CN1820707A

CN1820707A - Method and system for registering 3D images in interventional systems

Info

Publication number: CN1820707A
Application number: CN 200510121682
Authority: CN
Inventors: M·瓦斯; 贾斯伯·S·斯拉; D·R·奥克伦德
Original assignee: General Electric Co
Current assignee: General Electric Co; APN Health LLC
Priority date: 2004-12-20
Filing date: 2005-12-20
Publication date: 2006-08-23
Anticipated expiration: 2025-12-20
Also published as: JP2006175229A; JP5122743B2; CN100536776C

Abstract

A method (300) for registering cardiac image data in an interventional system (186), comprising: a first set of fiducial points (310) is inserted on an acquired 3D anatomical image and the 3D anatomical image is output to an interventional system (186), wherein the image has the inserted first set of fiducial points (318) thereon. Inserting a second set of fiducial points (320) on the output 3D anatomical image using the interventional system (186), and aligning the first and second sets of fiducial points with each other to register the output 3D anatomical image (322) with the interventional system (186).

Description

The method and system of the 3D rendering in the registration interventional systems

The cross reference relevant with application

The application is the No.10/063 that is numbered that submitted on March 15th, 2002, the part continuation application of 064 U. S. application, and the content of this U. S. application is contained in this by reference and all.

The application also is the No.10/065 that is numbered that submitted on November 1st, 2002, the part continuation application of 595 U. S. application, and the content of this U. S. application is contained in this by reference and all.

The application also is the No.10/249 that is numbered that submitted on May 9th, 2003, the part continuation application of 185 U. S. application, and the content of this U. S. application is contained in this by reference and all.

The application also requires the No.60/531 that is numbered of December in 2003 submission on the 19th, the rights and interests of 293 U.S. Provisional Application, and the content of this U.S. Provisional Application is contained in this by reference and all.

The application further requires the No.60/531 that is numbered of December in 2003 submission on the 19th, the rights and interests of 294 U.S. Provisional Application, and the content of this U.S. Provisional Application is contained in this by reference and all.

Technical field

Present disclosure relates generally to the disease treatment system, and relates more particularly to registration (registration) method and system of the interior 3D anatomical model of interventional systems (interventional system).

Background technology

Many with improve heart in the relevant intervention procedure of electricity treatment during, the doctor operates intraventricular conduit (catheter) and/or lead (lead).Two and examples modal process the most complicated comprise atrial fibrillation (AF) ablation and biventricular pace-making.Atrial fibrillation is the most general rhythm of the heart problem, refers to owing to heart causes that as fibrillation atrium (top of ventricle) stops to shrink the arrhythmia that produces.Only in the U.S., 2,000,000 people suffer from atrial fibrillation to estimate nearly just have.At present data show AF is the ARR common cause of the person of being admitted to hospital.AF patient tends to have the high incidence as bump and congestive heart failure complication.Too early atrial systole, is equivalent to trigger and impels the AF burst.Shown that these too early atrial systoles are mainly derived from the pulmonary venous inside of left atrium and on every side.Because can limiting, the too early atrial systole of uncommon and irreproducibility melts the effect that triggers the position, so multiple surgical operation and microcatheter technology are usually used in from the left atrium isolation of pulmonary veins.

The surgery operating technology of a kind of treatment (melting) AF utilizes rf wave to produce Wicresoft at heart surface near being included in the junction of pulmonary vein and left atrium.This Wicresoft that produces owing to rf wave helps to stop the unsettled pulsation of AF by the guiding pulsation along the normal electrical path by heart.Such surgical procedures is generally finished by cutting chest.Usually during the heart cutting operation that carries out owing to other reason, for example valve surgery or other surgery, surgeon uses the instrument of particular design to discharge the energy of rf wave or other form to abnormal structure.Although when the patient need will stand the heart cutting operation because of reason separately, it is effective that such surgery operating technology seems, and when the patient did not need to carry out the heart cutting operation because of other reason, relevant treatment with conduit just became more practical.

A kind of microcatheter technology is located at the inner fluoroscopy guide catheter of using of left atrium after comprising the scrutiny blood vessel, with the radio-frequency energy that is applied on the zone that shows the twice electromotive force, show the position that the zone hint of twice electromotive force can conducting between left atrium and pulmonary vein.Also shown the melting of other position, for example between Bicuspid valve and the left pulmonary vein, and between the pulmonary vein,, can increase the success rate of AF ablation because during surgical operation is got involved, do.Make the current mapping technology of utilizing the fluoroscopy bootstrap technique and some trouble and loaded down with trivial details of ablation such as following these factors, for example utilize the incomplete three dimensions of the left atrium of some prior aries reproductions, the doctor can't see pulmonary vein hole (open these blood vessels and enter left atrium) from the inside, varying in size of pulmonary vein and pulmonary vein hole, make the difficulty that keeps mapping and melt the conduit that is stabilized in pulmonary vein hole and interior other significant points place of left atrium because of the 3D geometry of these position complexity, all these make current approach all utilize current some loaded down with trivial details and tediously long fluorescence guidance technology.Because these limitation, the catheter ablation art especially at secular atrial fibrillation patient, is not very successful just.Estimate to be lower than 20% the patient who suffers from AF for a long time, stand the AF radio-frequency ablation procedure, be benefited from this respect.

Another factor relevant with above-mentioned limitation is that the operator guides a kind of intervention apparatus that mainly utilizes fluoroscopic image usually.The typical task of in the described process is that conduit is placed on special position, on one of them pulmonary vein.Yet the structure on these anatomy can not be described well by x-ray system, because they can not form contrast with respect to the structure on the anatomy on every side.

The medical procedure that another is important as previously mentioned comprises the bilateral ventricular pacemaking art in the heart failure treatment.Although sizable development is arranged, serious health problem is arranged still worldwide in the processing of congestive heart failure (CHF).Estimation has 600-700 ten thousand people to suffer from CHF at US and European, and annual being diagnosed as near 1,000,000 patients suffers from CHF.Obtained very quantum jump although utilize various medicines to treat CHF, because usually make that in hospital CHF patient's body situation is very poor, and heart failure is to cause dead common cause.In addition, this disease medical care expenses is quite expensive.

