Method for localizing an imaging device with a surgical navigation system

• US 20080214922A1
• Filed: 03/01/2007
• Published: 09/04/2008
• Est. Priority Date: 03/01/2007
• Status: Active Grant

• Current Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Original Assignee: Steven L. Hartmann
• Inventors: Hartmann, Steven L., Verard, Laurent, Teichman, Robert
• Granted Patent: US 10,039,613 B2
• Time in Patent Office: Days
• US Class Current: 600/407
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2074 Interface software
• 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 2090/363 Use of fiducial 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 34/20 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: A61B 90/37 Surgical systems with images on a monitor during operation

Abstract

The position of an imaging device can be determined at least in part with a movement portion of the imaging device. The imaging device can be moved relative to the patient to obtain image data of the patient at different perspectives or angles. The image data obtained of the patient can be displayed with a display device at various perspectives and a tracked position of the instrument can be displayed at the appropriate perspective or a selected perspective relative to the image data with the display device based upon a known position of the imaging device.

Claims

1. A navigation system to navigate a procedure relative to an anatomy, comprising:

an imaging device operable to capture image data of the anatomy;

an imaging device processor operable to determine baseline position and a current position relative to the baseline position;

a tracking system;

an instrument operable to be tracked with the tracking system relative to the anatomy;

a navigation processor operable to determine the position of the instrument relative to the anatomy; and

a display device operable to display the obtained image data and an icon representing the instrument relative to the image data on the display device based at least in part on the determined baseline position or determined current position of the imaging device;

wherein the icon is operable to be displayed on the display device relative to the image data corresponding to the position of the instrument relative to the anatomy and the appropriate perspective.

2. The system of claim 1 wherein the imaging device includes an image collection section and a base;

wherein the image collection section can move relative to the base while the base remains substantially fixed relative to the anatomy.

3. The system of claim 2, wherein the imaging device processor is a separate processor from the navigation processor and is operable to determine the baseline position and the current position relative to the baseline position of the image collection section relative to the base.

4. The system of claim 2, further comprising:

a localization portion associated with the imaging device to determine a position of the imaging device relative to the anatomy.

5. The system of claim 4, wherein the localization portion includes a localization point defined on the imaging device and a localization member operable to move relative to the localization point and operable to be tracked by the tracking system;

wherein a position of the localization point can be determined with the navigation processor by tracking the localization member moved relative to the localization point.

6. The system of claim 5, wherein the navigation processor is operable to determine the baseline position of the imaging device relative to the patient based upon the image device processor determination of the baseline position and the localized position of the imaging device relative to the patient.

7. The system of claim 5, wherein the navigation processor is operable to determine the orientation of the image data relative to the anatomy based upon the determination of the current position of the imaging device with the imaging device processor;

wherein the determined position of the instrument relative to the anatomy for display with the display device is determined at least in part based upon the determined current position of the imaging device and the tracked position of the instrument.

8. The system of claim 5, wherein the tracking system includes an electromagnetic tracking system and the localization member includes a tracking device operable to be tracked with the electromagnetic tracking system.

9. The system of claim 5, wherein the localization portion is tracked only prior subsequent, or combinations thereof to acquiring image data of the anatomy.

10. A navigation system to navigate a procedure to be performed in an anatomy, comprising:

an imaging system including;

an image collection portion;

a position selection portion operable to move the image collection portion between a first position and a second position;

a position selection portion processor operable to determine the first position of the image collection portion and a change to the second position of the image collection portion;

a tracking system including;

a localization system;

a localization member operable to be tracked with the localization system;

an instrument operable to be tracked with the tracking system relative to the anatomy; and

a navigation processor operable to determine a position of the instrument relative to the anatomy and the image collection portion.

11. The navigation system of claim 10, wherein the localization member includes at least one of a tracking member, a trackable instrument, a localization point, or combinations thereof.

12. The navigation system of claim 10, wherein the localization member includes a plurality of localization points defined on the image collection portion;

a localization instrument moveable relative to the localization points and tracked with the tracking system;

wherein the tracking system is operable to track the localization instrument relative to the localization points; and

wherein the navigation processor is operable to determine the position of the image collection portion based upon the tracked localization instrument to determine the position of the image collection portion relative to the anatomy.

