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Abstract

A method for imaging an organ or internal structure within a body to obtain three-dimensional reconstruction of the organ or internal structure. The method includes steps of providing an intraluminal ultrasound imaging system capable of obtaining echographic images of the surrounding of a catheter imaging tip located inside the body of a patient. The method also provides a catheter tracking system comprising at least one ultrasound transducer mounted adjacent the imaging tip of an intraluminal ultrasound catheter for insertion into a patient, a plurality of transducers located away from said intraluminal ultrasound catheter so as to form a reference frame, and circuitry for (i) sequentially enabling respective ones of said ultrasound transducers to generate ultrasound signals for reception by respective other ones of said ultrasound transducers, (ii) sequentially measuring elapsed time between generation of said ultrasound signals and reception thereof by said respective other ones of said ultrasound transducers, and (iii) calculating via knowledge of velocity of ultrasonic waves and triangulation from said elapsed times, positions of the plurality of frame transducers relative to each other and positions of said catheter tip transducers relative to said plurality of frame transducers. The intraluminal ultrasound catheter imaging tip is positioned within a region of interest inside the body of the patient and a plurality of echographic images are obtained during deliberate movement or pull-back of the catheter, each image corresponding to an echographic data set. The position of the catheter axis with respect to each echographic data set obtained during pull-back is recorded. The position, and optionally the velocity of the catheter tip are recorded. The recorded position of the catheter tip can be used to calculate a catheter pull-back trajectory in three-dimensional space. The images are stacked around the catheter pull-back trajectory by positioning the origin of a first image at a first recorded position, and positioning subsequent images at their respective distances from the first image, wherein each echographic data set is positioned so that the catheter axis is aligned with the catheter pull-back trajectory.

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First Claim