SYSTEM AND METHOD FOR DYNAMIC VALIDATION, CORRECTION OF REGISTRATION FOR SURGICAL NAVIGATION

• US 20160000515A1
• Filed: 03/14/2014
• Published: 01/07/2016
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Synaptive Medical (Barbados) Inc.
• Original Assignee: Gal Sels
• Inventors: Sela, Gal, Piron, Cameron, Wood, Michael, Richmond, Joshua, Yuwaraj, Murugathas, McFadyen, Stephen, Thomas, Monroe M., Hodges, Wes, Alexander, Simon, Gallop, David
• Granted Patent: US 10,799,316 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61B 2034/104 Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/373 using light, e.g. by using optical scanners
• CPC Class Codes: A61B 2090/3929 Active markers
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• 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 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: G06T 2207/10021 Stereoscopic video; Stereoscopic image sequence
• CPC Class Codes: G06T 2207/10048 Infrared image
• CPC Class Codes: G06T 2207/10076 4D tomography; Time-sequential 3D tomography
• CPC Class Codes: G06T 2207/10081 Computed x-ray tomography [CT]
• CPC Class Codes: G06T 2207/10088 Magnetic resonance imaging [MRI]
• CPC Class Codes: G06T 2207/10104 Positron emission tomography [PET]
• CPC Class Codes: G06T 2207/10136 : 3D ultrasound image
• CPC Class Codes: G06T 2207/30016 : Brain
• CPC Class Codes: G06T 2207/30096 : Tumor; Lesion
• CPC Class Codes: G06T 2207/30101 : Blood vessel; Artery; Vein; Vascular
• CPC Class Codes: G06T 2207/30204 : Marker
• CPC Class Codes: G06T 7/248 : involving reference images or patches
• CPC Class Codes: G06T 7/33 : using feature-based methods
• CPC Class Codes: G06T 7/337 : involving reference images or patches
• CPC Class Codes: G06T 7/74 : involving reference images or patches

Abstract

Disclosed herein is a system and method for dynamic validation, correction of registration for surgical navigation during medical procedures on a patient which involves confirmation of registration between one or more previously registered virtual objects, such as surgical tools etc. in a common coordinate frame of a surgical navigation system and an operating room, and intra-operatively acquired imaging during the medical procedure in the common coordinate frame. The method includes displaying intra-operatively acquired imaging of the surgical field containing the one or more real objects corresponding to the one or more previously registered virtual objects, with the real objects being tracked by a tracking system. The method overlaying a virtual image containing the previously registered virtual objects onto the intra-operatively acquired imaging, from the point of view of the intra-operatively acquired imaging, and detecting for any misalignment between any one of the one or more previously registered virtual objects contained in the virtual image and its corresponding real object contained in the intra-operatively acquired imaging.

Claims

1. A method of detecting registration error between one or more previously registered virtual objects in a common coordinate frame of a surgical navigation system and an operating room in which a medical procedure is to be performed, and intra-operatively acquired imaging during said medical procedure in said common coordinate frame, said surgical navigation system including a tracking system, the method comprising:

a) displaying intra-operatively acquired imaging of a surgical field containing one or more real objects corresponding to said one or more previously registered virtual objects, the real objects being tracked by the tracking system;

b) overlaying a virtual image containing the one or more previously registered virtual objects onto the intra-operatively acquired imaging, from the point of view of the intra-operatively acquired imaging; and

c) detecting for any misalignment between any one of the one or more previously registered virtual objects contained in the virtual image and its corresponding real object contained in the intra-operatively acquired imaging, wherein a presence of misalignment is indicative of registration error between the virtual object and its corresponding real object.

2. The method according to claim 1, wherein the intra-operatively acquired imaging is performed using a video camera to record the surgical field in real-time, and wherein steps b) and c) are performed continuously in real-time.

3. The method according to claim 1, wherein the intra-operatively acquired imaging is performed using a video camera to record the surgical field in real-time, and wherein steps b) and c) are performed at pre-selected times during the procedure.

4. The method according to claim 1, wherein the intra-operatively acquired imaging is performed using a sensor to record individual intra-operative images at pre-selected times, and wherein steps b) and c) are performed at said pre-selected times during the procedure.

5. The method according to claim 1, wherein the intra-operatively acquired imaging is performed using a sensor to record intra-operative images at pre-selected times, and wherein steps b) and c) are performed continuously in real-time.

6. The method according to claim 1, wherein in the event a misalignment is detected in step c), including a step of applying any one or combination of translation, rotation, skewing, and scaling of the virtual object in the common coordinate frame to align it with its corresponding real object in the common coordinate frame for re-registering the virtual object, and including assigning the re-registered virtual object as the previously registered virtual object in the common coordinate frame.

7. The method according to claim 6, wherein at least one of the one or more real objects is an anatomical part undergoing the medical procedure, and wherein at least one of the one or more pre-registered virtual objects in the virtual image is a pre-operative image of the anatomical part.

