Method and device for instrument, bone segment, tissue and organ navigation

• US 20020183608A1
• Filed: 06/13/2002
• Published: 12/05/2002
• Est. Priority Date: 12/13/1999
• Status: Active Grant

• Current Assignee: LB Medical GmbH
• Original Assignee: LB Medical GmbH
• Inventors: Marmulla, Ruediger, Lueth, Tim
• Granted Patent: US 7,079,885 B2
• Time in Patent Office: Days
• US Class Current: 600/407
• CPC Class Codes: A61B 2017/306 holding by means of suction
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/3929 Active markers
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 2090/3979 infrared
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• 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 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61B 90/96 using barcodes

Abstract

The invention relates to a method and a device for instrument, bone segment, tissue and organ navigation. The general problem covered by the invention relates to referencing between a data set (that geometrically describes the spatial model of a body) and the real physical environment in which said body is located. For referencing, a three-dimensional position reference body is used or placed in the real body, said position reference body consisting of one or more elementary bodies (markers) that can be spatially and sensorially detected and defining a fixed geometric reference with respect to the center of gravity of the body or the other reference volumes of the body. A correlation of the position reference body or its elementary body is performed in the data model and in the physical world for registration.

Claims

1. Method for instrument and bone segment as well as tissue and organ navigation, wherein position data of position reference bodies arranged on bones, tissue or organs and contour data and/or surface data of geometric figures arranged on or spatially correlated with the position reference bodies are detected and wherein the data are mathematically processed in such a way that the position data and the contour and/or surface data can be represented in a common coordinate system.

2. Method according to claim 1, characterized in that the position reference bodies define a fixed geometric reference relative to the center of gravity of the body or other body reference volumes and that for the purpose of registration, the position reference body or its elementary bodies are associated with each other in the data model and in the physical world.

3. Device for instrument and bone segment as well as tissue and organ navigation, characterized in

that a 3-D marker position detection unit (4) for detecting signals from 3-D markers is coupled to an optical 3-D scanner (5) or radar unit (5a) for detecting surfaces and

that geometric figures (7) are connected with the 3-D markers (6) or one or several markers (6) are shaped as geometric figures (7) that can be detected by the 3-D scanner (5), thereby allowing a determination of the coordinates of the 3-D markers (6) on the display and processing unit (2).

4. Device according to claim 3, characterized in that the display and processing unit (2)

enables referencing between an operating site and a patient data set through a computational surface fit and

enables referencing between the data of the 3-D position detection unit (4) and the data of the 3-D scanner (5) with the help of geometric devices (7) disposed on the 3-D markers (6).

5. Device according to claim 3, characterized in that during/before/after referencing between the operating site, the patient data set and the 3-D markers (6), additional 3-D markers (8) are applied on a bone segment (9) of the patient or on an instrument (15) for the purpose of enabling a bone segment navigation or instrument navigation.

6. Device according to claim 3, characterized in that geometric figures (7) are applied to or on the frame (14) of 3-D markers (6) that are connected with each other.

7. Device according to claim 3, characterized in that a base, on which a 3-D marker (6) is placed, is provided as a geometric figure (7) for determining the coordinates of the 3-D markers on the display and processing unit (2) from the 3-D scanner (5) measurement data.

8. Device according to claim 3, characterized in that the frame (14) of 3-D markers (6) that are connected with each other, forms the geometric figure (7) for determining the coordinates of the 3-D markers on the display and processing unit (2) from the 3-D scanner (5) measurement data.

9. Device according to claim 3, characterized in that that geometric figures (7) that can be detected by the 3-D scanner (5) are formed as a recess/sulcus (7a) or as a raised portion/crista (7b) or as a sphere.

10. Device according to claim 3, characterized in that the geometric figures (7) that can be detected by the 3-D scanner, are color-coded or formed as a bar code.

11. Devices according to claim 3, characterized in that different geometric figures (7′

, 7″

, 7′

″

) that can be detected by the 3-D scanner (5), are connected with 3-D markers (6).

12. Devices according to claim 3, characterized in that the coupling between the 3-D marker position detection unit (4) and the 3-D scanner (5) or the radar unit (5a) is a fixed connection.

13. Devices according to claim 3, characterized in that the coupling between the 3-D marker position detection unit (4) and the 3-D scanner (5) or the radar unit (5a) is a connection via a coordinate measuring arm (19).

14. Device according to claim 3, characterized in that the 3-D scanner (5) is not rigidly coupled with the position detection unit (4), but remain mobile with respect to the 3-D marker position detection unit (4) and is itself provided with 3-D markers (8) so as to be able to be registered by the 3-D marker position detection unit (4).

15. Device according to claim 14, characterized in that the 3-D scanner is implemented as a hand-held 3-D scanner.

16. Device according to claim 3, characterized in that the 3-D scanner (5) and the position detection unit (4) use the same receiver components for detecting the position information and the 3-D information.

17. Device according to claim 16, characterized in that the 3-D scanner (5) and the position detection unit (4) use the same transmitter components for detecting the position information and the 3-D information and/or process the same physical transmitter waves.