Apparatus and method for surgical navigation

• US 20030210812A1
• Filed: 02/25/2003
• Published: 11/13/2003
• Est. Priority Date: 02/26/2002
• Status: Abandoned Application

• Current Assignee: Siemens Corporate Research Incorporated (Siemens AG)
• Original Assignee: Siemens Corporate Research Incorporated (Siemens AG)
• Inventors: Sauer, Frank, Khamene, Ali, Vogt, Sebastian
• Application Number:
  US10/373,442
• Publication Number:
  US 20030210812A1
• Time in Patent Office: Days
• US Class Current: 382/128
• CPC Class Codes: A61B 17/3403 Needle locating or guiding means guides for suture needles A61B17/0482; guiding or tracking by nuclear magnetic resonance G01R33/285
• 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 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 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: G06T 2207/30004 Biomedical image processing
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/33 using feature-based methods
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration

Abstract

An apparatus for pose determination using single camera tracking in a workspace includes a computer programmed for making the pose determination and a tracker camera coupled to the computer for providing a tracking image and for which calibration information is stored. A plurality of marker bodies bears markers adapted for attachment to respective objects to be tracked, the markers exhibiting characteristics for providing respective images of themselves in the tracking image, such that the respective images provide sufficient information in the tracking image for respective pose determination for each of the objects in conjunction with the calibration information.

Claims

1. Apparatus for pose determination in surgical navigation using single camera tracking, said apparatus comprising:

a computer programmed for making a pose determination;

a tracker camera coupled to said computer for providing thereto a tracking image and whereof calibration information is stored in said computer;

at least one marker body bearing markers and being adapted for attachment to at least one respective instrument to be tracked;

at least one further marker body bearing markers and being adapted for attachment to at least one respective object to be tracked; and

said markers exhibiting characteristics for providing respective images thereof in said tracking image such that said respective images provide sufficient information in said tracking image for enabling said computer to make respective pose determinations for each of said at least one respective instrument and said at least one respective object, in conjunction with said calibration information.

3. Apparatus for pose determination as recited in claim 1, wherein said marker bodies are organized such that said respective images thereof are identifiable in said tracking image.

4. Apparatus for pose determination as recited in claim 1, wherein said computer provides data processing functions including identifying said respective images in said tracking image.

5. Apparatus for pose determination as recited in claim 1, wherein markers are respectively disposed on said marker bodies in a 3-dimensional (3D) configuration, whereby a subset of said markers are “

high” and

others are “

low”

.

6. Apparatus for pose determination as recited in claim 5 wherein markers are respectively disposed on said marker bodies such that at high and low markers are arranged in alternating fashion.

7. Apparatus for pose determination as recited in claim 1, wherein markers are respectively situated on the periphery of said marker bodies.

8. Apparatus for pose determination as recited in claim 7, wherein markers are respectively disposed on marker bodies in a generally circular fashion.

9. Apparatus for pose determination as recited in claim 8, wherein one marker is situated proximate the center of markers respectively disposed in a generally circular fashion.

10. Apparatus for pose determination as recited in claim 1, wherein at least one marker of said markers is larger than others.

11. Apparatus for pose determination as recited in claim 4, wherein said markers are arranged so as to tend to increase the range of viewing angles for which markers appear as separate entities in said tracking image.

12. Apparatus for pose determination as recited in claim 5, wherein said markers are arranged so as to maximize the range of viewing angles for which markers appear as separate entities in said tracking image.

13. Apparatus for pose determination as recited in claim 4, wherein said markers include a retro-reflector marker.

14. Apparatus for pose determination as recited in claim 4, wherein said markers include a light-emitting diode (LED) marker.

15. Apparatus for pose determination as recited in claim 4, wherein said markers include a light-emitting diode (LED) marker exhibiting time-modulated emission of light.

