Method and system to facilitate image guided surgery

• US 20020016541A1
• Filed: 10/10/2001
• Published: 02/07/2002
• Est. Priority Date: 09/15/1999
• Status: Active Grant

• Current Assignee: Philips Electronics Limited (Koninklijke Philips N.V.)
• Original Assignee: Neil David Glossop
• Inventors: Glossop, Neil David
• Granted Patent: US 6,694,164 B2
• Time in Patent Office: Days
• US Class Current: 600/407
• CPC Class Codes: A61B 2018/2025 with a pilot laser
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/256 having a database of accessory information, e.g. including context sensitive help or scientific articles
• CPC Class Codes: A61B 2090/366 using projection of images directly onto the body
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/13 guided by light, e.g. laser pointers
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation

Abstract

A method and system to facilitate image guided surgery by projecting onto the patient an image corresponding to markings made on pre-acquired images of the patient is disclosed. The image is projected by an imaging projecting device such as a laser which emits coherent visible light. The position of the patient and the image are determined in the same frame of reference. The markings made on the pre-acquired images are then mapped onto the corresponding locations of the patient. The image projecting device then projects images onto the patient corresponding to the markings made on the pre-acquired images. The image is projected substantially normal to a surface of the corresponding locations on the anatomical body to decrease errors arising from the image being optically distorted by the surface features of the patient. The images projected by the image projecting device can be marked onto the patient so that they are visible after the image projecting device stops emitting radiation. Use of a photodynamic substance can also be used in conjunction with the light emitted from the laser to treat tumors and other abnormalities in the patient.

Claims

1. A system for projecting onto an anatomical body markings made on a data-base body of pre-acquired images of the anatomical body, said system comprising:

a spatial determinator for determining spatial positional information of the anatomical body by tracking the anatomical body in a frame of reference and generating first positional signals indicative of the spatial positional information of the anatomical body in the frame of reference;

a mapping unit for receiving first positional signals indicative of the spatial positional information of the anatomical body in the frame of reference, mapping the markings made on the data-base body of pre-acquired images onto corresponding locations on the anatomical body and generating a mapping signal indicative of the corresponding locations in the frame of reference of the markings on the data-base body; and

an image projecting device for receiving the mapping signal and projecting an image of the markings made on the data-base body onto the corresponding locations of the anatomical body, said image projecting device projecting the image substantially normal to a surface of a portion of the corresponding locations of the anatomical body.

2. The system as defined in claim 1 wherein the image projecting device projects the image substantially normal to the surface of the portion of the corresponding locations by projecting the image at an angle within about 30 degrees of the normal of the surface of the portion of the corresponding locations.

3. The system as defined in claim 1 wherein the image projecting device emits a coherent beam of light;

and

wherein the image projecting device is oriented with respect to the anatomical body such that the coherent beam of light is within about 30 degrees of the normal of the surface of the portion of the corresponding locations.

4. The system as defined in claim 3 wherein the normal of the surface of the corresponding locations of the anatomical body are calculated from the pre-acquired images.

5. The system as defined in claim 4 wherein the normal of the surface of the corresponding locations of the anatomical body calculated from the pre-acquired images are confirmed by the image projecting device projecting known images on the portion of the surface of the anatomical body and monitoring the known images to determine if the projected known images appear in a manner consistent with the calculated normals.

6. The system as defined in claim 1 further comprising translation devices for moving the image projecting device in response to a translation signal to a position and orientation such that the image projecting device projects the image substantially normal to the surface of the portion of the corresponding locations.

7. The system as defined in claim 6 wherein the spatial determinator tracks the position and orientation of the image projecting device in the frame of reference and generates image projecting position signals indicative of the position of the image projecting device in the frame of reference;

and

wherein the mapping unit receives the image projecting position signals, and sends the translation signal to the translation device to move the image projecting device to a position and orientation with respect to the anatomical body such that the image projecting device projects the image substantially normal to the surface of the portion of the corresponding locations.

8. The system as defined in claim 1 wherein the image projecting device emits a coherent beam of light which can mark the anatomical body such that the image of the markings projected by the image projecting device will appear on the anatomical body after the image projecting device ceases projecting the image.

9. The system as defined in claim 1 further comprising:

a substance which reacts to a type of radiation by changing in a perceptible manner;

wherein the image projecting device emits the type of radiation to which the substance reacts; and

wherein the substance can be applied to the anatomical body such that projecting the image in the type of radiation to which the substance reacts onto the anatomical body will mark the anatomical body with the image projected by the image projecting device.