Electricity in the common heart activates the activation that comprises the epicoele that is called as the atrium, followed by activate chamber, lower-left and the chamber, bottom right that is referred to as ventricle simultaneously by left and right sides bundle branch.Because late period, CHF patient may suffer from the conducting system disease, it has arrived certain effect in heart body worsens for it, and the treatment of pace-making art was introduced in improving heart body.A kind of conduction abnormalities of often noticing is left bundle branch block (LBBB).At one piece of scientific paper (Xiao HB etc., Differing effects of rightyentricular pacing and LBBB on left ventricular function.Br HeartJ 1993; 69:166-73), 29% CHF patient suffers from LBBB.As previously mentioned, left bundle branch block has postponed left ventricle ejection and has activated and cause by postponing left ventricle, thereby because electric pulsation can only cause activating in order toward left side fast moving from the right better than activating simultaneously.In addition, the diverse location of left ventricle (LV) can not shrink with coordinated mode.

Heart is synchronous again, and just said bilateral ventricle (Bi-V) pace-making art has obtained useful effect in CHF and LBBB patient.During Bi-V pace-making art, (RV LV) improves the heart pumping efficiency to the ventricle on the pace-making heart the right and the left side simultaneously.Recent yet demonstration even some do not have the unusual patient of conducting system, as LBBB patient, can benefit from Bi-V pace-making art yet.During Bi-V pace-making art,, also in coronary sinus, placed in addition a kind of leading except the right atrium and the right ventricle of the standard used in existing defibrillator or pacemaker leads.A branch vessel of this additional coronary sinus that enters into the left ventricle surface that covers visceral pericardium (outside) of leading.In case all leading is all ready, left and right ventricles leads the while pace-making, then synchronous synchronous with atrial systole.

But there are some problems in this method.The first, this process is consuming time.The second, the LV position of leading is limited to the place that can be used to provide rational pace-making and detected parameters.The 3rd, because right atrium is expanded, heart reverses or Tebesian valve (a kind of valve near the coronary sinus hole) occurs, it is challenging that pipe is inserted in the coronary sinus.Report to some extent in the once former cononary artery bypass surgery patients of coronary sinus narrow (obstruction), this is a kind of more complicated situation.

Under most of situation, in intervention procedure, determine the placement problem that coronary sinus leads.Put procedure is abandoned if coronary sinus leads, and the patient is just sent back to operating room and LV and leads and be placed on visceral pericardium.In this course, at thoracic wall outside otch and will lead and be placed on the lateral surface of left ventricle.Unfortunately, also there are many difficult problems in the placement of epicardial lead, comprises here, but is not limited thereto: can only see the posterolateral limitation of left ventricle position by the otch of thoracic wall, also be mini-thoracotomy; Provide the number of set-point of suitable pace-making and parameter sensing limited; Can't distinguish only position and lead only local the placement; The potential danger of damage coronary artery and Venous system; And cause because of one or more above-mentioned limitation and to be difficult to the ideal pace-making of identification position.

Shown that independent operation LV pace-making art also can reach the effect of Bi-V pace-making art.Yet because the coronary sinus unstability of leading, pace-making and sensing are led and usually are placed on right ventricle in technology commonly used at present.

Heart CT can be used to produce coronary sinus and left ventricle is dissected icon, can determine that so appropriate position places the LV pace-making that Bi-V/LV pace-making art uses and lead, or in immediate coronary sinus branch, or on the left ventricular wall visceral pericardium (from the outside).CT or MR imaging also can be discerned and lack blood vessel and neural zone, also are scar tissue.These features also can be used for determining the inhomogeneous contraction of ventricle and discern the different parts that ventricle shrinks with coordinated mode.Owing to forming (scarring), the scar scar that existed in the former heart attack can cause inharmonious contraction to worsen more.

In intervention procedure, the operator mainly can guide the intervention instrument by using fluoroscopy.Yet, (for example AF gets involved left atrium and the pulmonary vein in the processing scheme to be in the important anatomical structure in crucial place, with coronary sinus and the branch thereof in the bilateral ventricular pacemaking art scheme) all can not describe by x-ray system, because they can not form contrast with respect to the structure on the anatomy on every side.

In some cases, the operator also can use the intervention tracking system, and this intervention tracking system has the tracking system based on conduit that has been equipped with navigation feature, and it can be provided in the catheter position in the given benchmark.Yet the navigation information that is provided by detector can not show in real 3D model.

Though existing medical system and process are fit to and are adapted to some medical condition, yet still there is important operation limitation.Therefore, the method and apparatus that is necessary to provide a kind of advanced person here is used for the 3D model to the interventional systems registration region of anatomy, uses the 3D model that is registered to follow the tracks of conduit and/or lead to overcome these shortcomings simultaneously.

Summary of the invention

In the prior art above-mentioned discussion and other shortcoming and defective can by a kind of in interventional systems the method for registration cardiac image data overcome and alleviated.In an example embodiment, this method comprises at first inserts first group of datum mark on the 3D anatomic image that obtains; Export described 3D anatomic image to interventional systems, wherein said image has first group of datum mark of described insertion thereon.Utilize described interventional systems, on the 3D of described output anatomic image, insert second group of datum mark; And aim at described first group of datum mark and described second group of datum mark mutually, so that register the 3D anatomic image of described output to described interventional systems.

In another embodiment, the one or more anatomical features on a kind of 3D anatomic image that the method bag identification of registration cardiac image data is obtained in interventional systems, and export described 3D anatomic image to interventional systems.Utilize described interventional systems, an instrument and being located on the corresponding position of anatomical features of the described one or more identifications on the 3D anatomical image with described output navigates.With the anatomical features of the described one or more identifications of localized instrument position alignment to the 3D anatomic image of described output, so that register the 3D anatomic image of described output to described interventional systems.

Also in another embodiment, a kind of method that is used to reduce the three dimensions anatomic image correction of motion artefacts of interventional systems registration is included in the selected cardiac cycle stage, mark position on the cardiac image that obtains from imaging system.The cardiac image that has obtained of input institute labelling is to interventional systems; And utilize the position of described interventional systems labelling correspondence on the cardiac image of input, wherein in the described selected cardiac cycle stage also position of the described correspondence of labelling.

