Position tracking and imaging system for use in medical applications

• US 20030097061A1
• Filed: 09/03/2002
• Published: 05/22/2003
• Est. Priority Date: 09/15/1994
• Status: Active Grant

• Current Assignee: GE Medical Systems Global Technology Company LLC (GE Healthcare Technologies, Inc.)
• Original Assignee: GE Medical Systems Global Technology Company LLC (GE Healthcare Technologies, Inc.)
• Inventors: Ferre, Maurice R., Tieman, James S., Jakab, Peter D.
• Granted Patent: US 6,934,575 B2
• Time in Patent Office: Days
• US Class Current: 600/424
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00464 for use with different instruments with hole for different instruments A61B2017/22072
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00482 with a code
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/0818 Redundant systems, e.g. using two independent measuring systems and comparing the signals
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• 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 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/037 Emission tomography
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/14 Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/39 : Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: G01B 7/004 : for measuring coordinates of points
• CPC Class Codes: G06T 3/14 : Transformations for image registration, e.g. adjusting or mapping for alignment of images

Abstract

A system is disclosed for monitoring the position of a medical instrument with respect to a patient'"'"'s body and for displaying at least one of a plurality of prerecorded images of said body responsive to the position of said medical instrument. In one, embodiment the system includes a reference unit secured from movement with respect to the patient'"'"'s body such that said reference unit is substantially immobile with respect to a target operation site. The system also includes a remote unit for attachment to the medical instrument. A field generator may be associated with one of the units for generating a position characteristic field in an area including the target operation site. One or more field sensors may be associated with either of the units responsive to the presence of the position characteristic field for producing one or more sensor output signals representative of said sensed field. A position detector in communication with the sensor output signal produces position data representative of the position of the remote unit with respect to the reference unit. An output display in communication with the position detector displays at least one of the prerecorded images responsive to the position data.

Claims

1. A system for monitoring the position of a medical instrument with respect to a patient'"'"'s body and for displaying at least one of a plurality of prerecorded images of said body responsive to the position of said medical instrument, said system comprising:

a reference unit securable from movement with respect to a target operating site on said patient'"'"'s body;

a remote unit for attachment to said medical instrument;

a field generator associated with one of said units for generating a position characteristic field in an area including said target operation site;

a field sensor associated with the other of said units responsive to the presence of said position characteristic field for producing a sensor output signal representative of said sensed field;

position detection means responsive to said sensor output signal for producing position data representative of the position of said remote unit with respect to said reference unit; and

output display means in communication with said position detection means for displaying at least one of said prerecorded images responsive to said position data.

2. A system as claimed in claim 1, wherein said reference unit includes said field generator, and said remote unit includes said field sensor.

3. A system as claimed in claim 2, wherein said reference unit further includes a reference sensor responsive to the presence of said position characteristic field for producing a reference sensor output signal representative of said sensed field, said reference sensor being positioned a fixed distance from said field generator.

4. A system as claimed in claim 1, wherein said reference unit is in contact with said patient'"'"'s body.

5. A system as claimed in claim 4, wherein said reference unit includes a headset unit comprising two ear mounting elements for engaging the ear canal openings of said patient'"'"'s body, and a nose mounting element for engaging the nose bridge of said patient'"'"'s body.

6. A system as claimed in claim 5, wherein each said mounting element is disposed on the distal end of an elongated mounting arm.

7. A system as claimed in claim 6, wherein said elongated mounting arms are made of a structurally resilient material.

8. A system as claimed in claim 1, wherein said reference unit includes a flexible band for attachment to a portion of said patient'"'"'s body and said band further includes at least one reference sensor for producing a reference sensor output signal representative of the position detection field sensed by said reference sensor.

9. A system as claimed in claim 8, wherein said flexible band further includes said field generator.

10. A system as claimed in claim 1, wherein said medical instrument is an aspirating device.

11. A system as claimed in claim 1, wherein said medical instrument includes a flexible member for insertion into said body and said remote unit includes a field sensor at the distal end of said flexible instrument.