8. The method according to claim 6, wherein at least one of the one or more real objects is a medical instrument, and wherein at least one of the one or more pre-registered virtual objects in the virtual image is a virtual image of at least one medical instruments.

9. The method according to claim 6, wherein at least one of the one or more real objects is an anatomical part undergoing the medical procedure, and wherein at least one of the one or more pre-registered virtual objects in the virtual image is a pre-operative image of the anatomical part, and wherein at least one of the one or more real objects is a medical instrument, and wherein at least one of the one or more pre-registered virtual objects in the virtual image is a virtual image of at least one medical instruments.

10. The method according to claim 7, wherein the anatomical part is a brain of a human patient.

11. The method according to claim 10, wherein said surgical field includes landmarks, and wherein the landmarks are any one or combination of morphological features intrinsically associated with the brain, and a head and face of the human patient.

12. The method according to claim 10, wherein said surgical field includes landmarks, and wherein, and wherein the landmarks are fiducials placed in fixed and known positions with respect to the brain of the human patient.

13. The method according to claim 12, wherein the fiducials are any one or combination of active and passive fiducials.

14. The method according to claim 10, wherein said surgical field includes landmarks, and wherein the landmarks are any one or combination of morphological features intrinsically associated with the anatomical part and fiducials placed in pre-selected positions with respect to said anatomical part, and wherein said fiducials are in a field of view of a tracking device.

15. The method according to claim 10, wherein at least one of the one or more real objects is a surgical port, and wherein at least one of the one or more pre-registered virtual objects in the virtual image is a virtual image of the surgical port.

21. The method according to claim 14, wherein in the event of a misalignment between at least one of said one or more virtual objects and its corresponding real object at a pre-selected time, said computer processor being programmed with instructions to receive input from a user through a user interface specifying any one or combination of translation, rotation, skewing, and scaling of the virtual object in the coordinate frame of said surgical navigation system to align it with its corresponding real object in the coordinate frame of said surgical navigation system and re-registering the virtual object, said computer processor is programmed with instructions to store the re-registered virtual object in the coordinate frame of said surgical navigation system and assigning it as the previously registered virtual object.

22. The method according to claim 14, wherein in the event of a misalignment between at least one of said one or more virtual objects and its corresponding real object at a pre-selected time, said computer processor being programmed with instructions to perform any one or combination of translation, rotation, skewing, and scaling of the virtual object in the coordinate frame of said surgical navigation system to align it with its corresponding real object in the coordinate frame of said surgical navigation system and re-registering the virtual object, and wherein said computer processor is programmed with instructions to store the re-registered virtual object in the coordinate frame of said surgical navigation system and assigning it as the previously registered virtual object.

23. The method according to claim 9, wherein the anatomical part is a brain of a human patient.

16. A system for detecting registration error between one or more previously registered virtual objects and intra-operatively acquired imaging during a medical procedure, comprising:

a) a surgical navigation system having a coordinate frame and including a tracking mechanism;

b) a computer control system including a computer processor, a storage device and a visual display both connected to said computer processor, said storage device having stored therein a computed tracked instrument visualization of one or more previously registered virtual objects in said coordinate frame of reference of said surgical navigation system;

c) at least one sensor for acquiring intra-operative imaging of a surgical field during the medical procedure, said surgical field containing one or more real objects corresponding to said one or more virtual objects; and

d) said computer processor being programmed with instructions to receive and display said intra-operatively acquired imaging of the surgical field and to overlay a virtual image from the point of view of a virtual camera onto the intra-operatively acquired imaging, wherein any misalignment between any one of the one or more previously registered virtual objects contained in the virtual image and its corresponding real object contained in the intra-operatively acquired imaging is indicative of a registration error between the virtual object and its corresponding real object.

17. The system according to claim 16, wherein said at least one sensor is a video camera configured to record the surgical field in real-time, and wherein said computer processor is configured to overlay said virtual image of said one or more virtual objects previously registered onto the intra-operatively acquired imaging real-time during the medical procedure.

18. The system according to claim 16, wherein said at least one sensor is a video camera configured to record the surgical field in real-time, and wherein said computer processor is configured to overlay said virtual image of said one or more virtual objects previously registered onto the intra-operatively acquired imaging at pre-selected times during said medical procedure.

19. The system according to claim 16, wherein said at least one sensor is configured to acquire individual intra-operative images at pre-selected times during said medical procedure, and wherein said computer processor is configured to overlay said virtual image of said one or more virtual objects previously registered onto the intra-operatively acquired imaging at said pre-selected times during said medical procedure.

20. The system according to claim 16, wherein said at least one sensor is configured to acquire individual intra-operative images at pre-selected times during said medical procedure, and wherein said computer processor is configured to overlay said virtual image of said one or more virtual objects previously registered onto the intra-operatively acquired imaging in real-time.