Description of drawings

With reference to following exemplary drawings, wherein the numbering of same section is identical in several accompanying drawings:

Fig. 1 is the general synoptic diagram that is suitable for according to the medical imaging system of embodiment of the invention use, for example computer body-layer X line photography (CT) system;

Fig. 2 is according to the embodiment of the invention, utilizes the imaging system of Fig. 1, the method flow diagram of the medical image that registration has been obtained in interventional systems;

Fig. 3 has described the typical sequence details of 3D model image, and the starting point deposits datum mark on image, and output image and datum mark be to interventional systems (corresponding datum mark deposit there) then, and the image of registration output;

Fig. 4 has described the typical sequence details of superior vena cava and coronary sinus 3D rendering, and the starting point deposits datum mark and registers the image that is used for bilateral ventricular pacemaking intervention procedure on image;

Fig. 5 has described when confirming to use radioscopy, aims at and register the typical sequence of the 3D model of output in interventional systems by the conduit of placing in the pulmonary vein;

Fig. 6 has described the radioscopy image, and it has shown lead when being aligned their path of coronary sinus conduit and pace-making and defibrillation in superior vena cava, coronary sinus and right ventricle;

The conduit that Fig. 7 has placed in having described when confirm using radioscopy by pulmonary vein is aimed at the 3D anatomical model of exporting in interventional systems typical sequence; And

Fig. 8 has described LocalLisa ^TMThe position of the interventional systems electrosurgical catheter diagnostic method.

The specific embodiment

Here disclosed a kind of method and system of in interventional systems, registering anatomic image, wherein, by utilizing on the 3D model sedimentary datum mark and/or utilizing instrument (for example, conduit, pace-making lead) with respect to the anatomical features of one or more identifications (for example, the cross point of left atrium/pulmonary vein on heart, coronary sinus, superior vena cava (SVC) etc.) navigation and location, come segmented image (with the form of 3D model) to interventional systems registration input.In addition, embodiments of the invention, be used for by carry out image segmentation, datum mark deposition and instrument location in about identical cardiac cycle stage, the same phase in about 75% R-R cycle during sinus rhythm for example, at interval about 45% to 50% of R-R improves because heart and the caused correction of motion artefacts of respiratory movement during meeting causes quick and irregular R-R atrial fibrillation at interval.Though listed examples is described in the CT imaging system here, other imaging system that is appreciated that this area also can relate to obtains the cardiac data that will register.

The distinctive feature of the present invention especially comprises: utilize in the anatomical model in the sedimentary datum mark and interventional systems corresponding point to registering the 3D anatomical model; By using such as the conduit that on interventional systems, can see or the such instrument of catheter electrode, aim at the anatomical features in the 3D model, thus registration 3D anatomical model; And, register the 3D anatomical model to interventional systems in the identical aroused in interest and breathing cycle for fear of correction of motion artefacts.

At first, shown the overview of exemplary cardiac computer analytical roentgenography (CT) system 100 here, be applicable to medical intervention procedure, for example atrial fibrillation ablation, or bilateral ventricular therapy referring to Fig. 1.In addition, be appreciated that also this cardiac CT system 100 only occurs in the mode of example, because other technical imaging system (for example magnetic resonance, ultrasound wave) also can be used for the embodiment of the invention.

Especially, Fig. 1 has described a kind of common sketch map of the imaging system of using in conjunction with the embodiment of the invention 100.According to sketch map, this imaging system 100 comprises an imaging device 110, be used to generate cardiac image data, the view data of left atrium and coronary sinus for example, a data-acquisition system 120, be used for obtaining cardiac image data from imaging device 110, one is obtained data base 130, be used to store cardiac image data from data-acquisition system 120, an image generation system 140, be used for generating the visual image that is stored in the cardiac image data that obtains data base 130, an image data base 150, be used to store visual image from image generation system 140, an operator interface system 160 is used to manage imaging device 110, cardiac image data and data base 130, visual image in 150 (can be combined into a data base), and a processing system 180, be used for analyzing with the visual image in video data storehouse 150 and to operator interface system 160 and respond.Process softwares in the processing system 180 comprise instruction set, therefore are suitable for analytical data and display image, thereby processing system 180 is transformed into specialized processor from general processor.The data that can be converted to the scanning of visual image are called as view data herein.

System communication link 210,212,216,218 and database communication link 220,222 provide the means of signal communications between a kind of system 110,120,140,160,180 and the data base 130,150.For example communication link 210-222 can be a hardwired or wireless.Operator interface system 160 can be an independently I/O terminal or based on the computer with various computer language instruction set of using on various computer platforms, for example but not only be confined to, and based on DOS ^TMComputer system, based on Apple ^TMComputer system, based on Windows ^TMComputer system, based on the HTML computer system, based on the computer system of separate procedure language, perhaps similar system.

Operator interface system 160 comprises a processor 170, such as a microprocessor (MP) or other any treatment circuit that discloses purpose herein that is applicable to, be used to manage imaging device 110, be used for management data and obtain system and image generation system 120,140, be used for handling and manage the information of obtaining data base and image data base 130,150, and the operation that is used for management and processing system 180.Operator interface system 160 also comprises a memorizer 200, and it comprises the specialized instructions that relates to medical scanning process, such as the user input apparatus of a keyboard 162 with such as user's output device of display 164,166.In one embodiment, interface system 160 and processing system 180 can integrally be arranged.Display 164 can be suitable for checking prescription, and display 166 can be used for video picture simultaneously.Replacedly, display 164 and 166 can be integrated into a display.Check that prescription comprises input parameter, for example CT scan or scan control scope, data are obtained control, wait similar parameter.Operator interface system 160 also can be used for showing the radioscopy image during the actual intervention procedure, 3D CT image, and the interventional systems with 3D rendering output that hereinafter discloses.Get involved in the processing procedure in actual medical, the information that FPDP 205 is accepted from the medical detection device is such as conduit 260, so allow with the real-time mode analytical data during actual intervention procedure.

Imaging device 110 comprises an electrocardiogram (EKG) monitor 112, it is by an interface board (patient interface unit) 116, output to scanner (parts 115,117 and 118), for example a patient's CT scanner 250 with being commonly used to describe the R-peak event 114 that the rhythm of the heart cycle begins.Scanner 115,117,118 is commonly referred to one or more image-taking systems hereinafter.This interface board 116 can make between scanner data and the EKG monitor data synchronous.Replacedly, this interface board 116 can be used to connect EKG monitor 112 and scanner 118.An example of interface board 116 is workbench interface board (Gantry interface board).An example scanner 118 is cardiac computer analytical roentgenography (CT) systems that support cardiac imaging.The ECG gating is reproduced in 3D model (in the diastole) segmentation and reproduces the back so that heart does not have motion ground imaging.

