Localization of a radioactive source within a body of a subject

Abstract

A system and method is provided for automatic navigation of medical tools. The system can include a tracking system operable to provide information relating to the position of at least a portion of a tool which is inside a body, and an automated navigation system operable to apply forces upon a portion of the tool. The automated navigation system can include a computer operable to store a 3-dimensional route. Furthermore, the automated navigation system can be operable to use the information relating to the position of at least the portion of the tool from the tracking system to apply calculated forces upon the tool, the calculated forces being associated with movement of the tool along the 3-dimensional route.

1 - 33 . (canceled) 
     
     
         34 . A system for automatic navigation of medical tools, the system comprising:
 a tracking system operable to provide information relating to the position of at least a portion of a tool which is inside a body; and   an automated navigation system operable to apply forces upon the tool;   wherein the automated navigation system comprises a computer;   wherein the computer is operable to store a 3-dimensional route; and   wherein the automated navigation system is operable to use the information relating to the position of at least the portion of the tool from the tracking system to apply calculated forces upon the tool, the calculated forces associated with movement of the tool along the 3-dimensional route.   
     
     
         35 . The system of  claim 34 , wherein the tool is an intravascular tool. 
     
     
         36 . The system of  claim 35 , wherein the intravascular tool is at least one of: a guidewire and a catheter. 
     
     
         37 . The system of  claim 34 , wherein the tracking system is at least one of: a radioactive tracking system, an RF tracking system, a magnetic tracking system, an optical tracking system, an ultrasound tracking system, a video-based tracking system, an x-ray-based tracking system, a fluoroscopy-based tracking system, a magnetic resonance tracking system, and an MR gradient field tracking system. 
     
     
         38 . The system of  claim 34 , wherein the automated navigation system is operable to apply forces as a result of mechanical manipulation of the tool. 
     
     
         39 . The system of  claim 34 , wherein the automated navigation system is operable to apply forces as a result of a magnetic field. 
     
     
         40 . The system of  claim 34 , wherein the computer is operable to calculate the 3-dimensional route based, in part, upon a selected target location within a 3-dimensional model of a portion of a vasculature in a region of the body. 
     
     
         41 . The system of  claim 40 , wherein the computer is operable to store a 3-dimensional image dataset of the region of the body, and wherein the computer is operable to extract the 3-dimensional model of the portion of the vasculature from the 3-dimensional image dataset. 
     
     
         42 . A method of automatic navigation of medical tools, the method comprising:
 inserting at least a portion of a tool into a body;   measuring a position of the portion of the tool using a tracking system; and   automatically moving the portion of the tool along a predefined 3-dimensional route based, at least in part, on the measured position from the tracking system;   wherein automatically moving the portion of the tool is performed using an automated navigation system operable to apply forces upon the tool.   
     
     
         43 . The method of  claim 42 , wherein the tool is an intravascular tool. 
     
     
         44 . The method of  claim 43 , wherein the intravascular tool is at least one of: a guidewire and catheter. 
     
     
         45 . The method of  claim 42 , wherein the tracking system is at least one of: a radioactive tracking system, an RF tracking system, a magnetic tracking system, an optical tracking system, an ultrasound tracking system, a video-based tracking system, an x-ray-based tracking system, a fluoroscopy-based tracking system, a magnetic resonance tracking system, and an MR gradient field tracking system. 
     
     
         46 . The method of  claim 42 , wherein the automated navigation system is operable to apply forces as a result of mechanical manipulation of the tool. 
     
     
         47 . The method of  claim 42 , wherein the automated navigation system is operable to apply forces as a result of a magnetic field. 
     
     
         48 . The method of  claim 42 , wherein the predefined 3-dimensional route is calculated based, in part, upon a selected target location within a 3-dimensional model of a portion of a vasculature in a region of the body. 
     
     
         49 . The method of  claim 48 , wherein calculating the predefined 3-dimensional route comprises storing a 3-dimensional image dataset of the region of the body and extracting the 3-dimensional model of the portion of the vasculature from the 3-dimensional image dataset.