Imaging and tools for use with moving organs

Abstract

Apparatus is described for use with a portion of a subject's body that moves as a result of cyclic activity of a body system. An imaging device acquires a plurality of image frames of the portion. A sensor senses a phase of the cyclic activity. A medical tool performs a function with respect to the portion. A control unit generates a stabilized set of image frames of the medical tool disposed within the portion, actuates the tool to perform the function or move, in response to the sensor sensing that the cyclic activity is at a given phase thereof, and inhibits the tool from performing the action or moving in response to the sensor sensing that the cyclic activity is not at the given phase. A display facilitates use of the tool by displaying the stabilized set of image frames. Other embodiments are also described.

Description

CROSS-REFERENCES TO RELATED APPLICATIONS[0001]The present patent application claims the benefit of U.S. Provisional Patent Application Nos. 60 / 906,091 filed on Mar. 8, 2007, 60 / 924,609 filed on May 22, 2007, 60 / 929,165 filed on Jun. 15, 2007, 60 / 935,914 filed on Sep. 6, 2007, and 60 / 996,746 filed on Dec. 4, 2007, all named “Apparatuses and methods for performing medical procedures on cyclically-moving body organs,” all of which applications are incorporated herein by reference.[0002]The present application is related to the following applications, which are incorporated herein by reference:[0003]a U.S. patent application, entitled “Imaging for use with moving organs,” to Tolkowsky et al., which is filed on even date with the current application.[0004]a U.S. patent application, entitled “Tools for use with moving organs,” to Iddan et al., which is filed on even date with the current application.[0005]a PCT Application, entitled “Imaging and tools for use with moving organs,” to Iddan...

AI Technical Summary

Benefits of technology

[0102]In some embodiments, image tracking is applied to continuously-generated images of moving organs, to align such images to one another. The motion to which such tracking is applied may be cyclical, or non-cyclical, or a combination of both. The visual effect of such motion is typically reduced by the image tracking.

[0416]In an embodiment, the control unit is configured to generate the stabilized set of image frames by image tracking at least some of the plurality of image frames to reduce imaged motion of the portion of the subject's body associated with the cyclic activity.

Problems solved by technology

Such images typically shift constantly and are also prone to blurring.

Consequently, such images are typically difficult to observe, and are difficult to use in making clinical decisions over an extended period of time (such as the entire duration of the procedure).

A difficulty associated with such procedures is the targeted deployment and / or actuation of tools with respect to the moving body part.

Images