During sinus rhythm, segmentation is reproduced in the execution in about 75% o'clock (in the diastole stage) of cardiac cycle.The position of choice phase in cardiac cycle about 45%, this moment, the patient was in atrial fibrillation.When R-R selects this stage blanking time more in short-term.Yet illustrated scanner 118 only just as an example, also can utilize the imaging system in other technology.The example of other imaging system includes, but are not limited to, X-ray system (comprise traditional with numeral or digital imaging system), magnetic resonance (MR) system, positron emission tomography (PET) system, ultrasonic system, NMS and 3D fluoroscopy system.

Still with reference to figure 1, imaging device 110 comprises also that the EKG gating obtains with image and reproduces 135 abilities, so that in the stage heart is carried out nonmotile imaging at diastole usually.Carrying out interface with EKG monitor 112 allows to obtain in real time the cardiac electric pulsation and is convenient to that gating obtains or reproduce the data of having obtained backward.Picture is above-mentioned, can be 75% during sinus rhythm (example), and because short R-R at interval, is approximately 45% during atrial fibrillation.This just allows to eliminate heart movement by in the identical diastole stage by heart is carried out imaging.By utilizing the agreement of one or more imaging the best, these data of having obtained can be stored among the data base or be used to generate the data of needs.In one embodiment, arrive operator interface system 160 via link 212,, and arrive processing systems 180 via communication link 216 so that show and video picture from the image data stream of image generation system 140.Can be stored in the image data base 150 by the employed view data of software being used for checking on prescription and the visual operator interface system 160.This view data may be filed 167, be put on the film 168 and/or through network 169 and send to processing system 180, so that analyze and check, comprises the 3D post processing.Such as utilizing a kind of DICOM file, 3D model image 184 may only be observed or be positioned on its interventional systems of importing 186.Can use display 182 for example to show the fluoroscopy projected image.Fluoroscopy systems 182 may be linked to 3D processing system 180 together with interventional systems and be used for showing and the registration image.Under the situation of AF planning, the poster processing soft on the processing system 180 can show detailed in image in left atrium and the pulmonary venous 3D heart.These images and other data for example are stored in the equipment such as hard disk, CD ROM simultaneously observed in intervention procedure.

Imaging device 110 further comprises the circuit that is used for following purpose, promptly obtains view data and is available form with data conversion, then the data of this form is handled so that at the inner correlated characteristic of creating reproduced image of patient.This image data acquisition and treatment circuit generally are meant " scanner ", and do not need to consider the type of imaging system, because some physics or electronic scanner usually are used for Flame Image Process.The special part of system and the circuit that relates to have very big difference in imaging system, because different systems needs different physics and date processing.Yet, be understandable that also no matter whether selected special imaging system, the present invention is suitable for.

Data output to subsystem 230 from imaging device 110, and it comprises and is used for carrying out the software peace that data are obtained and generate image in image generation system 140 in data-acquisition system 120.Data Control or provide or be positioned at subsystem 230 via transmission link 212 by operator interface system 160.Data from imaging device 110 output comprise R-peak event 114, and are stored in and obtain in the data base 130.In system 120, carry out according to one or more agreements of obtaining that data are obtained so that the imaging of cardiac imaging the best, particularly right ventricle and/or coronary sinus.

In an example embodiment, utilize agreement to generate ventricle 3D imaging data for left ventricle the best, described agreement is four coronary imaging agreements or CardEP agreement for example.The exemplary parameter of using in these agreements comprises 0.5 second Gantry cycle with 0.375 spiral inclination factor, 120 kilovolts, 250 milliamperes and 0.625 or 1.25mm (millimeter) film thickness.These functions can be by carrying out in conjunction with commercially available software tool jointly, for example Xian Jin conduit analyser (AVP) or CardEP.After these instruments above-mentioned are applied to view data, handle further and begin to carry out, such as threshold process, buoyancy aid filtration treatment, scrape optical processing etc.These processing are usually used in putting in order image and are automatic.Automatically handling needs the operator to wait in line, because the operator can only carry out single-step debug according to function software.And then after the image arrangement was handled, remaining ventricle was eliminated and can only sees left atrium.A detailed left atrium and pulmonary venous 3D rendering have just produced.Utilize volume data to draw law technology and show (from the inside observation) in this 3D heart, a large amount of commercial volume data software for drawing bags that can obtain of this technology utilization are as VR and cardiac imaging quality (CARDIQ) etc.In case generated 3D rendering, this 3D pattern geometric system just is output and registers to interventional systems.

There are some known available heart interventional systems this area, can utilize various technology to follow the trail of conduit.Any of these system often can be used to follow the tracks of conduit or lead by enrollment mode.As an example, people's such as Wittkampf LocaLisa ^TMThe 1mA electric current electromagnetic field that system's utilization is launched with about 30kHz from the skin chunk that is positioned on the patient thoracic cavity.Locate these pieces to form 3 dimension space axle systems.Except that being connected of reference by location conduit and mapping/ablation conduit, this LocaLisa ^TMSystem also provides multiple other passage to carry out record from different conduits.Conduit in the patient's heart receives these signals, and according to the size of signal, can determine the position of conduit.LocaLisa ^TMA defective of system is that it can only offer the information of user about catheter position, and can not produce the dissection geometric model.Another utilizable interventional systems is a fluoroscopy systems.

In this article, registration typically refers to interventional systems and the aligned processing of 3D anatomic image.Therefore registration is determining of a kind of geometric transformation, this geometric transformation will be on another view that the point on the view of object or anatomical features are aimed at this object corresponding point or anatomical features.The context graph picture of current embodiment has usually comprised the 3D model.Be used in intravital two different modalities of same master because exist, so it is called as main intravital multi-modal registration.

Most of medical image all shows as digital picture and stores, and is made up of the little array of square that is called as pixel or rectangular element.Each pixel has the brightness of image value that is associated.This array provides image coordinate system.Come element in the estimated image according to the 2D position in this array.For example, if a CT section is made up of 515 * 512 pixels, each section is cut the about 0.5 * 0.5mm of patient with correspondence ²Element.These images then are stacked on together.Therefore the corresponding little tissue volume of each element is referred to as volume elements.For example in 0.75mm section space, the size of volume elements is 0.25 * 0.25 * 0.75mm ³

Be used for representing that the quantity of conversion-T (registration) parameter is meant said degree of freedom here.If imaging and being registered in the short each other blanking time is carried out, the imaging of the anatomical organ as heart and atrium and registration (such as left ventricle) can not have significant change so.Consider this point, suppose to be shown as rigid body by the anatomical structure of imaging and registration.Under this hypothesis, 3 displacements and 3 rotations just provide 6 degree of freedom, and can cause the registration of a success.Yet in addition, the voxel size under every kind of mode is not the same.Therefore being used for the mode of imaging must be calibrated to reach appropriate yardstick as CT scanner and interventional systems.This needs 3 degree of freedom that are used to calibrate size or scaling especially.

