Probe localization

Abstract

A method of NM image reconstruction, including: (a) acquiring a first set of NM data of a part of the body; (b) collecting a probe position and/or probe NM data from an intrabody probe; (c) reconstructing an NM image from said NM data using said collected probe data. Also described is a method of navigating to a target in a body, including: (a) acquiring a NM image of a part of the body; (b) collecting NM data from an intrabody probe; (c) correlating said image and said data; and (d) extracting location information of said probe relative to said target based on said correlated data.

What is claimed is: 
     
         1 . A method of navigating to a target in a body, comprising:
 (a) acquiring a nuclear medicine (NM) image of a part of the body;   (b) collecting probe NM data from an intrabody probe;   (c) automatically correlating said image and said probe NM data to obtain correlated data reflecting a match between structures in said image and structures in the body portion of which said probe NM data is collected; and   (d) automatically extracting location information of said intrabody probe relative to said target based on said correlated data.   
     
     
         2 . A method according to  claim 1 , wherein said collecting comprises collecting when contacting a boundary of a lumen by said probe. 
     
     
         3 . A method according to  claim 1 , comprising:
 (a) using said probe NM data to generate a 3D map of position of at least part of a boundary of said lumen and defining a boundary location and   (b) using said boundary location as a constraint during reconstruction of probe NM data of said body portion.   
     
     
         4 . A method according to  claim 3 , wherein said using as a constraint comprises assuming emissions cannot come from said lumen. 
     
     
         5 . A method according to  claim 1 , wherein said extracting comprises using said NM data as a constraint on probe location. 
     
     
         6 . The method according to  claim 1 , comprising reconstructing in a locality of a position of the probe when collecting probe data. 
     
     
         7 . A method according to  claim 1 , comprises reconstructing an image using said probe NM data. 
     
     
         8 . A method according to  claim 1 , comprising reconstructing a local NM image from said location information and said probe NM data. 
     
     
         9 . The method of  claim 1 , comprising co-registering said location information of said intrabody probe to said NM image. 
     
     
         10 . The method of  claim 1 , wherein said probe is a catheter, said lumen is in the heart and one or both of said NM data and said probe NM data comprises emissions from mIBG. 
     
     
         11 . A method according to  claim 1 , wherein said correlating comprises correlating said collected data with an expected set of measurements calculated using said NM image. 
     
     
         12 . A method according to  claim 1 , wherein said extracting location information comprises verifying a position of said probe. 
     
     
         13 . A method according to  claim 1 , wherein said extracting location information comprises selecting between alternative posited positions of said probe. 
     
     
         14 . A method according to  claim 1 , wherein said extracting location information comprises determining a position of said probe. 
     
     
         15 . A method according to  claim 1 , wherein said extracting location information comprises determining a plurality of, but fewer than 5, alternative positions of said probe. 
     
     
         16 . A method according to  claim 1 , wherein said extracting location information comprises determining a proximity to a hot spot. 
     
     
         17 . A method according to  claim 1 , comprising combining said extracted information with position data provided by a position sensing system. 
     
     
         18 . A method according to  claim 17 , wherein said combining comprises providing a functional correction using said NM data to a physical position indicated by said positioning data. 
     
     
         19 . A method according to  claim 1 , wherein said collecting comprises collecting data with a substantially omni-directional sensor, with a directional sensitivity that is within a factor of 1:2 over all directions. 
     
     
         20 . A method according to  claim 19 , wherein collecting comprises moving said probe to collect a non-scalar indication of NM data. 
     
     
         21 . A method according to  claim 1 , wherein said collecting comprises collecting data with an asymmetric sensor, with a directional sensitivity that is within a factor more than 1:2 for at least 1% of a field of view thereof. 
     
     
         22 . A method according to  claim 20 , wherein collecting comprises moving and/or rotating said probe to collect additional NM data for use in said correlating. 
     
     
         23 . A method according to  claim 1 , wherein said correlating comprises correlating based on a pattern of peaks and/or amplitude of peaks in said NM data. 
     
     
         24 . Apparatus comprising circuitry with:
 (a) one or more inputs for receiving NM image data;   (b) one or more inputs for receiving probe NM data and,   configured to correlate the NM data and NM image data and extracting location information of said probe therefrom.   
     
     
         25 . Apparatus according to  claim 24 , as part of a system comprising a catheter with a radiation sensor.