16. Apparatus for pose determination recited in claim 1, wherein said markers include a color-coded marker.

17. Apparatus for pose determination recited in claim 4, wherein said markers include a shape-coded marker.

18. Apparatus for pose determination as recited in claim 1, wherein said at least one marker body is adapted for attachment to said instrument to be tracked such that, taking account of tracking camera position, said at least one marker body faces said tracking camera when said instrument is being held in a preferred position.

19. Apparatus for pose determination as recited in claim 1, wherein said marker bodies comprise a rigid marker body with a non-coplanar marker distribution exhibiting a multilevel design.

20. Apparatus for pose determination as recited in claim 19, wherein said marker body comprises a plurality of multilevel planes.

21. Apparatus for pose determination as recited in claim 20, wherein said multilevel planes are angled with respect to each other.

25. Apparatus for pose determination as recited in claim 1, wherein said computer is programmed for finding said respective images of said markers appearing in said tracking image by, for each marker body and markers associated therewith:

determining 2D coordinates of centers of said markers, from said respective images, calculating the center of distribution of said markers by averaging over said centers of said markers, identifying the closest individual marker to this center of distribution and designating it as the central marker of said marker body, finding a largest marker in the image and designating it as the largest marker of said marker body, and starting at said largest marker, moving around said center of distribution in angular rotation fashion and labeling markers accordingly.

26. Apparatus for pose determination as recited in claim 25, wherein said at least one further marker body is adapted for attachment to the body of a patient in a medical image space.

27. Apparatus for pose determination as recited in claim 25, wherein said tracker camera is operated in conjunction with augmented reality visualization apparatus.

28. Apparatus for pose determination as recited in claim 27, including a head-mounted display coupled to said computer.

29. Apparatus for pose determination as recited in claim 25, including a separate display monitor coupled to said computer.

30. Apparatus for pose determination as recited in claim 26, wherein said medical image space is at least one of

(a) a patient space onto which medical images have been registered and wherein a patient is in fixed relationship with said markers, and

(b) an imaging space of said at least one object wherein said at least one object comprises an imaging device.

2. Apparatus for pose determination in surgical navigation using single camera tracking, said apparatus comprising:

a computer programmed for making a pose determination;

a tracker camera coupled to said computer for providing thereto a tracking image and whereof calibration information is stored in said computer;

at least one marker body bearing markers and being adapted for attachment to at least one respective instrument to be tracked;

a plurality of marker bodies bearing markers and being adapted for attachment to respective objects to be tracked; and

said markers exhibiting characteristics for providing respective images thereof in said tracking image such that said respective images provide sufficient information in said tracking image for enabling said computer to make respective pose determinations for each of said at least one respective instrument and for each of said respective objects, in conjunction with said calibration information.

22. Apparatus for pose determination as recited in claim 2, wherein said marker bodies are of unitary construction.

23. Apparatus for pose determination as recited in claim 2, wherein said tracker camera is adapted for head mounting on a user'"'"'s head.

24. Apparatus for work space navigation as recited in claim 2, wherein said tracker camera is operated in conjunction with augmented reality visualization apparatus.

31. Apparatus for pose determination for surgical navigation using single camera tracking, said apparatus comprising:

a computer programmed for making a pose determination;

a tracker camera coupled to said computer for providing thereto a tracking image and whereof calibration information is stored in said computer;

at least one marker body bearing markers and being adapted for attachment to at least one respective instrument to be tracked;

at least one further marker body bearing markers and being adapted for attachment to at least one respective object to be tracked; and

said markers exhibiting characteristics for providing respective images thereof in said tracking image such that said respective images provide sufficient information in said tracking image for enabling said computer to make respective pose determinations for each of said at least one respective instrument and said at least one respective object, in conjunction with said calibration information by said computer being programmed for finding said respective images of said markers appearing in said tracking image.