10. The system as defined in claim 1 further comprising:

a marking material having embedded therein a substance which reacts to a type of radiation by changing in a perceptible manner;

wherein the image projecting device emits the type of radiation to which the substance reacts; and

wherein the marking material can be applied to the anatomical body such that projecting the image in the type of radiation to which the substance reacts onto the marking material will mark the marking material on the anatomical body with the image projected by the image projecting device.

11. The system as defined in claim 10 wherein the type of radiation is selected from the group consisting of infrared radiation, ultraviolet radiation, x-ray radiation and particle beams.

12. The system as defined in claim 1 further comprising:

a substance which reacts to a specific type of radiation by changing cells of the anatomical body to which the substance has been applied; and

wherein projecting the image in the type of radiation to which the substance reacts onto the anatomical body changes the cells of a portion of the anatomical body to which the substance is applied and the type of radiation is projected.

13. The system as defined in claim 7 wherein the spatial determinator comprises an optical tracking system to track objects in the frame of reference;

and

wherein the optical tracking system optically tracks the anatomical body in the frame of reference and generates the first positional signals indicative of the spatial positional information of the anatomical body in the frame of reference.

14. The system as defined in claim 13 wherein the image projected by the image projecting device can be tracked by the optical tracking system;

and

wherein the optical tracking system tracks the image projected by the image projecting device and generates second positional signals indicative of the spatial positional information of the image in the frame of reference; and

wherein the mapping unit receives the first positional signals and second positional signals and determines whether the image being projected by the image projecting device corresponds to the markings made on the data-base body of pre-acquired images.

15. The system as defined in claim 14 wherein if the mapping unit determines that the image being projected by the image projecting device does not correspond to the markings made on the data-base body, the mapping unit regenerates the mapping signal to cause the projecting device to project a more accurate image of the markings made on the data-base body.

16. The system as defined in claim 13 wherein the optical tracking system is proximate the image projecting device in the frame of reference.

17. The system as defined in claim 16 wherein the translation devices move the optical tracking system with the image projecting device, such that the image projecting position signals correspond to a position of the optical tracking system in the frame of reference.

18. The system as defined in claim 16 further comprising a first optical tracker fixed to the anatomical body and a second optical tracker fixed to the image projecting device;

and

wherein the optical tracking system tracks the anatomical body in the frame of reference by tracking the first and second optical trackers.

19. The system as defined in claim 1 further comprising:

radiation detecting device for detecting radiation from the anatomical body;

wherein the image projecting device projects the image of the markings made on the data-base body onto the corresponding locations of the anatomical body using types of radiation which can be reflected from the anatomical body towards the radiation detecting device; and

wherein the radiation detecting device analyzes the radiation detected from the anatomical body to determine a characteristic of the anatomical body being irradiated by the image projecting device.

20. The system as defined in claim 19 wherein the spatial determinator comprises an optical tracking system to track objects in the frame of reference;

wherein the optical tracking system optically tracks the anatomical body in the frame of reference and generates the first positional signals indicative of the spatial positional information of the anatomical body in the frame of reference; and

wherein the optical tracking system and the radiation detecting device share a common radiation detector.

21. The system as defined in claim 1 further comprising:

a storage unit for storing said data-base body of pre-acquired images, said storage unit being connected to the mapping unit;

an input unit connected to said storage unit for inputting information, said information comprising markings made onto the data-base body of pre-acquired images;

wherein information corresponding to markings made on the data-base body of pre-acquired images can be inputted at all times; and

wherein the image projected by the image projecting device can comprise the markings made on the data-base body by information inputted through the input unit.

22. The system as defined in claim 3 wherein a first portion of the image is projected substantially normal to the surface of the portion of the corresponding locations and a second portion of the image is projected other than substantially normal to the surface of the portion of the anatomical body;

and

wherein the first portion of the image is projected in a first manner and the second portion of the image is projected in a second manner perceptively different from the first manner.

23. The system as defined in claim 22 wherein the image projecting device emits a first coherent beam of visible light having a first wavelength and a second beam of coherent light having a second wavelength perceptively different from the first wavelength;

and

wherein the first portion of the image is projected in the first wavelength and the second portion of the image is projected in the second wavelength.

