Apparatus and Method for Image Guided Accuracy Verification

Abstract

A method includes receiving during a first time interval associated with a path of motion of a dynamic body, image data associated with a plurality of images of the dynamic body. The plurality of images include an indication of a position of a first marker coupled to a garment at a first location, and a position of a second marker coupled to the garment at a second location. The garment is coupled to the dynamic body. During a second time interval, an image from the plurality of images is automatically identified that includes a position of the first marker that is substantially the same as a position of a first localization element relative to the dynamic body and a position of the second marker that is substantially the same as a position of the second localization element relative to the dynamic body.

What is claimed is: 
     
         1 . A method for imaging a dynamic body of a patient having predictable movement during a periodic cycle, comprising:
 a) attaching at least one marker onto a patient location that moves during the periodic cycle;   b) receiving from an imaging device a plurality of images of the dynamic body over the periodic cycle taken during a first time interval prior to a medical procedure, individual images of the plurality of images showing a position of the at least one marker;   c) attaching at least one localization element to the patient location;   d) receiving, at a second time that is during the medical procedure, data identifying positions for the at least one localization element; and   e) generating simulated intra-procedural images indicating a position of a medical instrument relative to a target anatomy based on: the plurality of images of the dynamic body taken during the first time interval, and the data identifying positions of the at least one localization element.   
     
     
         2 . The method of  claim 1 , further comprising displaying, on an image display the simulated intra-procedural images, indicating a position of a medical instrument relative to a target anatomy, for use in navigating the medical instrument during the medical procedure. 
     
     
         3 . The method of  claim 1 , wherein the at least one marker comprises a first marker and a second marker; the patient location comprises a first patient location and a second patient location; the first marker being attached to the first patient location, the second marker being attached to the second patient location; the at least one localization element comprise a first localization element and a second localization element; the first localization element being attached to the first patient location and the second localization element being attached to the second patient location; wherein the step of receiving data at the second time further comprises receiving data identifying a position of the second localization element relative to the dynamic body, and further comprising the step of determining that the second marker exists in the identified image at substantially the same position as the second localization element relative to the dynamic body. 
     
     
         4 . The method of  claim 1 , further comprising:
 f) automatically registering a path of motion of the dynamic body during a second time interval that includes the second time with the path of motion of the dynamic body during the first time interval based on the automatically identifying for times during the second time interval.   
     
     
         5 . The method of  claim 3 , further comprising:
 f) automatically registering a path of motion of the dynamic body during a second time interval that includes the second time with the path of motion of the dynamic body during the first time interval based on the automatically identifying for times during the second time interval.   
     
     
         6 . The method of  claim 5 , wherein the step of automatically identifying comprises:
 i) determining a measurement between the position of the first marker and the position of the second-marker in the plurality of images during the first time interval using a cost-function,   ii) applying the cost-function to the position of the first localization element and the position of the second localization element at the second time,   iii) determining whether the position of the first localization element and the position of the second localization element at the second time is substantially the same as the position of the first marker and the position of the second marker, respectively, in the images,   iv) automatically computing a registration between the positions of the first and second markers, and the positions of the first and second localizations elements, and   v) superimposing a position of a medical instrument on to a displayed image of the dynamic body from the first time interval.   
     
     
         7 . The method of  claim 1 , further comprising providing a navigational path for a medical instrument to be directed based on the identified image. 
     
     
         8 . The method of  claim 1 , wherein the images of the dynamic body are 3-D images. 
     
     
         9 . The method of  claim 3 , wherein the step of attaching the first localization element to the first location on the patient and the second localization element is to the second location on the patient occurs before the first time interval. 
     
     
         10 . The method of  claim 3 , wherein the first localization element is attached to the first marker using a first connector and the second localization element is attached to the second maker using a second connector. 
     
     
         11 . The method of  claim 1 , wherein the imaging device utilizes X-rays. 
     
     
         12 . The method of  claim 10 , wherein the step of attaching the first localization element to the first location on the patient and the second localization element is to the second location on the patient occurs after the first time interval. 
     
     
         13 . The method of  claim 3 , wherein the localization elements comprise electro-magnetic coils in which the data identifying positions for the localization elements is derived by measuring voltages induced in the coils. 
     
     
         14 . The method of  claim 1 , wherein the at least one localization element comprises reflective markers. 
     
     
         15 . The method of  claim 1 , wherein the at least one localization element comprises infrared light emitting diodes. 
     
     
         16 . The method of  claim 1 , wherein the at least one marker is attached to the patient location using adhesive. 
     
     
         17 . The method of  claim 1 , wherein the at least one localization element is attached at the patient location by physically coupling the at least one localization element to the at least one marker. 
     
     
         18 . The method of  claim 1 , wherein the at least one marker is attached to the patient location using straps. 
     
     
         19 . The method of  claim 1 , wherein the at least one marker is attached to the patient location by attaching the at least one marker to a garment that is attached to the patient.