Systems and methods for guiding catheters using registered images

Abstract

Systems and methods for imaging a body cavity and for guiding a treatment element within a body cavity are provided. A system may include an imaging subsystem having an imaging device and an image processor that gather image data for the body cavity. A mapping subsystem may be provided, including a mapping device and a map processor, to identify target sites within the body cavity, and provide location data for the sites. The system may also include a location processor coupled to a location element on a treatment device to track the location of the location element. The location of a treatment element is determined by reference to the location element. A treatment subsystem including a treatment device having a treatment element and a treatment delivery source may also be provided. A registration subsystem receives and registers data from the other subsystems, and displays the data.

1 .- 111 . (canceled) 
     
     
         112 . A system for navigating within a body cavity of a patient, comprising:
 an imaging subsystem comprising an imaging device configured for generating image data of the body cavity;   a probe configured to be moved within the body cavity; and   a three-dimensional coordinate registration subsystem configured for registering the image data and the location of the probe within a three-dimensional coordinate system.   
     
     
         113 . The system of  claim 112 , wherein the probe comprises a treatment device having a treatment element, the system further comprising a treatment delivery subsystem comprising the treatment device and a treatment delivery source coupled to the treatment element. 
     
     
         114 . The system of  claim 112 , wherein the probe comprises a mapping device configured for generating mapping data, the system further comprising a mapping subsystem comprising the mapping device, wherein the registration subsystem is further configured for registering the mapping data within the three-dimensional coordinate system. 
     
     
         115 . The system of  claim 112 , further comprising a display coupled to the registration subsystem. 
     
     
         116 . The system of  claim 112 , wherein the imaging device is an internal imaging device. 
     
     
         117 . The system of  claim 112 , wherein the imaging device is an external imaging device. 
     
     
         118 . The system of  claim 112 , wherein the imaging device is an ultrasound imaging device. 
     
     
         119 . The system of  claim 112 , wherein the imaging device is a real-time 3-D ultrasound catheter. 
     
     
         120 . The system of  claim 112 , wherein the imaging device is a computerized axial tomography device. 
     
     
         121 . The system of  claim 112 , wherein the imaging device is a magnetic resonance imaging device. 
     
     
         122 . The system of  claim 112 , wherein the body cavity comprises a heart chamber. 
     
     
         123 . The system of  claim 112 , wherein the registration subsystem is configured for registering the image data by determining a position of a source of the image data within the three-dimensional coordinate system, and aligning the image data so that the image data source is coincident with the determined position. 
     
     
         124 . The system of  claim 112 , wherein the registration subsystem is configured for registering the image data by generating fiducial points within the image data, determining positions of the fiducial points within the three-dimensional coordinate system, and aligning the image data so that the fiducial points are coincident with the determined positions. 
     
     
         125 . The system of  claim 112 , wherein the registration subsystem is configured for registering the image data by generating a set of points, determining positions of the points within the three-dimensional coordinate system, and best fitting the image data to the set of points. 
     
     
         126 . The system of  claim 112 , wherein the registration subsystem is configured for registering the image data by at least partially allowing input from a user.