12. A system as claimed in claim 1, wherein said position characteristic field includes an electromagnetic field.

13. A system as claimed in claim 1, wherein said field generator includes means for generating three mutually distinguishable orthogonally disposed electromagnetic dipole fields, and said field sensor includes means for sensing said mutually distinguishable electromagnetic dipole fields.

14. A system as claimed in claim 1, wherein said system further includes registration means for registering the spacial orientation of said prerecorded images with the spacial orientation of said position characteristic field generated by said field generator.

15. A system as claimed in claim 14, wherein said registration means includes;

marker identification means for identifying on said prerecorded images a plurality of registration markers and producing a first set of coordinates thereby;

detection means for determining the position of said markers with respect to said field generator and producing a second set of coordinates thereby; and

mapping means for mapping one of said sets of coordinates onto the other.

16. A system as claimed in claim 14, wherein said registration means includes reference unit identification means for identifying on said prerecorded images the orientation of said reference unit with respect to said images.

17. A system as claimed in claim 1, wherein said output display means further includes means for displaying a plurality of images at the same time.

18. A system as claimed in claim 1, wherein said output display means further includes means for displaying on said displayed prerecorded image an indicator representative of the location of said medical instrument with respect to said patient'"'"'s body responsive to said position data.

19. A system as claimed in claim 1, wherein said prerecorded image is displayed on said output display means as a portion of a composite three dimensional display.

20. A system as claimed in claim 1, wherein said output display means further includes means for displaying on said displayed prerecorded image an indicator representative of the location and relative orientation of said medical instrument with respect to said patient'"'"'s body responsive to said position data.

21. A system for monitoring the position of a medical instrument with respect to a patient'"'"'s body and for displaying at least one of a plurality of prerecorded images of said body responsive to the position of said medical instrument, said system comprising:

a reference unit including a field generator for generating a position characteristic field in an area including a target operation site,

a remote unit for attachment to said medical instrument, said remote unit including a field sensor responsive to the presence of said position characteristic field for producing a sensor output signal representative of said sensed field;

patient tracking means for monitoring the position of said patient with respect to said reference unit and for producing a position adjustment signal;

medical instrument tracking means for in communication with said sensor output signal for producing position data representative of the position of said remote unit with respect to said reference unit;

data correction means for adjusting said position data responsive to said position adjustment signal and producing adjusted position data; and

output display means in communication with said position detection means for displaying at least one of said prerecorded images responsive to said adjusted position data.

22. A system as claimed in claim 21, wherein said patient tracking means includes a reference sensor secured from movement with respect to at least a portion of said patient'"'"'s body in the area of said target operation site, said reference sensor for producing said position adjustment signal.

23. A system as claimed in claim 21, wherein said patient tracking means includes image recording means for recording images and image processing means for producing said position adjustment signal responsive to said recorded images, wherein at least said reference unit and a portion of said patient'"'"'s body are within view of said image recording means.

24. A system as claimed in claim 21, wherein said field generator is mounted on an articulated arm.

25. A system as claimed in claim 22, wherein said reference sensor is attached to a headset unit comprising two ear mounting means for engaging the ear canal openings of said patient'"'"'s body, and nose mounting means for engaging the nose bridge of said patient'"'"'s body.

26. A system as claimed in claim 25, wherein each said mounting element is disposed on the distal end of an elongated mounting arm.

27. A system as claimed in claim 26, wherein said elongated mounting arms are made of a structurally resilient material.

28. A system as claimed in claim 21, wherein said medical instrument is an aspirating device.

29. A system as claimed in claim 21, wherein said position characteristic field includes an electromagnetic field.

30. A system as claimed in claim 21, wherein said field generator includes means for generating three mutually distinguishable orthogonally disposed electromagnetic dipole fields, and said field sensor includes means for sensing said mutually distinguishable electromagnetic dipole fields.