32. Apparatus for pose determination as recited in claim 31, wherein said computer is programmed for finding said respective images of said markers appearing in said tracking image by, for each marker body and markers associated therewith:

determining 2D coordinates of centers of said markers, from said respective images, calculating the center of distribution of said markers by averaging over said centers of said markers, identifying the closest individual marker to this center of distribution and designating it as the central marker of said marker body, finding a largest marker in the image and designating it as the largest marker of said marker body, and starting at said largest marker, moving around said center of distribution in angular rotation fashion and labeling markers accordingly.

33. Apparatus for pose determination as recited in claim 31, wherein said at least one further marker body is adapted for attachment to the body of a patient in a medical image space.

34. Apparatus for pose determination as recited in claim 33, wherein said medical image space is at least one of

(a) a patient space onto which medical images have been registered and wherein a patient is in fixed relationship with said markers, and

(b) an imaging space of said at least one object wherein said at least one object comprises an imaging device.

35. Apparatus for pose determination as recited in claim 31, wherein said tracker camera is operated in conjunction with augmented reality visualization apparatus.

36. Apparatus for pose determination as recited in claim 31, including a head-mounted display coupled to said computer.

37. Apparatus for pose determination as recited in claim 31, including a separate display monitor coupled to said computer.

38. Apparatus for pose determination as recited in claim 33, wherein said at least one object comprises an imaging device and wherein said medical image space is at least one of

(a) a patient space onto which medical images have been registered and wherein a patient is in fixed relationship with said markers, and

(b) an imaging space of said imaging device.

39. Apparatus for pose determination for surgical navigation, said apparatus comprising:

a plurality of tracking modalities, said plurality of modalities including tracking apparatus for pose determination in surgical navigation using single camera tracking, wherein said tracking apparatus comprises;

at least one tracker camera for providing a tracking image for a medical image space;

a computer programmed for making a pose determination;

said tracker camera being coupled to said computer for providing thereto a tracking image and whereof calibration information is stored in said computer;

at least one marker body bearing markers and being adapted for attachment to at least one respective instrument to be tracked;

at least one further marker body bearing markers and being adapted for attachment to at least one respective object to be tracked; and

said markers exhibiting characteristics for providing respective images thereof in said tracking image such that said respective images provide sufficient information in said tracking image for enabling said computer to make respective pose determinations for each of said at least one respective instrument and said at least one respective object, in conjunction with said calibration information.

40. Apparatus for pose determination as recited in claim 39, wherein said plurality of tracking modalities includes a plurality of tracker cameras.

41. Apparatus for pose determination as recited in claim 39, wherein said plurality of tracking modalities includes any of a further tracker camera, electromagnetic tracking equipment, mechanical sensing devices, mechanical coupling devices, and acoustic wave tracking equipment.

49. A method for surgical navigation as recited in claim 41, including the step of including one marker on a respective marker body that is larger than others.

42. A method for pose determination navigation using single camera tracking, said method comprising the steps of:

obtaining a tracking image for a medical image space from a tracker camera;

providing calibration information for said camera in said medical image space;

attaching an arrangement of a plurality of markers to at least one marker body adapted for attachment to an instrument to be tracked;

attaching at least one further marker body bearing markers and being adapted for attachment to at least one respective object to be tracked; and

arranging said markers for exhibiting characteristics for providing respective images thereof in said tracking image such that said respective images provide sufficient information in said tracking image for enabling said computer to make respective pose determinations for each of said at least one respective instrument and said at least one respective object, in conjunction with said calibration information by said computer being programmed for finding said respective images of said markers appearing in said tracking image.

43. A method for pose determination as recited in claim 42, including the steps of, for each marker body:

determining 2D coordinates of centers of said markers from said respective images;

calculating the center of distribution of markers by averaging over said centers of said markers;

identifying the closest marker to this center of distribution and designating it as the central marker of said marker body;

finding a given marker having predetermined characteristics in said image and designating it as such; and

starting at said given marker, moving around said center of distribution in a defined manner and labeling markers accordingly.

