CORRECTION OF RELATIVE TRACKING ERRORS BASED ON A FIDUCIAL
First Claim
Patent Images
1. A method of presenting corrected medical imaging data, comprising:
- obtaining emplacement data for a first tracked device;
obtaining emplacement data for a second tracked device;
determining the emplacement of a fiducial coupled to the first tracked device based on information obtained from the second tracked device;
determining corrected relative emplacements of the first and second devices based on the emplacement of the fiducial; and
producing for display an image based on the corrected relative emplacement of the first and second devices.
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Abstract
Presented herein are methods, systems, devices, and computer-readable media for correction of relative tracking error based on a fiducial. One embodiment is a method for the correction of obtained emplacement data of two surgical instruments by the detection of a detectable fiducial coupled to first surgical instrument by a second surgical instrument or something thereto coupled. The corrected relative emplacements of both surgical instruments is then determined based on the emplacement of the fiducial. This corrected emplacement is then used to produce an image for display. Systems and devices for carrying out the presented methods are also described.
169 Citations
20 Claims
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1. A method of presenting corrected medical imaging data, comprising:
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obtaining emplacement data for a first tracked device; obtaining emplacement data for a second tracked device; determining the emplacement of a fiducial coupled to the first tracked device based on information obtained from the second tracked device; determining corrected relative emplacements of the first and second devices based on the emplacement of the fiducial; and producing for display an image based on the corrected relative emplacement of the first and second devices. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A system that presents corrected medical imaging data, comprising:
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a first surgical instrument; a detectable fiducial coupled to the first surgical instrument; a second surgical instrument configured to detect the emplacement of the detectable fiducial; one or more position sensing units for determining the position of the first surgical instrument and the second surgical instrument; an image guidance unit configured to determine a corrected relative emplacement of the first surgical instrument and second surgical instrument based on the emplacement of the detectable fiducial; and a display unit configured to display medical imaging data based on the corrected relative emplacements of the first surgical instrument and the second surgical instrument. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14)
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15. A device, comprising:
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a surgical instrument; at least one visually-detectable fiducial coupled to the surgical instrument that is trackable using an optical tracking system; and a trackable portion that is trackable by a positioning system. - View Dependent Claims (16, 17, 18, 19)
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20. A system that presents corrected imaging data, comprising:
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a first instrument; a detectable fiducial coupled to the first instrument; a second instrument configured to detect the emplacement of the detectable fiducial; one or more position sensing units for determining the position of the first instrument and the second instrument; an image guidance unit configured to determine a corrected relative emplacement of the first instrument and second instrument based on the emplacement of the detectable fiducial; and a display unit configured to display imaging data based on the corrected relative emplacements of the first instrument and the second instrument.
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Specification