24. The system as defined in claim 6 wherein the image projecting device comprises a first coherent beam of light emitter for emitting visible light having a first wavelength and a second coherent light emitter for emitting visible light having a second wavelength wherein the translation devices can move the first emitter with respect to the second emitter.

25. The system as defined in claim 24 wherein the translation devices move the first emitter to a position and orientation to emit visible light substantially normal to the surface of the portion of the corresponding location and the second translation devices move the second emitter to a position and orientation to emit visible light substantially normal to a surface of another portion of the corresponding locations.

26. The system as defined in claim 3 wherein the image projecting device emits a first coherent beam of visible light having a first wavelength and a second coherent beam of visible light having a second wavelength different from the first wavelength;

and

wherein the information inputted into the input unit selects which markings made on the data-base body are projected by the first coherent beam of visible light and the second coherent beam of visible light.

28. The method as defined in claim 27 further comprising the steps of projecting the image with an image projecting device;

and

marking the anatomical body with the image projected by the image projecting device such that the image projected by the image projecting device will appear on the anatomical body after the image projecting device ceases projecting the image.

29. The method as defined in claim 27 wherein the image projecting device projects the image at an angle within about 30 degrees of the normal of the surface of the portion of the corresponding locations.

30. The method as defined in claim 27 further comprising the steps of:

projecting the image with an image projecting device which emits a coherent beam of light; and

orienting the image projecting device with respect to the anatomical body such that the coherent beam of light is within about 30 degrees of the normal of the surface of the portion of the corresponding locations.

31. The method as defined in claim 30 further comprising the preliminary steps of:

(a) calculating the normal of the surface of the corresponding locations from the pre-acquired images; and

(b) confirming the calculated normals of the surface of the corresponding locations by

(i) projecting known images on the surface of the corresponding locations; and

(ii) monitoring the known images to determine if the projected known images appear in a manner consistent with the calculated normals.

32. The method as defined in claim 27 further comprising the steps of:

projecting the image with an image projecting device;

determining the position and orientation of the image projecting device in the frame of reference; and

moving the image projecting device to a position and orientation such that the image projecting device projects the image substantially normal to the surface of the position of the corresponding locations.

33. The method as defined in claim 27 further comprising the step of:

temporarily marking the anatomical body with the image projected by an image projecting device.

34. The method as defined in claim 33 further comprising the steps of:

applying a substance to the anatomical body which reacts to a specific type of radiation by changing in a perceptible manner; and

projecting the type of radiation to which the substance reacts onto the anatomical body corresponding to the markings made to the data-base body of pre-acquired images so that the anatomical body is temporarily marked with the image projected by the image projecting device.

35. The method as defined in claim 27 further comprising the steps of:

applying a substance to the anatomical body which reacts to a specific type of radiation by changing cells of the anatomical body to which the substance has been applied; and

wherein projecting the image in the type of radiation to which the substance reacts onto the anatomical body changes the cells of a portion of the anatomical body to which the substance is applied and the type of radiation is projected.

36. The method as defined in claim 27 wherein the step of projecting an image of the markings onto the anatomical body comprises the step of projecting a visible image of the markings onto the anatomical body.

37. The method as defined in claim 27 further comprising an image projecting device which emits a first coherent beam of visible light;

and

wherein the step of projecting an image of the markings onto the anatomical body comprises the step of projecting a visible beam of light having a position and orientation corresponding to the markings made on the data-base body.

38. The method as defined in claim 37 wherein the image projecting device emits a second coherent beam of visible light at a different wavelength from the first coherent beam of visible light;

and

wherein the first and second coherent beams of visible light project images of different markings onto the anatomical body corresponding to the markings made on the data-base body of pre-acquired images.

39. The method as defined in claim 29 further comprising the steps of:

projecting a first portion of the image in a first manner and projecting a second portion of the image in a second manner perceptively different from the first manner; and

wherein the first portion of the image is projected within about 30 degrees of the normal of the surface of the corresponding locations and the second portion of the image is not within about 30 degrees of the normal of the surface of the corresponding locations.

27. A method for projecting onto an anatomical body markings made on a data-base body of pre-acquired images of the anatomical body, said method comprising the steps of:

obtaining spatial positional information of the anatomical body by tracking the anatomical body in a frame of reference;

mapping the markings made on the data-base body of pre-acquired images onto corresponding locations on the anatomical body; and

projecting an image of the markings made on the data-base body onto the corresponding locations on the anatomical body in the frame of reference substantially normal to a surface of a portion of the corresponding locations of the anatomical body.