METHOD AND SYSTEM FOR DYNAMIC REFERENCING AND REGISTRATION USED WITH SURGICAL AND INTERVENTIONAL PROCEDURES

• US 20140005527A1
• Filed: 06/29/2012
• Published: 01/02/2014
• Est. Priority Date: 06/29/2012
• Status: Abandoned Application

• Current Assignee: General Electric Company
• Original Assignee: General Electric Company
• Inventors: Nagarkar, Kaustubh Ravindra, Groszmann, Daniel Eduardo
• Application Number:
  US13/538,595
• Publication Number:
  US 20140005527A1
• Time in Patent Office: Days
• US Class Current: 600/424
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/3762 using computed tomography systems [CT]
• CPC Class Codes: A61B 2090/3966 Radiopaque markers visible in an X-ray image
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 2090/3995 Multi-modality markers
• 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 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 5/05 Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves impedance plethysmography A61B5/0295; measuring movement of the entire body or parts thereof A61B5/11; detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof A61B5/24
• CPC Class Codes: A61B 5/066 Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers

Abstract

A medical reference and registration system includes a substrate configured for placement on an external surface of a patient such that the substrate conforms to and moves with the external surface of the patient. The medical reference and registration system also includes multiple integrated sensor-fiducial marker devices mounted on the substrate. Each integrated sensor-fiducial marker device includes a sensor and at least one fiducial marker coupled to the sensor. Each sensor is pre-aligned with respect to the at least one fiducial marker so that a location of each fiducial marker is known with respect to its respective sensor.

Claims

1. A medical reference system comprising:

a substrate configured for placement on an external surface of a patient such that the substrate conforms to and moves with the external surface of the patient; and

a plurality of integrated sensor-fiducial marker devices mounted on the substrate, wherein each integrated sensor-fiducial marker device comprises;

a sensor; and

at least one fiducial marker coupled to the sensor, wherein the at least one fiducial marker is coupled to the sensor via an additional substrate with the sensor disposed on a first surface of the additional substrate and the at least one fiducial marker disposed on a second surface of the additional substrate opposite the first surface, and wherein each sensor is pre-aligned with respect to the at least one fiducial marker so that a location of each fiducial marker is known with respect to its respective sensor.

2. The medical reference system of claim 1, wherein each mounted integrated sensor-fiducial marker device is self-aligned on the substrate via reflow solder balls.

3. The medical reference system of claim 1, wherein the plurality of integrated sensor-fiducial marker devices is configured to provide automatic registration of patient images without having to reference each fiducial marker with its respective sensor.

4. The medical reference system of claim 1, wherein the sensor comprises a magnetoresistance sensor.

5. The medical reference system of claim 4, wherein the magnetoresistance sensor is arranged in a flip chip package.

6. The medical reference system of claim 4, wherein the magnetoresistance sensor is configured to measure a position of the respective integrated sensor-fiducial marker device along x, y, and z coordinates.

7. The medical reference system of claim 6, wherein the magnetoresistance sensor is configured to operate with six degrees of freedom.

8. The medical reference system of claim 1, comprising at least one integrated sensor-fiducial marker device mounted on the substrate and at least three fiducial markers in total.

9. The medical reference system of claim 1, wherein the additional substrate comprises an organic, ceramic, or plastic substrate.

11. The medical reference system of claim 1, wherein the plurality of integrated sensor-fiducial marker devices are mounted in a nonsymmetrical pattern on the substrate.

12. The medical reference system of claim 1, wherein each integrated sensor-fiducial marker device is arranged in a ball grid array package.

13. The medical reference system of claim 1, wherein the substrate comprises multiple layers, and the plurality of integrated sensor-fiducial marker devices are mounted on more than one layer of the substrate.

10. (canceled)

14. A medical reference system comprising:

a substrate configured for placement on an external surface of a patient such that the substrate conforms to and moves with the external surface of the patient; and

a plurality of integrated sensor-fiducial marker devices mounted on the substrate, wherein each integrated sensor-fiducial marker device comprises;

a magnetoresistance sensor; and

at least one fiducial marker coupled to the magnetoresistance sensor, wherein the at least one fiducial marker is coupled to the magnetoresistance sensor via an additional substrate with the magnetoresistance sensor disposed on a first surface of the additional substrate and the at least one fiducial marker disposed on a second surface of the additional substrate opposite the first surface, and wherein the magnetoresistance sensor is configured to measure a position of the respective integrated sensor-fiducial marker device along x, y, and z coordinates.

15. The medical reference system of claim 14, wherein the magnetoresistance sensor is pre-aligned with respect to the at least one fiducial marker so that a location of each fiducial marker is known with respect to its respective magnetoresistance sensor.

16. The medical reference system of claim 15, wherein each mounted integrated sensor-fiducial marker device is self-aligned on the substrate via reflow solder balls.

17. The medical reference system of claim 14, wherein each integrated sensor-fiducial marker device is configured to provide automatic registration of patient images without having to reference each fiducial marker with its respective magnetoresistance sensor.

18. The medical reference system of claim 14, wherein the magnetoresistance sensor is configured to operate with six degrees of freedom.

19. The medical reference system of claim 14, wherein the magnetoresistance sensor is arranged in a flip chip package.

20. The medical reference system of claim 14, comprising at least one integrated sensor-fiducial marker device mounted on the substrate and at least three fiducial markers in total.

21. The medical reference system of claim 14, wherein the plurality of integrated sensor-fiducial marker devices are mounted in a nonsymmetrical pattern on the substrate.

22. The medical reference system of claim 14, wherein each integrated sensor-fiducial marker device is arranged in a ball grid array package.

23. The medical reference system of claim 14, wherein the substrate comprises multiple layers, and the plurality of integrated sensor-fiducial marker devices are mounted on more than one layer of the substrate.

24. A method for dynamic referencing and registration of patient images comprising the acts of:

generating one or more images or volumetric representations based on image data acquired using an imaging system, wherein at least three fiducial markers of at least one integrated sensor-fiducial marker device are visible within the one or more images or volumetric representations, and the at least one integrated sensor-fiducial marker comprises a magnetoresistance sensor and the at least three fiducial markers coupled to the magnetoresistance sensor, and wherein the at least three fiducial markers are coupled to the magnetoresistance sensor via an additional substrate with the magnetoresistance sensor disposed on a first surface of the additional substrate and the at least three fiducial markers disposed on a second surface of the additional substrate opposite the first surface;

distinguishing the fiducial markers within the one or more images or volumetric representations based on an overall pattern of the at least three fiducial markers or distinctive geometry of each fiducial marker;

generating a first set of position data for the magnetoresistance sensor of the at least one integrated sensor-fiducial marker device to determine a position of each of the at least three fiducial markers;

generating a second set of position data for the at least three fiducial markers based solely on their location in the one or more images or volumetric representations having the visible fiducial markers; and

registering the second set of position data of the at least three fiducial markers referencing the one or more images or volumetric representations with the first set of position data of the at least three fiducial markers.

25. The method of claim 24, comprising tracking a surgical or interventional instrument, implant or device using the dynamically referenced and registered one or more images or volumetric representations.