SYTEM AND METHOD FOR TRACKING AND NAVIGATION

• US 20140049629A1
• Filed: 04/30/2012
• Published: 02/20/2014
• Est. Priority Date: 04/29/2011
• Status: Active Grant

• Current Assignee: Johns Hopkins University
• Original Assignee: Johns Hopkins University
• Inventors: Siewerdsen, Jeffrey H., Otake, Yoshito, Taylor, Russell H.
• Granted Patent: US 10,426,554 B2
• Time in Patent Office: Days
• US Class Current: 348/77
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• 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 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61N 2005/1061 using an x-ray imaging system having a separate imaging source

Abstract

A tracking and navigation system is provided. The system includes an imaging or treatment device, a tracker device, and a fiducial marker. At least part of the imaging or treatment device is movable relative to a patient. The tracker device is mounted on the imaging or treatment device and is movable therewith relative to the patient. The fiducial marker may be fixed relative to the patient to define a patient coordinate system. The fiducial marker is detectable by the tracker device to substantially maintain registration between the tracker device and the patient coordinate system. A tracking and navigation kit including the tracker device and at least one fiducial marker may also be provided, for example, for retrofitting to existing imaging or treatment devices

Claims

1. A tracking and navigation system, comprising:

an imaging or treatment device, wherein at least part of the imaging or treatment device is movable relative to a patient;

a tracker device mounted on the imaging or treatment device and movable therewith relative to the patient; and

a fiducial marker configured to be fixed relative to the patient to define a patient coordinate system, wherein the fiducial marker is detectable by the tracker device to substantially maintain registration between the tracker device and the patient coordinate system.

2. The tracking and navigation system according to claim 1, wherein the imaging or treatment device is mobile.

3. The tracking and navigation system according to claim 2, wherein the imaging or treatment device is equipped to perform fluoroscopy, cone-beam computed tomography (CBCT), x-ray radiography, radiation therapy, robotic radiotherapy, radiotherapy simulation, or a combination thereof.

4. The tracking and navigation system according to claim 2, wherein the imaging or treatment device comprises a C-arm.

5. The tracking and navigation system according to claim 1, wherein the imaging or treatment device is mounted to a floor, ceiling, or wall in a room.

6. The tracking and navigation system according to claim 5, wherein the imaging or treatment device is equipped to perform fluoroscopy, cone-beam computed tomography (CBCT), x-ray radiography, radiation therapy, robotic radiotherapy, radiotherapy simulation, or a combination thereof.

7. The tracking and navigation system according to claim 5, wherein the imaging or treatment device comprises a C-arm.

8. The tracking and navigation system according to claim 1, wherein the tracker device comprises a stereoscopic optical-based tracker, a stereoscopic video-based tracker, an electromagnetic field-based tracker, a mechanical-based tracker, a structured-light or laser-based surface scanner, or a combination thereof

9. The tracking and navigation system according to claim 1, wherein the tracker device is configured to track in six degrees-of-freedom.

10. The tracking and navigation system according to claim 1, wherein the tracker device comprises a stereoscopic optical-based tracker or a stereoscopic video-based tracker, and wherein the fiducial marker comprises a plurality of faces having a two-tone checker pattern.

11. The tracking and navigation system according to claim 10, wherein the plurality of faces comprises six faces arranged in a hexahedron such that they are visible from 360 degrees.

12. The tracking and navigation system according to claim 1, further comprising a second fiducial marker affixed to a surgical tool.

13. The tracking and navigation system according to claim 12, wherein the tracker device comprises a stereoscopic optical-based tracker or a stereoscopic video-based tracker, and wherein the second fiducial marker comprises a two-tone checker pattern.

14. A tracking and navigation kit for use with an imaging or treatment device, comprising:

a tracker device configured to be mounted on the imaging or treatment device and movable therewith relative to a patient; and

a fiducial marker configured to be fixed relative to the patient to define a patient coordinate system, wherein the fiducial marker is detectable by the tracker device to substantially maintain registration between the tracker device and the patient coordinate system.

15. The tracking and navigation kit according to claim 14, wherein the tracker device comprises a stereoscopic optical-based tracker, a stereoscopic video-based tracker, an electromagnetic field-based tracker, a mechanical-based tracker, a structured-light or laser-based surface scanner, or a combination thereof

16. The tracking and navigation kit according to claim 14, wherein the tracker device is configured to track in six degrees-of-freedom.

17. The tracking and navigation kit according to claim 14, wherein the tracker device comprises a stereoscopic optical-based tracker or a stereoscopic video-based tracker, and wherein the fiducial marker comprises a plurality of faces having a two-tone checker pattern.

18. The tracking and navigation kit according to claim 17, wherein the plurality of faces comprises six faces arranged in a hexahedral shape such that they are visible from 360 degrees.

19. The tracking and navigation kit according to claim 14, further comprising a second fiducial marker configured to be affixed to a surgical tool and detectable by the tracker device.