44. A method for pose determination as recited in claim 42, including the step of disposing at least a subset of said markers on a respective marker body in a 3-dimensional (3D) configuration, whereby a subset of said markers are “

high” and

others are “

low”

.

45. A method for pose determination as recited in claim 44, including the step of disposing said markers on a respective marker body such that high and low markers are arranged in alternating fashion.

46. A method for pose determination as recited in claim 42, including the step of situating markers on the periphery of a respective marker body.

47. A method for pose determination as recited in claim 42, including the step of disposing markers on a respective marker body in a generally circular fashion.

48. A method for pose determination as recited in claim 47, including the step of disposing one marker proximate the center of said markers disposed in a generally circular fashion.

50. A method for surgical navigation as recited in claim 44, including the step of arranging said markers so as to tend to increase the range of viewing angles for which markers appear as separate entities in said tracker camera'"'"'s image.

51. A method for surgical navigation as recited in claim 44, including the step of arranging said markers so as to maximize the range of viewing angles for which markers appear as separate entities in said tracker camera'"'"'s image.

52. A marker body, for use with a tracker camera for providing an image for single camera tracking, said marker body being adapted for attachment to an object to be tracked, comprising:

an arrangement of a plurality of markers attached to said marker body; and

wherein at least a subset of said markers are disposed on said marker body in a 3-dimensional (3D) configuration, whereby some of said markers are “

high” and

others are “

low”

.

53. A marker body as recited in claim 52 wherein said markers are disposed on said marker body such that high and low markers are arranged in alternating fashion in neighboring positions.

54. A marker body as recited in claim 52, wherein markers are situated on the periphery of said marker body.

55. A marker body as recited in claim 52, wherein markers are disposed in a circular fashion.

56. A marker body as recited in claim 52, wherein markers are disposed in a circular fashion with one marker being situated in the center of said marker body.

57. A marker body as recited in claim 52, wherein one marker of said markers is larger than others of said markers.

58. A marker body as recited in claim 52, wherein said markers are arranged so as to tend to increase the range of viewing angles for which markers appear as separate entities in a tracker camera'"'"'s image.

59. A marker body as recited in claim 52, wherein said markers are arranged so as to maximize the range of viewing angles for which markers appear as separate entities in said tracker camera'"'"'s image.

60. A marker body as recited in claim 52, wherein said marker body faces said tracking camera when said object is being held in a preferred position.

61. A marker body as recited in claim 52, wherein said marker body comprises a rigid marker body with a non-coplanar marker distribution exhibiting a multilevel design.

62. A marker body as recited in claim 52, including a plurality of multilevel planes, said multilevel planes being angled with respect to each other.

63. A marker body as recited in claim 52, wherein said marker body is of unitary construction.

64. A marker body as recited in claim 52, wherein said markers include a catoptrical device marker.

65. A marker body as recited in claim 52, wherein said markers include a generally spherical marker.

66. A marker body as recited in claim 52, wherein said markers include a marker in the form of a substantially flat disk.

67. A marker body as recited in claim 52, wherein said markers include a retro-reflector marker.

68. A marker body as recited in claim 52, wherein said markers include a light-emitting diode (LED) marker.

69. A marker body as recited in claim 52, wherein said markers include a light-emitting diode (LED) marker exhibiting time-modulated emission of light.

70. A marker body as recited in claim 52, wherein said markers of said marker body include a color-coded marker.

71. A marker body as recited in claim 52, wherein said markers of said marker body include a shape-coded marker.

72. A marker body as recited in claim 52, wherein said object is the body of a patient.

73. Apparatus for pose determination using single camera tracking in a workspace, comprising:

a computer programmed for making said pose determination;

a tracker camera coupled to said computer for providing a tracking image and whereof calibration information is stored in said computer; and

a plurality of marker bodies bearing markers adapted for attachment to respective objects to be tracked, said markers exhibiting characteristics for providing respective images thereof in said tracking image such that said respective images provide sufficient information in said tracking image for respective pose determination for each of said objects in conjunction with said calibration information.

