SYSTEM AND METHOD FOR ACCURACY VERIFICATION FOR IMAGE BASED SURGICAL NAVIGATION

• US 20080319311A1
• Filed: 06/22/2007
• Published: 12/25/2008
• Est. Priority Date: 06/22/2007
• Status: Active Grant

• Current Assignee: Stryker European Operations Holdings, LLC (Stryker Corporation)
• Original Assignee: General Electric Company
• Inventors: Hamadeh, Mohamed Ali
• Granted Patent: US 9,468,412 B2
• Time in Patent Office: Days
• US Class Current: 600/424
• 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 5/062 using magnetic field
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes

Abstract

Certain embodiments of the present invention provide for a system and method for assessing the accuracy of a surgical navigation system. The method may include acquiring an X-ray image that captures a surgical instrument. The method may also include segmenting the surgical instrument in the X-ray image. In an embodiment, the segmenting may be performed using edge detection or pattern recognition. The distance between the predicted location of the surgical instrument tip and the actual location of the surgical instrument tip may be computed. The distance between the predicted location of the surgical instrument tip and the actual location of the surgical instrument tip may be compared with a threshold value. If the distance between the predicted location of the surgical instrument tip and the actual location of the surgical instrument tip is greater than the threshold value, the user may be alerted.

Claims

1. A method for assessing the accuracy of a surgical navigation system, said method comprising:

acquiring an X-ray image that captures a surgical instrument;

segmenting said surgical instrument in said X-ray image; and

,

computing the distance between the predicted location of the surgical instrument tip and the actual location of the surgical instrument tip.

2. The method of claim 1, further comprising comparing said distance between the predicted location of the surgical instrument tip and the actual location of the surgical instrument tip with a threshold value.

3. The method of claim 2, further comprising alerting a user if said distance between the predicted location of the surgical instrument tip and the actual location of the surgical instrument tip is greater than said threshold value.

4. The method of claim 1, wherein said computation of the distance between the predicted location of the surgical instrument tip and the actual location of the surgical instrument tip is the navigation error in a 3D navigation volume.

5. The method of claim 4, further comprising a method for computing said navigation error in a 3D navigation volume, said method comprising:

computing a back-projection line that stems from the pixel coordinates of the actual location of the surgical instrument tip; and

computing the distance between the back-projection line and the 3D coordinates of the predicted location of the surgical instrument tip.

6. The method of claim 1, wherein said computation of the distance between the predicted location of the surgical instrument tip and the actual location of the surgical instrument tip is the navigation error in a 2D image.

7. The method of claim 6, further comprising a method for computing said navigation error in a 2D image, said method comprising:

projecting 3D coordinates of the predicted location of the surgical instrument tip onto an image; and

,

computing the distance between the predicted projection and the actual projection of the surgical instrument tip on the image.

8. The method of claim 1, wherein said step of segmenting said surgical instrument in said X-ray image is performed using edge detection.

9. The method of claim 1, wherein said step of segmenting said surgical instrument in said X-ray image is performed using pattern recognition.

10. A system for assessing the accuracy of a surgical navigation system, said system comprising:

an x-ray unit for acquiring an X-ray image that captures a surgical instrument;

a computer unit comprising computer software that segments said surgical instrument in said X-ray image and that computes the distance between the predicted location of the surgical instrument tip and the actual location of the surgical instrument tip.

11. The system of claim 10, wherein said computer unit further comprises computer software for comparing said distance between the predicted location of the surgical instrument tip and the actual location of the surgical instrument tip with a threshold value.

12. The system of claim 11, wherein said computer unit further comprises computer software for alerting a user if said distance between the predicted location of the surgical instrument tip and the actual location of the surgical instrument tip is greater than said threshold value.

13. A computer readable medium having a set of instructions for execution by a computer, said set of instructions comprising:

an acquisition routine for acquiring an X-ray image that captures a surgical instrument;

a segmentation routine for segmenting said surgical instrument in said X-ray image; and

,

a computation routine for computing the distance between the predicted location of the surgical instrument tip and the actual location of the surgical instrument tip.

14. The set of instructions of claim 13, further including a comparison routine for comparing said distance between the predicted location of the surgical instrument tip and the actual location of the surgical instrument tip with a threshold value.

15. The set of instructions of claim 14, further including an alerting routine for alerting a user if said distance between the predicted location of the surgical instrument tip and the actual location of the surgical instrument tip is greater than said threshold value.

16. The set of instructions of claim 13, wherein said computation routine for computing the distance between the predicted location of the surgical instrument tip and the actual location of the surgical instrument tip is the navigation error in a 3D navigation volume.

17. The set of instructions of claim 16, further comprising a set of instructions for computing said navigation error in a 3D navigation volume, said set of instructions comprising:

a first computation routine for computing a back-projection line that stems from the pixel coordinates of the actual location of the surgical instrument tip; and

a second computation routine for computing the distance between the back-projection line and the 3D coordinates of the predicted location of the surgical instrument tip.

18. The set of instructions of claim 14, wherein said computation routine for computing the distance between the predicted location of the surgical instrument tip and the actual location of the surgical instrument tip is the navigation error in a 2D image.

19. The set of instructions of claim 18, further comprising a set of instructions for computing said navigation error in a 2D image, said set of instructions comprising:

a first computation routine for projecting 3D coordinates of the predicted location of the surgical instrument tip onto an image; and

,

a second computation routine for computing the distance between the predicted projection and the actual projection of the surgical instrument tip on the image.

20. The set of instructions of claim 13, wherein said segmentation routine is performed using edge detection.