SURGICAL LOCATION MONITORING SYSTEM AND METHOD USING SKIN APPLIED FIDUCIAL REFERENCE
First Claim
1. A surgical monitoring system comprising:
- a fiducial reference including a radio-opaque marking having skin adhesion property such that the radio-opaque marking adheres to a location on skin proximate a surgical site;
a tracker arranged for obtaining the image information; and
a computer system having a scan of the patient with the fiducial reference fixed to the skin of surgical patient, said computer system in communication with said tracker and including a processor with memory and a software program having a series of instructions when executed by the processor determines the relative position and orientation of the fiducial reference based on information from said tracker, and relates the current arrangement of the fiducial reference in relation to the scan data.
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Accused Products
Abstract
The present invention involves a surgical monitoring system and method for modeling surgical procedures. A multi-element fiducial reference pattern observable by a tracker may be transferred directly to the skin proximate the surgical site, either through a stencil as a radio-opaque ink pattern or via transfer tape, or may be applied in prepared form on a surgical incise film. Alternatively the surgical incise film may be applied over the surgical site and the inked reference pattern applied to the film before surgery. A controller determines the three-dimensional location and orientation of the surgical site by comparing the position and orientation of the reference pattern in a prior scan with the position and orientation of the reference pattern in image information about the surgical site obtained from the tracker. The system may track the movement of instruments relative to the surgical site, or may be used to track changes in the surgical site itself.
30 Citations
32 Claims
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1. A surgical monitoring system comprising:
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a fiducial reference including a radio-opaque marking having skin adhesion property such that the radio-opaque marking adheres to a location on skin proximate a surgical site; a tracker arranged for obtaining the image information; and a computer system having a scan of the patient with the fiducial reference fixed to the skin of surgical patient, said computer system in communication with said tracker and including a processor with memory and a software program having a series of instructions when executed by the processor determines the relative position and orientation of the fiducial reference based on information from said tracker, and relates the current arrangement of the fiducial reference in relation to the scan data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method for relating in real time three-dimensional location and orientation of a surgical site to a location and orientation of the surgical site in a scan of the surgical site, the method comprising the steps of:
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applying a fiducial reference in the form of a radio-opaque marker on skin proximate the surgical site; performing the scan to obtain scan data; determining three-dimensional location and orientation of the fiducial reference from the scan data; obtaining real time image information of the surgical site; determining in real time three-dimensional location and orientation information of the fiducial reference from the image information; and deriving a spatial transformation matrix for expressing in real time the three-dimensional location and orientation of the fiducial reference as determined from the image information in terms of the three-dimensional location and orientation of the fiducial reference as determined from the scan data. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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22. A method for tracking in real time changes in a surgical site, the method comprising the steps of:
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applying a multi-element fiducial reference to skin proximate the surgical site, the multi-element fiducial reference comprising a plurality of pattern segments individually locatable based on scan data; performing a scan of the surgical site to obtain the scan data; determining three-dimensional locations and orientations of at least a selection of the pattern segments based on the scan data; obtaining real time image information of the surgical site; determining in real time three-dimensional locations and orientations of the at least one of the pattern segments from the image information; and deriving in real time the spatial distortion of the surgical site by comparing in real time the three-dimensional locations and orientations of the at least one of the pattern segments as determined from the image information with the three-dimensional locations and orientations of the at least one of the pattern segments as determined from the scan data. - View Dependent Claims (23, 24, 25, 26, 27)
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28. A method for real time monitoring three-dimensional location and orientation of an object in relation to a surgical site of a patient, the method comprising:
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applying a fiducial reference on the skin proximate the surgical site; performing a scan of the surgical site to obtain scan data; determining three-dimensional location and orientation of the fiducial reference from the scan data; obtaining real time image information of the surgical site; determining in real time three-dimensional location and orientation of the fiducial reference from the image information; deriving a spatial transformation matrix for expressing in real time the three-dimensional location and orientation of the fiducial reference as determined from the image information in terms of the three-dimensional location and orientation of the fiducial reference as determined from the scan data; determining in real time three-dimensional location and orientation of the object from the image information; and relating the three-dimensional location and orientation of the object to the three-dimensional location and orientation of the fiducial reference as determined from the image information. - View Dependent Claims (29)
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30. A method for determining the position and orientation of a tracker with respect to a surgical site, the method comprising the steps of:
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applying proximate the surgical site an arbitrarily arranged a plurality of non-unique elements, each element including one of radio-opaque ink and radio-opaque paint, at least a portion of said plurality of elements defining a constellation; obtaining scan data of the surgical site; obtaining image information about the surgical site from a tracker; determining a position and orientation of at least one of the plurality of elements in the scan data; determining a position and orientation of the constellation in the image information; deriving a three-dimensional transformation matrix to relate the multi-element fiducial pattern to a coordinate system of the surgical site based on the position and orientation of the constellation in the scan data and the position and orientation of the constellation in the image information; and determining the position and orientation of a tracker with respect to the surgical site. - View Dependent Claims (31, 32)
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Specification