Utilize the post processing process software that can obtain on the window banging station, point (refer to hereinafter mention " benchmark " point) can be at labelling on the segmented model of anatomical structure and on the axial slices of related point, and this will be described in detail below.Labelling the 3D rendering of datum mark will be transferred to interventional systems as the DICOM file.Utilize mapping and ablation catheter, this datum mark also can be labeled on interventional systems on these positions or near these positions.By using fluoroscopy, for example, the position of conduit and can be used for labelling datum mark on interventional systems from the intracardiac record (intracardiac recording) of mapping and ablation catheter in the anatomical structure on the coronary sinus for example.Near the expression of double electromotive force (position of hint conduit is left atrium and pulmonary vein junction point) can further help to discern appropriate position.Although can utilize some datum marks or a string point, at least also need 3 not points of conllinear.

In case it is right to utilize the DICOM file that 3D rendering is transformed into a series of respective point, for example, x and y point are identified on anatomical structure.Then, by selecting a kind of conversion of aiming at these points to finish registration.Each view that relates to this geometric transformation is meant the spatial coordinate system that is defined for this particular figure in the present embodiment.Geometric transformation that is used for current embodiment purpose further describes the mapping into a kind of point, for example, and the y of the x in the space X (CT model) in the space Y (interventional systems).Next step is exactly the least square conversion that will find these datum marks that can align.

Register error can be any non-zero points displacement of being described by following equation:

T(x)-y

If T (x)=Rx+t wherein R is meant rotation, t is meant conversion.Therefore the datum mark in 2 views causes a littler register error to the brigadier.Misalignment can be represented as the root mean square error.In this embodiment, this error will be called as benchmark register error (FRE).

A rigid body translation of describing among the embodiment here can be calculated like this:

FRE = (\frac{1}{N}) Σ_{i}^{N} w_{i}^{2} {[Rx + t - y]}^{2}

Wherein N is the quantity that datum mark uses, and w _i ²Be meant non-minus weighting factor, can be used for reducing the influence of benchmark not too reliably.Therefore can obtain optimal registration by minimizing FRE.In order to make difference minimum between two coordinate systems, a coordinate system will be with respect to another rotation and conversion.Separating of minimization problem is unique, unless datum mark is on same straight line.As will introducing in detail after a while, utilize not datum mark point-blank.

Singular value is used for analyzing and solving the problem of least square.The essential condition of implementing this method is the matrix full rank, is exactly not to be zero singular value.This is a kind of situation of embodiment, because the datum mark of selecting conllinear (promptly not on the same line) not.Some packets such as MATLAB or EISPACK can be used for feature analysis (for example eigenvalue and characteristic vector are calculated).If only use 3 or point still less, can utilize inverse of a matrix so.If many equations are arranged, H=U λ V can be used for non-square is become square.For example, under the situation of rotation, insert diagonal matrix and guarantee that R is suitable rotation (not being reflection).

In case the parameter of mentioning before is identified, carry out log-on operation so.Mutual degree between two images may be interactivity, semi-automatic and/or automatically.During the interactivity method, need people's intervention to determine conversion.During semi-automatic, computer is determined conversion, needs the user to get involved to select to register the correct images and the attribute of needs simultaneously.Automated process does not then need people's intervention.

Other mode as the method based on intensity, can be used as a kind of selective registration basis and uses datum mark or anatomical features.In this case, the registration between two width of cloth images relates to and utilizes voxel values to come computational transformation.Gather according to the volume elements in the overlapping region and to calculate the volume elements approximate measure.Do not exist between the image under the out-of-alignment situation, intensity difference square be zero.Yet main intravital multi-modal registration comprises the recovery of 3 conversions and 3 rotation parameters, supposes between the volume elements intensity to be the simple cost function of linear relationship so to die on.

Thus, the new method of describing in the embodiment of the invention relates to the registration of anatomical structure, and as left atrium and pulmonary vein, they are very important to the treatment arrhythmia such as the atrial fibrillation disease.A kind of similar method can be used to register other anatomical structure for example coronary sinus and left ventricle during bilateral ventricular pacemaking art.Except datum mark, also can register anatomical model at a kind of instrument that is similar to conduit of the inner placement of anatomical structure.

For successfully registration, it is very difficult determining between two coordinate spaces and aiming at anatomic landmark.Replace aiming at anatomical structure, the another kind of exclusive feature of the embodiment of the invention comprises that the doctor physician utilization is similar to conduit or the instrument that leads is aimed at anatomical structure to finish registration in anatomical structure.Though Other Instruments also can be placed on anatomical structure inside, a kind of illustrative examples of Jie Luing has adopted in that superior vena cava and coronary sinus are inner and has placed conduit or lead at superior vena cava and inner placement of right ventricle here.

With reference now to Fig. 2,, provided the flow chart that a kind of interventional systems in conjunction with the embodiment of the invention is used to register the case method 300 of 3D mode image (for example CT image) here.Just as piece 302 provides, the imaging system 100 such as by Fig. 1 obtains many data.It is such that these anatomical image datas that obtain are shown in segmentation (pretreatment) in bulk 304, so that generate the 3D rendering of anatomical features, described anatomical features is such as being left atrium, pulmonary vein, superior vena cava and coronary sinus (306), or superior vena cava, right atrium, coronary sinus and left ventricle (piece 308), this depends on the intervention step that will carry out afterwards.

On a path, method 300 enters piece 310, and this moment, datum mark was inserted in the 3D anatomical model that is generated, and is used for visual and analysis afterwards.In this respect, insert 3 not datum marks of conllinear to each model at least, as showing in the piece 312.Though be preferably 3 points, also can insert more datum marks, as showing in the piece 314 as the 3D model.As selection, method 300 also can realize that these anatomical features are also referred to as reference characteristic in the present embodiment in the 3D model by discerning actual anatomical features, as showing in the piece 316.Under the situation of the registration of 3D left atrium model, dissect or reference characteristic also generally includes but is not limited to: left atrium, left atrium pulmonary vein cross point, coronary sinus and superior vena cava.And in bilateral ventricular pacemaking art, dissection or benchmark element generally include but are not limited to: superior vena cava, coronary sinus, right atrium and left ventricle.In either case, this 3D anatomical model (having deposition datum mark or definite element/boundary mark) all is exported to interventional systems (for example, utilizing the file of standard transmission such as DICOM3), as showing in the piece 318.

