System for identification of anatomical landmarks

• US 20080123921A1
• Filed: 10/20/2006
• Published: 05/29/2008
• Est. Priority Date: 09/08/2006
• Status: Active Grant

• Current Assignee: Medtronic Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Incorporated (Medtronic Plc)
• Inventors: Appenrodt, Peter, Gielen, Frans L.H., Hertel, Frank, Gemmar, Peter
• Granted Patent: US 8,150,498 B2
• Time in Patent Office: Days
• US Class Current: 382/131
• 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 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/256 having a database of accessory information, e.g. including context sensitive help or scientific articles
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• 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 34/20 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 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 5/061 Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/067 using accelerometers or gyroscopes
• CPC Class Codes: A61B 5/1127 using markers
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/5235 combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT
• CPC Class Codes: A61B 6/5241 combining overlapping images of the same imaging modality, e.g. by stitching
• CPC Class Codes: A61B 6/5247 combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
• CPC Class Codes: A61B 90/11 : with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: G06T 2207/10088 : Magnetic resonance imaging [MRI]
• CPC Class Codes: G06T 2207/30016 : Brain
• CPC Class Codes: G06T 7/32 : using correlation-based methods
• CPC Class Codes: G06T 7/73 : using feature-based methods
• CPC Class Codes: G06V 10/245 : by locating a pattern; Special marks for positioning

Abstract

A system for determining anatomical landmarks is disclosed. The anatomical landmarks can be used to determine anatomical targets of a patient. The system can allow for the detection of landmarks in the brain or other appropriate anatomical regions.

Claims

1. A system to determine an anatomical landmark in an anatomy, comprising:

a processor operable to execute instructions;

a memory system to store instructions to be executed by the processor and image data of the anatomy;

a display operable to display the determined anatomical landmark in the image data in the anatomy; and

a user input to provide a seed datum in the image data to the processor;

wherein the processor is operable to execute instructions stored in the memory system to determine the anatomical landmark in the anatomy based upon the seed datum in the image data.

2. The system of claim 1, wherein the user input includes a mouse, a keyboard, a touch screen of the display, a foot switch, or combinations thereof.

3. The system of claim 1, further comprising:

an imaging system operable to obtain the image data of the anatomy to be processed with the processor.

4. The system of claim 3, wherein the imaging system includes at least one of a magnetic resonance imaging system, an ultrasound system, a computer tomography system, an x-ray system, a positron emission tomography system, a planar gamma scintigraphy system, a single photon emission computed tomography system, a multi-slice computed tomography system, or combinations thereof.

5. The system of claim 3, further comprising:

a communications system operable to allow communication between the imaging system and at least one of the processor, the memory system, or combinations thereof;

wherein the image data created by the imaging system is transmitted to at least one of the memory system, the processor, or combinations thereof.

6. The system of claim 1, further comprising:

a navigation system operable to track a device relative to the anatomy;

wherein the display is operable to display a position of the device superimposed on the image data.

7. The system of claim 6, further comprising:

a device selected from a group including at least one of a stimulator, a sensor, a probe, a cannula, an ablation device, a deep brain stimulator, a drug delivery device, a recorder, or combinations thereof.

8. The system of claim 7, further comprising a recorder;

wherein the recorder is operable to be moved relative to the anatomy;

wherein the recorder includes a recording portion operable to record an activity within the region of the anatomy;

wherein the navigation system is operable to determine a position of the recording portion relative to the anatomy.

9. The system of claim 6, further comprising:

a navigation system selected from at least one of an electromagnetic navigation system, an acoustic navigation system, an optical navigation system, a radiation navigation system, an accelerometer navigation system, a radar navigation system, or combinations thereof.

10. The system of claim 1, further comprising:

a navigation frame;

a guide portion interconnected with the navigation frame;

a tracking device coupled to the guide portion;

a navigation system operable to determine a position of the tracking device;

wherein an icon is operable to be displayed relative to the image data on the display showing a position of the guide portion.

11. The system of claim 1, wherein the seed datum includes at least one of a user selected portion of the image data, a user selected pixel in the image data, a bright pixel in the image data, and a pixel in a selected region of the image data.

12. The system of claim 1, wherein the instructions include:

at least one of smoothing the image data, removing unneeded data in the image data, segmenting the image data, or combinations thereof.

13. The system of claim 12, wherein the instructions for segmenting the image data includes determining at least one of a third ventricle, an anterior commissure, a posterior commissure, or combinations thereof based at least in part on the seed datum.

14. A system to determine an anatomical landmark in an anatomy, comprising:

a processor to execute instructions to process image data;

a memory system to store instructions to be executed by the processor;

a user input to identify a selected portion of the image data; and

a display to display the processed image data;

wherein the processor is operable to process the image data based upon the user input to determine the anatomical landmark in the image data;

wherein the processor is further operable to locate an anatomical target based upon a known location of the anatomical target relative to the determined anatomical landmark.