31. A system as claimed in claim 21, wherein said system further includes registration means for registering the spacial orientation of said prerecorded images with the spacial orientation of said position characteristic field generated by said field generator means.

32. A system as claimed in claim 31, wherein said registration means includes;

marker identification means for identifying on said prerecorded images a plurality of registration markers and producing a first set of coordinates thereby;

detection means for determining the position of said markers with respect to said field generator and producing a second set of coordinates thereby; and

mapping means for mapping one of said sets of coordinates onto the other.

33. A system as claimed in claim 31, wherein said registration means includes reference unit identification means for identifying on said prerecorded images the orientation of said reference unit with respect to said images.

34. A system as claimed in claim 21, wherein said output display means further includes means for displaying a plurality of images at the same time.

35. A system as claimed in claim 21, wherein said output display means further includes means for displaying on said displayed prerecorded image an indicator representative of the location of said medical instrument with respect to said patient'"'"'s body responsive to said position data.

36. A system as claimed in claim 21, wherein said prerecorded image is displayed on said output display means as a portion of a composite three dimensional display.

37. A system as claimed in claim 21, wherein said output display means further includes means for displaying on said displayed prerecorded image an indicator representative of the location and relative orientation of said medical instrument with respect to said patient'"'"'s body responsive to said position data.

38. A method of monitoring the position of a medical instrument with respect to a patient'"'"'s body and displaying at least one of a plurality of prerecorded images of said body responsive to the position of said medical instrument, said method comprising the steps of:

generating a position characteristic field in an area including a target operation site of said patient'"'"'s body;

sensing a portion of said field and producing a sensor output signal representative of said portion of said field;

generating tracking reference data responsive to said sensor output signal representative of the position of a remote unit attached to said medical instrument with respect to a reference unit secured from movement with respect to at least a portion of said patient'"'"'s body in the vicinity of said target operation site; and

displaying a desired prerecorded image on an output display unit responsive to said tracking reference data.

39. A method of monitoring the position of a medical instrument with respect to a patient'"'"'s body and displaying at least one of a plurality of prerecorded images of said body responsive to the position of said medical instrument, said method comprising the steps of:

storing said plurality of prerecorded images of said body, each said prerecorded image being representative. of a planar region within said body such that the plurality of planar regions represented by said prerecorded images define a first coordinate system;

generating a position characteristic field in an area including a target operation site of said patient'"'"'s body;

inserting at least a portion of said medical instrument into said patient'"'"'s body;

sensing a portion of said field and producing a sensor output signal representative of said portion of said field;

generating tracking reference data with respect to a second coordinate system representative of the position of a remote unit attached to said medical instrument with respect to a reference unit secured from movement with respect to at least a portion of said patient'"'"'s body in the vicinity of said target operation site, said reference data being generated responsive to said sensor output signal;

correlating said tracking reference data with said plurality of prerecorded images and identifying a desired prerecorded image associated with the position of said remote unit with respect to said patient'"'"'s body; and

displaying said desired prerecorded image on an output display unit responsive to said tracking reference data.

40. Apparatus for securing a reference unit to a patient'"'"'s head, said apparatus comprising reference unit mounting means for mounting said reference unit to said apparatus, said reference unit for use in monitoring the position of a medical instrument with respect to said patient'"'"'s head, and a nose bridge mounting element and two ear mounting elements for attaching said reference unit to said patient'"'"'s head.

41. Apparatus as claimed in claim 40, wherein said reference unit mounting means includes means for releasably attaching said reference unit to said apparatus.

42. Apparatus as claimed in claim 40, wherein each of said nose and ear mounting elements are disposed on a distal end of an elongated mounting arm.

43. Apparatus as claimed in claim 40, wherein said apparatus further includes an elongated center member and two side members, each of said members being centrally attached to one another at first ends thereof, and said nose bridge mounting element being attached to said center member at a second end thereof and each of said ear mounting elements being attached to a respective side member at second ends thereof.