In alternative method (for example, bilateral ventricular pacemaking art), and substitute the conduit that will describe afterwards, some datum marks are placed in the anatomical structure, such as superior vena cava, aperture and coronary sinus.If conduit has been placed in the hole, these structures can be aimed at a kind of segmented model.Except superior vena cava point, conduit also usually is placed on a plurality of coronary sinus.Superior vena cava and coronary sinus tissue are aimed at segmented model, and aim at the registration that utilizes conversion to realize.

Inserting the place of datum mark to the 3D model of output, method advances to piece 320, near sedimentary datum mark on the 3D model of output, and conduit and/or lead on which point, to be used to labelling datum mark on corresponding interventional systems model.So, the datum mark of labelling is calibrated to and the heart and breathing cycle of some same phase on (sectional) 3D model of output on the interventional systems model, as showing in the piece 322.

Correspondingly, identification is dissected or the place of reference characteristic on the 3D model of output, and the 3D model by output comes catheter navigation and/or leads and they are registered to the anatomical features of identification, as show in the piece 324 and hereinafter will describe in further detail.After this, carry out with conduit/leading is calibrated to heart and the breathing cycle that has same phase with sectional 3D model, as showing in the piece 326.Especially, for example under the situation of atrial fibrillation, with catheter navigation to coming the optimization enrollment process such as left atrium-such reference characteristic of pulmonary vein junction point.This position also can write down in fluoroscopy and the heart to determine by utilizing.

No matter whether datum mark or the anatomic landmark of being discerned are used to use the 3D model from scanning system output to calibrate the interventional systems model, method 300 all enters piece 328, so that come the further calibration scan of relative interventional systems system by calculating zoom factor λ, wherein λ is used for the convergent-divergent that relative interventional systems model is adjusted the scanning system model.

Then, as showing in the piece 330, by a series of rotations, translation and convergent-divergent adjustment, to the 3D anatomical model of interventional systems registration output.In other words, this coordinate system is rotated, make invocation point to or the some feature alignd mutually so that register optimization.(generation tz) is simple relatively and can utilizes known technology and processing conversion factor, such as the center of aiming at total anatomical structure for tx, ty.This treatment circuit is arranged for generating the executable instruction of conversion factor, with relative CT image transitions 3D model.In principle, this alignment methods also can compensate along the axle rotation perpendicular to projection plane.

Suppose that the system that is used to register is calibrated, make with patient to be that the benchmark at center is identical in rotation, minimum rotation is arranged between two systems.Suitable energy of rotation calculates according to 3 anglecs of rotation, for example θ x, θ y and θ z.Even now is because the heart during heart contraction and the diastole rotatablely moves, so also may produce some errors.Other importance that will consider is CT gating and the variation that caused by breathing.During sinus rhythm, carry out the segmentation of anatomical structure at 75% place of the rhythm of the heart (diastole) and reproduce.Similarly, the stage position during abnormal rhythm for example at 45% place in rhythm of the heart cycle, is selected atrial fibrillation.Datum mark can be at labelling on interventional systems of same stage, with any misalignment of avoiding causing because of heart movement.Implement CT scan during holding one's breath in expiration, the datum mark on the interventional systems also for example is deposited during expiration is held one's breath.Still any little error of Cun Zaiing can be corrected by telling correct swing, and system need be calibrated, with by correcting it with same angle image rotating on interventional systems.

But described zoom factor λ can determine by the distinguishing feature from the instrument of the known features of public dissection reference system and for example conduit.Give an example, the apparent size of output image (such as conduit diameter) and known actual size compare (such as, the size of conduit).According to this information, the actual size of the anatomical structure in the output image can be determined, and compares with picture structure in the interventional systems.Another can be measured feature and also be used for the convergent-divergent purpose, such as the distance between the conduit top electrode.This treatment circuit is configured to handle the executable instruction that generates zoom factor, and the relative CT image of this zoom factor is adjusted the scaling of the 3D model of registration.Another aspect can be calculated and be calibrated with the apparent size on institute's registered image such as the pulmonary vein hole or by the actual size of the such structure of pulmonary vein first branch distance in hole.

After the 3D model of having registered output, can realize optimization or error minimize step, as that show in the piece 332 and above-described.The 3D model that shows up-to-date registration on interventional systems is as showing in the piece 334.Then, in the piece 336, on the registration image that shows on the interventional systems, for example carry out special intervention step by navigation and location structure (for example, conduit, pace-making lead).

The unique aspect of the embodiment of the invention is, relates to the deposition of the datum mark in the 3D anatomical structure of registering.With the left atrium is example, and datum mark is that (for example) is deposited on the precalculated position during the CT segmentation.Such as all being based on the experience that obtains by the conduit that operates in the left atrium, these precalculated positions of left atrium-superior vena cava junction, the left and right sides and coronary sinus aperture position select, because these positions are easy to be visited by navigation mapping conduit by doctor physician, described mapping conduit is used for saltation point on interventional systems.This is highly significant, although because outside reference mark can be used in well-designed treatment step at an easy rate, and the dislocation of these labellings, and to imaging and both almost instant needs of registration, be the shortcoming clearly of this method.These problems can be resolved by utilizing the internal reference point of describing in the present embodiment.

Fig. 3 has illustrated a kind of schematic sequence of 3D model image, and beginning has explained at length at the model that obtains and deposited datum mark that image and datum mark are output to interventional systems subsequently, and the image of registration output from imaging system.Especially, first image 402 is 3D heart CT models, has deposition first group of datum mark (datum mark 1,2,3) thereon.The 3D rendering 402 that 404 expressions of second image are exported to interventional systems, and have deposition second group of corresponding datum mark thereon.According to corresponding base aligning on schedule, therefrom obtain registering image 406.

In the situation of bilateral pace-making, as shown in Figure 4, this datum mark (though being not limited to) is deposited on the position of easy observation, such as the edge of superior vena cava (SVC 520) and right atrium, the opening part and the postcava-right atrium junction in coronary sinus 530 zones, perhaps produce the low right atrium of non-collinear point.In the left atrium model, after the segmented model of SVC, right atrium, coronary sinus and left ventricle was output to interventional systems, this datum mark was to being used to finish registration.In order more clearly to describe the feature be registered, intermediary panel (with respect to posterior cecal artery (AP) view of front) illustrate heart back, forward or, the PA view, comprise left ventricle (LV) and coronary sinus (CS) and branch thereof.As shown in the panel on the right, the segment processing of describing in detail previously also can be described in CS 530 and ramose image thereof.

