Method and system for generating three-dimensional model of part of a body from fluoroscopy image data and specific landmarks

• US 20060004284A1
• Filed: 06/30/2005
• Published: 01/05/2006
• Est. Priority Date: 06/30/2004
• Status: Abandoned Application

• Current Assignee: Brainlab AG
• Original Assignee: Brainlab AG
• Inventors: Lachner, Rainer, Vilsmeier, Stefan, Haimerl, Martin, Grunschlager, Frank, Ritter, Alf
• Application Number:
  US11/171,122
• Publication Number:
  US 20060004284A1
• Time in Patent Office: Days
• US Class Current: 600/416
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• 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 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• 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 6/00 Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment instruments measuring radiation intensity for application in the field of nuclear medicine, e.g. in vivo counting, G01T1/161; apparatus for taking X-ray photographs G03B42/02
• CPC Class Codes: A61B 6/463 characterised by displaying multiple images or images and diagnostic data on one display
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61F 2/32 for the hip
• CPC Class Codes: A61F 2/34 Acetabular cups
• CPC Class Codes: A61F 2/36 Femoral heads ; Femoral endoprostheses
• CPC Class Codes: A61F 2002/3611 Heads or epiphyseal parts of femur

Abstract

A method for generating a three-dimensional model of a part of the body with the aid of a medical and/or surgical navigation system, comprising the steps of identifying to the navigation system landmarks on the part of the body that are characteristic of the model of the part of the body; obtaining at least two fluoroscopy image data sets for each of one or more predetermined, individual and delimited regions of the part of the body; ascertaining characteristic body part data by processing and combining the landmark positions and parameters of the fluoroscopy data sets; and generating a three-dimensional and positionally determined model of the part of the body from the characteristic body part data.

Claims

1. A method for generating a three-dimensional model of a part of the body with the aid of a medical navigation system, comprising:

identifying to the navigation system landmarks on the part of the body that are characteristic of the model of the part of the body;

obtaining at least two fluoroscopy image data sets for each of one or more predetermined, individual and delimited regions of the part of the body;

ascertaining characteristic body part data by processing and combining the landmark positions and parameters of the fluoroscopy data sets; and

generating a three-dimensional and positionally determined model of the part of the body from the characteristic body part data.

2. The method of claim 1, wherein identifying to the navigation system landmarks includes using a navigated pointer to indicate a position of each landmark.

3. The method of claim 1, further comprising image processing of the fluoroscopy data sets to obtain said parameters.

4. The method of claim 1, wherein ascertaining characteristic body part data includes using other landmarks obtained from a symmetry calculation on substantially symmetrical parts of the body.

5. The method of claim 1, wherein the characteristic body part data include lengths of body part sections and angles of body part sections with respect to each other.

6. The method of claim 1, further comprising determining joint rotation center points by positionally determining characteristic landmarks on the part of the body;

and calculating a rotational center from a trajectory of the characteristic landmarks as the part of the body is rotated about an axis.

7. The method of claim 1, further comprising determining joint rotation center points by positionally determining a navigation reference array fixed to the part of the body;

and calculating a rotational center from a trajectory of the reference array as the part of the body is rotated about an axis.

8. The method of claim 1, wherein the part of the body is a femur, further comprising:

determining a position of at least one of an epicondylus lateralis or an epicondylus medialis;

determining a joint rotation center point of the femur, including at least one of;

image processing using fluoroscopy images recorded in various joint angular positions, and

positionally determining one of the epicondylus lateralis, the epicondylus medialis, or a navigation reference array at a number of joint angular positions thereby creating a plurality of trajectory points and calculating back to a center point from the obtained trajectory points;

determining a mechanical axis of the femur by connecting the joint rotation center point and a center point between the epicondylus lateralis and epicondylus medialis;

determining an anatomical axis of the femur by image processing using fluoroscopy images of a bone shaft region of the femur, wherein a number of axis points in a center of the bone are determined which then determine the course of the anatomical axis;

determining a neck axis by at least one of;

image processing using two fluoroscopy images of the region of the neck of the femur,

image processing using one fluoroscopy image of the region of the neck of the femur and using the position of the joint rotation center point and a known and/or predetermined skewed position of the neck axis relative to the anatomical axis, and

tapping and positionally determining points and/or center points on the neck of the femur; and

determining antetorsion from the position of the mechanical axis and a position of a connection between the epicondylus lateralis and epicondylus medialis.

9. The method of claim 8, further comprising using a navigated pointer to indicate the position of at least one of the epicondylus lateralis or the epicondylus medialis.

10. The method of claim 1, wherein the part of the body is a pelvis, further comprising:

determining a position of at least one spina iliaca anterior superior;

determining a mid-sagittal plane of the pelvis by image processing using fluoroscopy images of a symmetrical pelvic structure region and the symmetry properties of the pelvis; and

determining a frontal pelvic plane by ascertaining a position of a front point of a pubic bone by image processing using fluoroscopy images of a pubic symphysis region and by connecting the front point to the position ascertained for the spina iliaca anterior superior.

11. The method of claim 10, wherein determining the mid-sagittal plane further includes ascertaining a position of a second spina iliaca anterior superior.

12. The method of claim 10, further comprising using a navigated pointer to indicate the position of the at least one spina iliaca anterior superior.

13. The method of claim 1, further comprising supplementing the model of the part of the body with generic body part data.

14. The method of claim 13, wherein supplementing the body part data further includes using a generic model of the part of the body which has been adapted on the basis of information already ascertained for the model of the part of the body to be generated.

15. The method of claim 1, further comprising displaying an image output, wherein prior to tapping each landmark or obtaining the fluoroscopy image data sets, the displayed image indicates which landmark is to be tapped next in succession and/or which fluoroscopy image is to be produced next in succession.

16. A system for generating a three-dimensional model of a part of the body with the aid of a medical navigation system, comprising:

a processor circuit having a processor and a memory;

a model generation subsystem stored in the memory and executable by the processor, the subsystem comprising;

logic that directs the identification to the navigation system landmarks on the part of the body that are characteristic of the model of the part of the body;

logic that obtains at least two fluoroscopy image data sets for each of one or more predetermined, individual and delimited regions of the part of the body;

logic that ascertains characteristic body part data by processing and combining the landmark positions and parameters of the fluoroscopy data sets; and

logic that generates a three-dimensional and positionally determined model of the part of the body from the characteristic body part data.

17. A program embodied in a computer-readable medium for generating a three-dimensional model of a part of the body with the aid of a medical navigation system, comprising:

code that directs the identification to the navigation system landmarks on the part of the body that are characteristic of the model of the part of the body;

code that obtains at least two fluoroscopy image data sets for each of one or more predetermined, individual and delimited regions of the part of the body;

code that ascertains characteristic body part data by processing and combining the landmark positions and parameters of the fluoroscopy data sets; and

code that generates a three-dimensional and positionally determined model of the part of the body from the characteristic body part data.