15. The system of claim 14, further comprising an imaging system operable to create the image data of the anatomy.

16. The system of claim 15, wherein the imaging system includes at least one of a magnetic resonance imaging system, a computer tomography imaging system, an x-ray imaging system, an ultrasound imaging system, a positron emission tomography system, planar gamma scintigraphy system, single photon emission computed tomography system, multi-slice computed tomography system, or combinations thereof.

17. The system of claim 15, wherein the imaging system is operable to obtain image data of a brain.

18. The system of claim 14, wherein the user inputs includes a computer mouse, a light pen, a touch screen, a foot switch, or combinations thereof.

19. The system of claim 14, wherein the image data includes image data that has been at least one of smoothed, clarified, segmented, aligned, or combinations thereof.

20. The system of claim 14, further comprising:

a tracking system including a localizer, a tracking sensor, and a device;

wherein the tracking sensor is interconnected with the device to be tracked with the localizer.

21. The system of claim 20, wherein the display is operable to display an icon representing a position of the device relative to the anatomy superimposed on the image data.

22. The system of claim 21, further comprising:

an indication system to assist in defining the anatomical target;

wherein the determined anatomical landmark is determined in the image data and displayed on the display for use with the tracking system to allow for tracking of the device relative to the determined anatomical target.

23. The system of claim 14, wherein the instructions include at least one of smoothing the image data, segmenting the image data, identifying portions of the image data, or combinations thereof.

24. The system of claim 14, wherein identifying portions of the image data include identifying at least one of an anterior commissure, a posterior commissure, a mid-sagittal plane, or combinations thereof.

25. The system of claim 14, further comprising:

a deep brain stimulator to stimulate a sub-thalamic nucleus of a brain;

wherein the anatomical target includes the sub-thalamic nucleus in the brain.

26. A system to determine an anatomical landmark in an anatomy, comprising:

an imaging system operable to obtain image data of a brain of the anatomy including a plurality of slices of the brain;

a processor operable to execute instructions to;

at least one of smooth the image data, remove unneeded data from the image data, define edges in the image data, or combinations thereof;

segment the image data to determine a first region in the image data corresponding to a selected region in the brain;

align each of the slices of the image data based upon the determined first region of the image data; and

determine a second region in the image data that defines a second region of the brain; and

a display operable to display at least one of the first region, the second region, or combinations thereof.

27. The system of claim 26, further comprising:

a sensing device including a portion operable to sense a response of the brain.

28. The system of claim 27, further comprising:

a communication system operable to interconnect the processor and the sensing device;

wherein the processor is operable to receive the sensed response of the brain to assist in determining at least one of the first region of the brain, the second region of the brain, or combinations thereof.

29. The system of claim 28, wherein the display is operable to display the sensed response of the sensing device, the determined first region in the brain, the determined second region in the brain, or combinations thereof.

30. The system of claim 26, wherein the imaging system includes at least one of a magnetic resonance imaging system, a computer tomography imaging system, an x-ray imaging system, an ultrasound imaging system, a positron emission tomography system, planar gamma scintigraphy system, single photon emission computed tomography system, multi-slice computed tomography system, or combinations thereof.

31. The system of claim 30, wherein the magnetic resonance imaging system includes at least one of a T1 weighted magnetic resonance imaging system, a T2 weighted magnetic resonance imaging system, or combinations thereof.

32. The system of claim 27, further comprising:

a tracking system including a localizer, a tracking device, or combinations thereof;

wherein the tracking device is interconnected with the sensing device so that the tracking system is operable to determine a position of the sensing device relative to the region in the anatomy.

33. The system of claim 32, further comprising:

a tracking device communications system wherein the tracking device communications system is operable to transmit to the processor a tracked position of the sensing device;

wherein the display is operable to display an icon superimposed on the image data of a position of the sensing device relative to the anatomy.

34. The system of claim 33, further comprising:

a user input wherein a user is operable to indicate to the processor a portion of the image data based at least in part on the determined first region, the determined second region, the tracked position of the sensing device, or combinations thereof.

35. The system of claim 34, further comprising:

a human readable display; and

a planning processor operable to output a plan to reach at least one of the first region, the second region, or combinations thereof;

wherein the plan is operable to be displayed on the human readable display.

36. The system of claim 35, further comprising:

a surgical instrument;

a surgical instrument tracking device;

wherein the tracking system is operable to track the surgical instrument tracking device to track a position of the surgical instrument relative to the anatomy to achieve the plan.

37. The system of claim 36, wherein the surgical instrument includes a deep brain stimulator operable to stimulate a portion of the brain.

38. The system of claim 37, wherein the plan includes a trajectory of the deep brain stimulator to reach a sub-thalamic nucleus in a brain.