Another special aspects of the present invention is described in block chart, and the anatomical features (being also referred to as datum mark) that is placed with instrument therein all is used for registration.This will further describe on the one hand hereinafter.During the atrial fibrillation intervention procedure, there is the conduit of a plurality of recording electrodes often to be placed on coronary sinus inside.Usually place this conduit, and track superior vena cava, arrive coronary sinus then from the jugular vein of cervical region.Similarly, utilize a kind of transseptal method that mapping and ablation catheter are placed on left atrium inside.Mapping in left atrium and the coronary sinus and ablation catheter and coronary sinus conduit can be crossed interventional systems and be identified.On the basis of the research of finishing in existing interventional systems, the location is very accurate.The position of these conduits is also confirmed by fluoroscopy affirmation and electrocardiograph, particularly is being identified as left atrium-pulmonary vein junction point place.EGM on these positions illustrates may be from the double electromotive force of left atrium and pulmonary venous record.

Fig. 5 has described the projected image (panel A and D) that comes from fluoroscopy system (for example fluoroscopy system 182 and interventional systems 186).Mapping and melt and the position of crown sinus catheter 500,510 can be seen on fluoroscopy image.Mapping and ablation catheter 500 are placed on the superior vena cava (panel A) on the right and superior vena cava (panel D) inside on the left side.Coronary sinus (CS) conduit 510 has a plurality of electrodes, and some in these a plurality of electrodes also are defined in SVC and the coronary sinus.Electrode can be identified on interventional systems, as shown in Figure 7.The catheter position of the superior vena cava inside on the right and the left side is confirmed by the tester (not shown) of injection affirmation catheter position and according to the EGM that obtains from conduit on the fluoroscopy image.Also can utilize other zone, such as the cavity of the ventricle Bicuspid valve of having described junction point between atrium and the ventricle or Tricuspid valve anchor ring.Yet embodiments of the invention are not planned those anatomic regions and the structure that are confined to disclose here.

In the panel B, the position of the left atrium 3D model 184 of mapping and ablation catheter 500 and output all can be seen on interventional systems 186.Picture is described, and there is appreciable error in both between aiming at.Identification will be shown in panel C conduit and the conversion that is linked of the position on the 3D model.Conduit is positioned in the superior vena cava on the left side then, shown in the panel D of fluoroscopy image, and repeats same operation link conduit and 3D rendering as top the elaboration, so that alignment image and realize correct conversion correctly.

In yet another aspect, the location of the conduit in coronary sinus also can be aimed at according to mode above-mentioned or commonly used.Fig. 6 has illustrated coronary sinus conduit 510 and the pace-making on the fluoroscopy image and has gone to lead 540 location of heart fibrillation.In the situation of coronary sinus conduit, after by SVC and right atrium, catheter positioning is in coronary sinus inside.At the pace-making of right ventricle pace-making with go in the situation that heart fibrillation leads, lead (as the coronary sinus conduit) by SVC but be not to be placed on right ventricle inside.Conduit or lead with sectional SVC to causing the registration of success.

As shown in Figure 7, the electrode of the coronary sinus conduit 510 on fluoroscopy system has been described, shown in the panel on the left side.As Fig. 2 (piece 324) and shown in Figure 1, image 184 (except that the 3D model) is processed, to set up conduit 510 passages in interested vascular, such as in SVC 520 and coronary sinus 530.Be image fine processing image 184,520 and 530, wherein utilized the image that obtains for the angiography data to adjust the known technology of volume elements intensity in the coronary sinus, or study the known technology of the brightness of adjusting image according to angiography or vein mutually.Utilize this contrast to strengthen piecewise analysis, SVC 520 and coronary sinus 530 being identified like that shown in the panel on Fig. 7 the right.The electrode of coronary sinus also shows and is marked on the interventional systems.As the described conversion process of the panel on the right, conduit (electrode) is aimed at segmentation superior vena cava 520 and coronary sinus 530 images and the left atrium model 184 of output then.Because have fixed relation between left atrium and these structures, the left atrium model also can show on interventional systems subsequently.Fig. 8 is exactly an example, has shown and has used LocaLisa ^TMThe supravasal electrode of the coronary sinus of system marks, and the SVC that is aligned with coronary sinus.

In the situation of bilateral ventricular pacemaking, right ventricle leads and 540 is placed earlier usually.This has followed in SVC 520 MCS conduit paths, but is not to advance to this coronary sinus but be placed in the right ventricle.An example that leads as the right ventricle that is placed on right ventricle as shown in Figure 6.Be used to link the conversion of these images by identification, SVC 520 and coronary sinus image 530 then 540 are aimed at leading.Whole left ventricle together with coronary sinus also by segmentation, as shown in Figure 4.Detailed especially description is referring to U. S. application, serial number is 10/605,903 and 10/900,847 (here and and quote they are whole), most of ideal left ventricular pacing position can be registered on the image at these and be discerned, and pace-making leads and is placed on nearest coronary sinus branch in or outside visceral pericardium maximizes to realize benefit simultaneously.Except left ventricle registration or bilateral ventricular pacemaking, pass large artery trunks and reverse and be placed on intraventricular conduit and also can be used for registration with the aligned conduit of large artery trunks and/or a plurality of datum mark that is placed in large artery trunks and/or the left ventricle.

As disclosing, some embodiments of the present invention also comprise following advantages: the availability of CT-interventional systems register technique allows pace-making to lead to be navigated and is placed on the most appropriate position, thereby improves the effect of bilateral ventricular pacemaking or left ventricular pacing; The availability of CT-interventional systems register technique will show the position of coronary sinus on the 3D model, thereby eliminate the needs of bilateral ventricular pacemaking so that implemented the coronary sinus angiography before the implantation coronary sinus leads; In conjunction with the ability of the information of obtaining from the 3D model, generate the scanner that the real-time activity information that is provided by interventional systems is provided in described information utilization; And, a kind of Technical Availability, with utilizing the CT imaging function and the more important thing is the 3D several picture that utilizes interventional systems registration image function to show different pulmonary vein-left atrium junction and intra-auricular other key area, to help to separate pulmonary vein and other more accurate and more easily start and keep AF zone.