13. The navigation system of claim 12, wherein the localization instrument includes an electromagnetic tracking device.

14. The navigation system of claim 10, wherein the imaging system includes at least one of an x-ray imaging system, isocentric fluoroscopy, three-dimensional (3-D) fluoroscopy, bi-plane fluoroscopy, ultrasound, computed tomography (CT), multi-slice computed tomography (MSCT), T1 weighted magnetic resonance imaging (MRI), T2 weighted MRI, high frequency ultrasound (HIFU), positron emission tomography (PET), optical coherence tomography (OCT), intra-vascular ultrasound (IVUS), ultrasound, intra-operative CT, single photo emission computed tomography (SPECT), planar gamma scintigraphy (PGS), or combinations thereof.

15. The navigation system of claim 10, wherein the imaging system further includes a base operable to be substantially fixed relative to the anatomy;

wherein the position selection portion is operable to move the image collection portion relative to the base between the first position and the second position.

16. The navigation system of claim 10, wherein the position selection portion is operable to move the image collection portion relative to the anatomy substantially precisely.

17. The navigation system of claim 16, wherein the navigation processor is operable to determine the position of the instrument relative to the patient and further determine the position of the instrument relative to the image data collected with the imaging system based at least in part upon the tracked position of the instrument and the determined position of the image collection portion from the position selection portion processor.

18. The navigation system of claim 17, further comprising:

a display device operable to display the image data and an icon representing a position of the instrument super-imposed on the image data relative to the patient.

19. A method of performing a navigated procedure on an anatomy with an instrument, comprising:

positioning an imaging device relative to the anatomy;

determining a baseline position of the imaging device with an imaging device processor;

moving the imaging device relative to the anatomy to a second position different from the baseline position;

determining a change in position of the imaging device after moving the imaging device to the second position;

tracking an instrument relative to the anatomy;

obtaining image data of the anatomy with the imaging device at the second position; and

determining a position of the instrument relative to the obtained image data from a selected perspective based at least in part on the determined change in position of the imaging device after moving the imaging device.

20. The method of claim 19, wherein determining the baseline position of the imaging device includes:

tracking a localization device relative to the imaging device with an electromagnetic tracking system.

21. The method of claim 20, wherein tracking a localization device relative to the imaging device occurs only prior to, subsequent to, or combinations thereof to the obtaining image data of the anatomy.

22. The method of claim 19, further comprising:

providing an imaging device including at least one of an x-ray imaging device, isocentric fluoroscopy, three-dimensional (3-D) fluoroscopy, bi-plane fluoroscopy, ultrasound, computed tomography (CT), multi-slice computed tomography (MSCT), T1 weighted magnetic resonance imaging (MRI), T2 weighted MRI, high frequency ultrasound (HIFU), positron emission tomography (PET), optical coherence tomography (OCT), intra-vascular ultrasound (IVUS), ultrasound, intra-operative CT, single photo emission computed tomography (SPECT), or planar gamma scintigraphy (PGS), or combinations thereof.

23. The method of claim 19, wherein determining the baseline position includes determining a position of an image collection portion of an imaging device relative to a base;

and

substantially fixing the base relative to the anatomy wherein moving the imaging device includes maintaining the base in the fixed position relative to the anatomy.

24. The method of claim 19, wherein determining a change in position of the imaging device includes providing the imaging device to include an imaging collection portion and a base portion and an imaging collection movement portion;

wherein the imaging collection movement portion is operable to substantially precisely move the imaging collection portion relative to the base portion; and

wherein the imaging device processor is operable with the movement portion to determine the change in position of the imaging device.

25. The method of claim 24, further comprising determining the baseline position of the imaging device relative to the anatomy.

26. The method of claim 25, further comprising:

displaying the determined position of the instrument relative to the anatomy on a display as an icon super-imposed on the image data.

27. The method of claim 26:

wherein determining the position of the instrument includes determining the perspective of the image data based upon the movement of the imaging device imaging collection portion with the movement portion.

28. The method of claim 19, further comprising:

determining the baseline position of the imaging device relative to the anatomy by localizing an imaging collection portion of the imaging device;

obtaining image data at a third position in addition to the second position;

displaying the image data of at least one of the baseline position, the second position, or the third position;

determining a position of the imaging device relative to the baseline position;

determining an appropriate perspective of the instrument based upon the determined position of the imaging device; and

displaying an icon representing the instruments super imposed on the image data on a display based upon the determined perspective.

29. The method of claim 19, further comprising:

providing an imaging device including an x-ray imaging device having an image receiving section; and

moving the imaging receiving section relative to the anatomy with substantially precise control.