44. Apparatus as claimed in claim 42, wherein each of said center and side members is made of a structurally resilient material and is capable of accommodating a plurality of sizes of patient heads.

45. Apparatus as claimed in claim 44, wherein said structurally resilient material is plastic.

46. Apparatus as claimed in claim 40, wherein said reference unit includes a field generator for generating a three dimensional position characteristic field.

47. Apparatus as claimed in claim 46, wherein said reference unit further includes a reference sensor for generating a feedback reference signal.

48. Apparatus as claimed in claim 40, wherein said reference unit includes an electromagnetic field generator for generating an electromagnetic field.

49. Apparatus as claimed in claim 40, wherein said reference unit includes a field sensor for sensing a three dimensional position characteristic field and for producing a sensor output responsive to the presence of said sensed field.

50. Apparatus as claimed in claim 49, wherein said reference unit further includes a reference sensor for generating an error detection signal.

51. Apparatus as claimed in claim 40, wherein said reference unit includes an electromagnetic field sensor responsive to the presence of an electromagnetic field for producing a sensor output signal representative of said sensed electromagnetic field.

52. Apparatus as claimed in claim 40, wherein said reference unit includes a signal transmitter for transmitting a reference signal to a signal receiver, said reference signal for use in detecting the position of said reference unit with respect to said signal receiver by comparing said signal to a second transmitted signal.

53. Apparatus as claimed in claim 50, wherein said reference unit further includes a second signal transmitter for transmitting said second transmitted signal.

54. Apparatus as claimed in claim 40, wherein said reference unit includes a signal receiver for receiving a reference signal from a signal transmitter, said reference signal for use in detecting the position of said reference unit with respect to said signal transmitter by comparing said signal to a second transmitted signal.

55. Apparatus as claimed in claim 54, wherein said reference unit further includes a second signal receiver for receiving said second transmitted signal.

56. Apparatus for monitoring the position of a medical instrument with respect to a patient'"'"'s body, said apparatus including a reference unit removably attached to said medical instrument.

57. Apparatus as claimed in claim 56, wherein said reference unit is removably insertable into said medical instrument.

58. Apparatus as claimed in claim 56, wherein said medical instrument is an aspirating device.

59. Apparatus as claimed in claim 56, wherein said reference unit includes a field generator for generating a three dimensional position characteristic field.

60. Apparatus as claimed in claim 56, wherein said reference unit further includes a reference sensor for generating a feedback reference signal.

61. Apparatus as claimed in claim 56, wherein said reference unit includes an electromagnetic field generator for generating an electromagnetic field.

62. Apparatus as claimed in claim 56, wherein said reference unit includes a field sensor for sensing a three dimensional position characteristic field and for producing a sensor output responsive to the presence of said sensed field.

63. Apparatus as claimed in claim 56, wherein said reference unit further includes a reference sensor for generating an error detection signal.

64. Apparatus as claimed in claim 56, wherein said reference unit includes an electromagnetic field sensor responsive to the presence of an electromagnetic field for producing a sensor output signal representative of said sensed electromagnetic field.

65. Apparatus as claimed in claim 56, wherein said reference unit includes a signal transmitter for transmitting a reference signal to a signal receiver, said reference signal for use in detecting the position of said reference unit with respect to said signal receiver by comparing said signal to a second transmitted signal.

66. Apparatus as claimed in claim 65, wherein said reference unit further includes a second signal transmitter for transmitting said second transmitted signal.

67. Apparatus as claimed in claim 56, wherein said reference unit includes a signal receiver for receiving a reference signal from a signal transmitter, said reference signal for use in detecting the position of said reference unit with respect to said signal transmitter by comparing said signal to a second transmitted signal.

68. Apparatus as claimed in claim 67, wherein said reference unit further includes a second signal receiver for receiving said second transmitted signal.