Though it is anatomic region that the embodiment of the invention has disclosed with the heart, is understandable that, the present invention is not limited thereto and scope of the present invention comprises other anatomic region of patient inside.Though the embodiment of the invention has disclosed coronary sinus, SVC and left atrium be understandable that as the example anatomical structure of anatomic region inside, and the present invention is not limited thereto and scope of the present invention comprises other anatomical structure of anatomic region inside.Though the embodiment of the invention has disclosed the inner conduit of placing of patient or has led, and is understandable that the present invention is not limited thereto and scope of the present invention comprises miscellaneous equipment.

The embodiment of the invention can be come imbody with computer-implementation procedure and the form of implementing the equipment of those programs.The present invention also can come imbody with the form of computer program, it has and has comprised the computer program code that is registered in the instruction in certain media, computer program is such as being floppy disc, CD-ROM, hard disk drive, USB (USB (universal serial bus)) driver or other any computer readable medium, wherein, when being written into computer program code and being carried out by computer, computer just becomes a kind of equipment of the present invention of implementing.The present invention also can come imbody with the form of computer program code, for example, no matter be stored in the medium, be written into and/or carry out or transmit by transmitting media by computer, for example by with electric wire or cable, pass optical fibers or by the electromagnetic radiation thing, computer all becomes a kind of equipment of the present invention of carrying out.When realizing on the microprocessor of general purpose, computer program code segments produces special logic circuit with this microprocessor configuration.The technique effect of executable instruction is registered the 3D model for auxiliary medical science gets involved the purpose of handling with interventional systems

Though the present invention describes according to preferred embodiment, be appreciated that in the case without departing from the scope of the present invention can produce various variations by replacement and these the technical skills of utilizing equivalent.In addition, may make some modifications so that position and material are suitable for technology of the present invention and do not deviate from its essence spirit.So the present invention is not limited to the exemplary embodiments of the present invention of carrying out most effectively as described herein, the present invention will comprise all embodiment that satisfy all accessory claim spirit.

Parts list

100 cardiac CT system

110 imaging devices

112 electrocardiograms (EKG) monitor

The 114R peak event

115 sweep units

116 interface boards

117 scanner components

118 scanner components

120 data-acquisition systems

130 obtain the data base

135 images reproduce

140 image generation systems

150 image data bases

160 operator interfaces

162 keyboards

164 display

166 display

167 file

168 films

169 networks

170 processors

180 processing centers

182 display or fluoroscopy systems

186 interventional systems

200 memorizeies

205 FPDPs

210 system communication links

212 system communication links

216 system communication links

218 system communication links

220 system communication links

222 system communication links

230 subsystems

250 conduits

260 methods

300

302

304

306

308

310

312

314

316

318

320

324

326

328

330

332

334

402 first images

404 second images

500 mappings and melt hole shape conduit

510 coronary sinus conduits

520 superior vena cava

530 coronary sinus

540 lead

Claims

1. method (300) that is used at interventional systems (186) registration cardiac image data, this method (300) comprising:

On the 3D anatomic image that obtains, insert first group of datum mark (310);

Export described 3D anatomic image to interventional systems (186), wherein said image has first group of datum mark (318) of described insertion thereon;

Utilize described interventional systems (186), on the 3D of described output anatomic image, insert second group of datum mark (320); And

Aim at described first group of datum mark and described second group of datum mark mutually, so that register the 3D anatomic image (322) of described output to described interventional systems (186).

2. the method for claim 1 (300) is wherein aimed at described first group of datum mark and described second group of datum mark mutually and is further comprised execution rotation, translation and zoom operations (330).

3. the method for claim 2 (300) further comprises the described first group of datum mark x that determine in first coordinate space and the conversion T between second group of datum mark y in second coordinate space, with minimum error T (x)-y (332).

4. the method for claim 1 (300), wherein utilize described interventional systems (186) on the 3D of described output anatomic image, to insert described second group of datum mark (332), with the described first group of datum mark of insertion on the described 3D anatomic image that obtains, carry out in the approximately identical cardiac cycle stage.

5. system that is used to register cardiac image data comprises:

Imaging system (100) is used to obtain the 3D anatomic image, and the described 3D rendering that obtains is configured to insert first group of datum mark thereon;

Interventional systems (186) is configured to receive the described 3D anatomic image from described imaging system (100) output, has first group of datum mark of described insertion on it;

Described interventional systems (186) further is configured to insert second group of datum mark on the 3D of described output anatomic image; And

Described interventional systems (186) further is configured to be aligned with each other described first group of datum mark and described second group of datum mark, so that register the 3D anatomic image of described output to described interventional systems (186).

6. method (300) that is used for registering the cardiac image data of interventional systems (186), this method (300) comprising:

One or more anatomical features (316) on the 3D anatomic image that identification is obtained;

Export described 3D anatomic image to interventional systems (186) (318);

Utilize described interventional systems (186), an instrument and being located on the corresponding position of anatomical features of the described one or more identifications on the 3D anatomical image with described output (324) navigates; And

With the anatomical features of the described one or more identifications of localized instrument position alignment to the 3D anatomic image of described output, so that to the 3D anatomic image (328) of the described output of described interventional systems (186) registration.

7. the method for claim 6 (300), wherein said anatomical features with the described one or more identifications of localized instrument position alignment to the 3D anatomic image of described output further comprises and carries out rotation, Pan and Zoom operation (330).

8. the method for claim 7 (300), further comprise and determine the conversion T between the localized instrument position in the anatomical features of one or more identifications described in first coordinate space and second coordinate space, so that with described one or more anatomical features and described localized instrument position is linked and minimum registration error (332).

9. the method for claim 6 (300), wherein saidly utilize an instrument of interventional systems (186) navigation and be located on the corresponding position of anatomical features of the described one or more identifications on the 3D anatomical image with described output, with the one or more anatomical features that are identified on the described 3D anatomic image that obtains, carry out (326) in the approximately identical cardiac cycle stage.

10. method (300) that is used for reducing to the correction of motion artefacts of the 3 D anatomical image of interventional systems (186) registration, this method (300) comprising:

In the selected cardiac cycle stage, mark position on the cardiac image that is obtained from imaging system (100);

The cardiac image that has obtained of input institute labelling is to interventional systems (186); And

Utilize the position of described interventional systems (186) labelling correspondence on the cardiac image of input, wherein in the described selected cardiac cycle stage also position of the described correspondence of labelling.