Computer enhanced surgical navigation imaging system (camera probe)

• US 20050015005A1
• Filed: 04/27/2004
• Published: 01/20/2005
• Est. Priority Date: 04/28/2003
• Status: Active Grant

• Current Assignee: Bracco Imaging S.p.A. (Bracco SPA)
• Original Assignee: Bracco Imaging S.p.A. (Bracco SPA)
• Inventors: Kockro, Ralf Alfons
• Granted Patent: US 7,491,198 B2
• Time in Patent Office: Days
• US Class Current: 600/427
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• 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 2034/252 indicating steps of a surgical procedure
• CPC Class Codes: A61B 2034/254 being adapted depending on the stage of the surgical procedure
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/373 using light, e.g. by using optical scanners
• 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 34/25 User interfaces for surgical systems
• 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

Abstract

A system and method for navigation within a surgical field are presented. In exemplary embodiments according to the present invention a micro-camera can be provided in a hand-held navigation probe tracked by a tracking system. This enables navigation within an operative scene by viewing real-time images from the viewpoint of the micro-camera within the navigation probe, which are overlaid with computer generated 3D graphics depicting structures of interest generated from pre-operative scans. Various transparency settings of the camera image and the superimposed 3D graphics can enhance the depth perception, and distances between a tip of the probe and any of the superimposed 3D structures along a virtual ray extending from the probe tip can be dynamically displayed in the combined image. In exemplary embodiments of the invention a virtual interface can be displayed adjacent to the combined image on a system display, thus facilitating interaction with various navigation related functions. In exemplary embodiments according to the present invention virtual reality systems can be used to plan surgical approaches with multi-modal CT and MRI data. This allows for generating 3D structures as well as marking ideal surgical paths. The system and method presented thus enable transfer of a surgical planning scenario to a real-time view of an actual surgical field, thus enhancing navigation.

Claims

1. A surgical guidance system, comprising:

a probe;

a video camera affixed to the probe;

trackable objects affixed to a patient and the probe;

a tracking device which determines the positions of the probe and the trackable objects;

a data processor with pre-stored three dimensional patient image data; and

a display;

wherein the data processor augments real time images from the video camera with virtual objects generated form the three dimensional patient image data in response to input from the tracking device and displays a composite image on the display.

2. The system of claim 1, where the video camera is integrated within the probe.

3. The system of claim 1, where the pre-stored patient image data comprises multi-modal scan data.

4. The system of claim 1, where the pre-stored patient image data comprises one or more three dimensional data sets.

21. The system of claim 1, wherein a user can input display parameters and other system controls without physically touching an interface of the data processor with his hand.

22. The system of claim 21, wherein a user can interface with the system via a foot switch and manipulating the probe in a defined area in space.

5. A method of surgical guidance, comprising:

acquiring three dimensional image data from a patient;

storing said three dimensional image data in a data processor;

acquiring real-time video images of the patient from a video camera;

tracking the three-dimensional positions of the video camera and various reference points on the patient;

superimposing the real-time video images upon the three dimensional image data using the tracking data; and

displaying the superimposed images on one or more displays.

6. The method of claim 5, further comprising modifying the properties of the real-time and/or stored three dimensional image data.

7. The method of claim 6, where said properties comprise one or more of color, size, and transparency.

8. The method of claim 5, further comprising additionally displaying one or more two dimensional images generated from the three dimensional patient image data.

9. The method of claim 8, where the two dimensional images and the superimposed images are all displayed on one display.

10. The method of claim 8, where the two dimensional images displayed are a function of the position of the video camera or a pointer connected to the video camera within a surgical field.

11. The method of claim 5, where the stored three-dimensional patient image data is multi-modal.

12. The method of claim 5, further comprising the video camera being provided within a housing to which is affixed a pointer.

13. The method of claim 12, where the housing and pointer can be sterilized.

14. The method of claim 12, where the view from the video camera includes the pointer.

15. The method of claim 12, further comprising dynamically displaying within the superimposed images a distance from the pointer tip to a nearest object along a direction of its axis within the patient.

16. The method of either claim 12 or claim 15, further comprising allowing a user to designate one or more defined objects within the patient, wherein such objects will continuously be displayed as virtual objects on the system display.

17. The method of claim 16, where such virtual objects can be displayed in one or more semi-transparent modes ranging from opaque to fully transparent.

18. The method of claim 17, where such virtual objects can be displayed in a variety of user defined colors.

19. The method of claim 12, further comprising allowing a user to designate one or more landmark points within an xyz space associated with the patient, wherein a distance between such points and the pointer tip will continuously be displayed on the system display.

20. The method of claim 15, further comprising allowing a user to designate one or more landmark points within an xyz space associated with the patient, wherein a distance between such points and the pointer tip will continuously be displayed on the system display.

23. The method of claim 5, wherein a user can input display parameters and other controls to the data processor without physically touching an interface of the data processor with his hand.

24. The method of claim 23, wherein a user can interface with the data processor via a foot switch and manipulating the probe in a defined area in space.