guide wire within a subject, the method comprising:
 displaying a static X-ray image comprising at least a tip of a guide wire and vessels indicated by contrast;   displaying a live ultrasound image comprising at least the tip of the guide wire and at least a portion of the vessels;   identifying the guide wire on both the X-ray image and the ultrasound image; and   indicating movement of the guide wire on the X-ray image based on movement of the guide wire detected in the ultrasound image.   
     
     
         11 . The method of  claim 10 , further comprising:
 receiving inputs associated with the X-ray image and the ultrasound image; and   registering the X-ray and ultrasound images based on the inputs.   
     
     
         12 . The method of  claim 10 , the identifying further comprising identifying a region of interest associated with the X-ray image, the tip of the guide wire being automatically detected within the region of interest. 
     
     
         13 . The method of  claim 10 , further comprising displaying the X-ray image and the ultrasound image simultaneously on one of a single display and two displays positioned side-by-side. 
     
     
         14 . The method of  claim 10 , wherein the ultrasound image comprises one of a projection image, a 2D dataset and a 3D dataset, the method further comprising:
 combining the ultrasound image and the X-ray image; and   displaying at least the combined image.   
     
     
         15 . The method of  claim 10 , wherein the ultrasound image is a plane representative of ultrasound data from within a 3D volume of data, the method further comprising at least one of displaying the plane overlaid on the X-ray image and displaying the plane simultaneously with the X-ray image. 
     
     
         16 . The method of  claim 10 , further comprising:
 acquiring a subsequent X-ray image, the subsequent X-ray image displaying at least the tip of the guide wire; and   combining the subsequent X-ray image and the X-ray image to display a new position of the tip of the guide wire.   
     
     
         17 . The method of  claim 10 , further comprising:
 acquiring at least one subsequent X-ray image, the at least one subsequent X-ray image displaying the guide wire;   deleting the guide wire on the X-ray image; and   combining the subsequent X-ray image and the X-ray image.   
     
     
         18 . An apparatus for positioning a guide wire within the vasculature of a subject, the apparatus comprising:
 an X-ray detector configured to detect X-rays that are generated by an X-ray tube and transmitted through the subject;   an ultrasound probe comprising a position sensor;   at least one display configured to display a static contrast-enhanced X-ray image detected by the X-ray detector and a real-time ultrasound image acquired by the ultrasound probe, the X-ray image and the ultrasound image displaying at least a portion of a guide wire; and   a registration module configured to register the X-ray and ultrasound images with respect to each other based on a point identified in each of the X-ray and ultrasound images, the display further configured to display an indication of movement of the guide wire on the X-ray image based on movement of the guide wire detected within the ultrasound image.   
     
     
         19 . The apparatus of  claim 18 , wherein the X-ray detector is further configured to acquire a subsequent X-ray image, the subsequent X-ray image displaying at least a tip of the guide wire, the display further configured to combine the subsequent X-ray image and the X-ray image. 
     
     
         20 . The apparatus of  claim 18 , wherein the X-ray detector is further configured to acquire a subsequent X-ray image, the subsequent X-ray image displaying at least a tip of the guide wire, the display further configured to combine the subsequent X-ray image and the X-ray image and to indicate the guide wire of the subsequent X-ray image differently than the guide wire of the X-ray image.