Method for Performing Multiple Registrations in a Navigated Procedure
First Claim
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1. A system to register image space to physical space of a patient for a surgical navigation procedure, comprising:
- a first dynamic reference frame operable to be attached relative to the patient in a first manner;
a second dynamic reference frame operable to be attached to the patient in a second manner;
a tracked device operable to be used to determine a fiducial point on the patient;
a processor operable to correlate the fiducial point on the patient to an image fiducial point in the image data;
a tracking system operable to track at least one of the tracked device, the first dynamic reference frame, the second dynamic reference frame, or combinations thereof;
wherein the processor registers the image space and physical space with the first dynamic reference frame with a first accuracy;
wherein the processor registers the image space and physical space with the second dynamic reference frame with a second accuracy.
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Abstract
A system can be used to navigate or guide an instrument or device into an anatomy of a patient. The navigation can occur with the use of image data acquired of the patient. The image data can be registered to the patient space for navigation. Registration can occur more than once to increase efficiency and speed of the procedure.
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Citations
42 Claims
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1. A system to register image space to physical space of a patient for a surgical navigation procedure, comprising:
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a first dynamic reference frame operable to be attached relative to the patient in a first manner; a second dynamic reference frame operable to be attached to the patient in a second manner; a tracked device operable to be used to determine a fiducial point on the patient; a processor operable to correlate the fiducial point on the patient to an image fiducial point in the image data; a tracking system operable to track at least one of the tracked device, the first dynamic reference frame, the second dynamic reference frame, or combinations thereof; wherein the processor registers the image space and physical space with the first dynamic reference frame with a first accuracy; wherein the processor registers the image space and physical space with the second dynamic reference frame with a second accuracy. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A method to register image space to physical space of a patient for a surgical navigation procedure, comprising:
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acquiring image data of the patient defining the image space and including an image fiducial point; identifying the image fiducial point; attaching a first dynamic reference frame to the patient in a first manner; performing a first registration of the image space to the physical space having a first accuracy with the attached first dynamic reference frame; attaching a second dynamic reference frame to the patient in a second manner; and performing a second registration of the image space to the physical space having a second accuracy with the attached second dynamic reference frame. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34)
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35. A method to register image space to physical space of a patient for a surgical navigation procedure, comprising:
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attaching a fiducial marker to the patient; acquiring image data of the patient including an image fiducial point produced by the fiducial marker; non-invasively attaching a first dynamic reference frame to the patient in a first manner; performing a first registration of the image data to the physical space having a first accuracy with the attached first dynamic reference frame; navigating a first procedure with the performed first registration; invasively attaching a second dynamic reference frame to the patient in a second manner; performing a second registration of the image data to the physical space having a second accuracy with the connected second dynamic reference frame; and navigating a second procedure with the performed second registration. - View Dependent Claims (36, 37, 38, 39, 40, 41, 42)
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Specification