74. Apparatus for pose determination as recited in claim 73, wherein said marker bodies are organized such that said respective images thereof are identifiable in said tracking image.

75. Apparatus for pose determination as recited in claim 74, wherein said computer means provides data processing functions including identifying said respective images in said tracking image.

76. Apparatus for pose determination as recited in claim 73, wherein markers are respectively disposed on said marker bodies in a 3-dimensional (3D) configuration, whereby a subset of said markers are “

high” and

others are “

low”

.

77. Apparatus for pose determination as recited in claim 76 wherein markers are respectively disposed on said marker bodies such that high and low markers are arranged in alternating fashion.

78. Apparatus for pose determination as recited in claim 73, wherein markers are respectively situated on the periphery of said marker bodies.

79. Apparatus for pose determination as recited in claim 73, wherein markers are respectively disposed on said marker bodies in a circular fashion.

80. Apparatus for pose determination as recited in claim 73, wherein markers are respectively disposed in a generally circular fashion with one marker being situated in the center.

81. Apparatus for pose determination as recited in claim 73, wherein one marker of said markers is larger than others.

82. Apparatus for pose determination as recited in claim 76, wherein said markers are arranged so as to tend to increase the range of viewing angles for which markers appear as separate entities in said tracking image.

83. Apparatus for pose determination as recited in claim 76, wherein said markers include a retro-reflector marker.

84. Apparatus for pose determination as recited in claim 73, wherein said markers include a light-emitting diode (LED) marker.

85. Apparatus for pose determination as recited in claim 74, wherein said markers include a light-emitting diode (LED) marker exhibiting time-modulated emission of light.

86. Apparatus for pose determination recited in claim 73, wherein said markers include a color-coded marker.

87. Apparatus for pose determination recited in claim 73, wherein said markers include a shape-coded marker.

88. Apparatus for pose determination as recited in claim 73, wherein at least one of said plurality of marker bodies is adapted for attachment to an instrument to be tracked such that, taking account of tracking camera position, said at least one marker faces said tracking camera when said instrument is being held in a preferred position.

89. Apparatus for pose determination as recited in claim 74, wherein said marker bodies comprise a rigid marker body with a non-coplanar marker distribution exhibiting a multilevel design.

90. Apparatus for pose determination as recited in claim 89, wherein at least one of said plurality of marker body comprises a plurality of multilevel planes.

91. Apparatus for pose determination as recited in claim 90, wherein said multilevel planes are angled with respect to each other.

92. Apparatus for pose determination as recited in claim 90, wherein each of said marker bodies bearing respective markers is of unitary construction.

93. Apparatus for pose determination as recited in claim 73, wherein said tracker camera is adapted for head mounting on a user'"'"'s head.

93-1. Apparatus for pose determination for in a workspace, said apparatus comprising:

a plurality of tracking modalities, said plurality of modalities including tracking apparatus for pose determination in surgical navigation using single camera tracking, wherein said tracking apparatus comprises;

at least one tracker camera for providing a tracking image for a medical image space;

a computer programmed for making a pose determination;

a plurality of tracking modalities, including at least one tracker camera for providing a tracking image for a medical image space;

a computer programmed for making a pose determination;

said tracker camera being coupled to said computer for providing thereto a tracking image and whereof calibration information is stored in said computer;

at least one marker body bearing markers and being adapted for attachment to at least one respective instrument to be tracked;

at least one further marker body bearing markers and being adapted for attachment to at least one respective object to be tracked; and

said markers exhibiting characteristics for providing respective images thereof in said tracking image such that said respective images provide sufficient information in said tracking image for enabling said computer to make respective pose determinations for each of said at least one respective instrument and said at least one respective object, in conjunction with said calibration information.