Interactive image-guided surgical system for displaying images corresponding to the placement of a surgical tool or the like

• US 5,230,338 A
• Filed: 04/22/1992
• Issued: 07/27/1993
• Est. Priority Date: 11/10/1987
• Status: Expired due to Term

• Current Assignee: Marker
• Original Assignee: Charles A. Edwards II, George S. Allen, Martin R. Zink, Robert J. Maciunas, Robert L. Galloway Jr
• Inventors: Maciunas, Robert J., Zink, Martin R., Edwards, Charles A. II, Galloway, Robert L. Jr., Allen, George S.
• Primary Examiner(s): Smith, Ruth S.
• Application Number:
  US07/873,535
• Time in Patent Office: 461 Days
• Field of Search: 128/653.1, 606/130, 901/2, 901/15, 901/41, 901/47
• US Class Current: 600/429
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/3954 magnetic, e.g. NMR or MRI
• 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 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/4423 related to hygiene or sterilisation
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61N 5/1049 for verifying the position of the patient with respect to the radiation beam
• CPC Class Codes: Y10T 74/20 Control lever and linkage systems

Abstract

An interactive system for guiding the use of a surgical tool uses at least one imaging technique, such as CT scanning. A mechanical arm has a fixed base at a first end and a tool holder that holds the surgical tool at a second end. A display displays one or more images from the image space of a patient'"'"'s anatomy. A computer is coupled to the display and the mechanical arm. The computer tracks the location of the surgical tool through physical space, performs a transforming rotation of the physical space to the image space, and causes the display to display the location of the surgical tool within the image space.

Claims

1. An interactive system guiding the use of a surgical tool using an imaging technique, comprising:

an imaging device generating image data of a patient'"'"'s anatomy, said image data being defined with respect to an image coordinate system;

a surgical tool;

a mechanical arm having a fixed base at a first end and a tool holder that holds the surgical tool at a second end;

means for displaying at least one graphical representation of image data of and patient'"'"'s anatomy, said means including a display screen;

a computer means coupled to the means for displaying and to the mechanical arm for tracking the location of the surgical tool through a physical coordinate system, for relating said physical coordinate system to the image coordinate system, and for causing said display means to display graphical representations of image data corresponding to the location of the surgical tool within the image coordinate system;

said computer means having a local data base storing patient identification information and corresponding image data and image coordinate system;

means for determining whether particular patient identification information is in the local data base;

said display means displaying patient identification information on said display screen;

means for defining a desired orientation for said image data and image coordinate system in said local data base corresponding to said patient identification information;

means for reformatting said image data to said desired orientation and

means for generating a graphic representation of the reformatted image data of a surgical volume of interest, said graphic representation capable of being displayed on said display screen.

2. The system of claim 1, wherein said mechanical arm has joints and degrees of freedom of motion and means for electrically encoding movement of said joints relative to said base, said means for encoding being coupled to said computer means to provide said computer means with the electrically encoded movements of said joints.

3. The system of claim 2, wherein the means for electrically encoding movement of said joints are optical encoders.

4. The system of claim 3, wherein one optical encoder is provided for each degree of freedom of said mechanical arm.

5. The system of claim 1, wherein said means for displaying said image from an image space includes displaying a raster image.

6. The system of claim 1, wherein said means for displaying includes displaying a plurality of images with the images being provided by different imaging techniques.

7. The system according to claim 1 further comprising means for editing the graphic representation.

8. The system according to claim 1 further comprising means for marking regions of interest on the images.

9. The system according to claim 1 wherein the mechanical arm has a number of degrees of freedom, and the system further comprises:

means for confirming patient data;

means for setting up the computer means and surgical tool for a specific surgical procedure;

means for checking a plurality of optical encoders in said mechanical arm after start up;

means for orienting the graphic representations of said image data according to the needs of the surgeon; and

means for calibrating the mechanical arm to determine angular errors in each degree of freedom.

10. The system according to claim 9 where in said computer means further includes:

(a) means for sequentially locating commonality between said physical coordinate system and said image coordinate system;

(b) means for calculating a matrix of rotation between the physical coordinate system and the image coordinate system; and

(c) means for transforming the position of the surgical tool in said physical coordinate system to an equivalent position in said image coordinate system.

11. The system according to claim 10 further comprising means for displaying the trajectory of the tool.

12. The system according to claim 11 further comprising means for displaying the position of the tool in image coordinate system on raster windows and in a graphic window.

13. A method of performing a surgical procedure comprising:

scanning a portion of a patient'"'"'s anatomy using an imaging technique to form image data;

determining whether particular patient identification information is in a local data base;

displaying patient identification information on a computer screen integrated with a computer through which the local data base can be accessed;

defining a desired orientation for said image data

reformatting and image data selected from the scan of the patient to said desired orientation to depict a surgical volume of interest;

generating a graphic representation of the reformatted image data to display on said computer screen;

locating an internal point of reference within the patient'"'"'s anatomy using the image data of the scanning step;

initializing an end tip of a surgical tool on a manipulable articulated arm by placing said end tip in a known relationship with said internal point of reference and noting said initializing in said computer;

tracking movement in said computer of the end tip of the surgical tool through physical space that is defined with respect to a physical coordinate system; and

displaying in real time a location of the end tip of the surgical tool with respect to the image data of said scanning step.

14. The method of claim 13, further comprising implanting fiducial implants in the patient'"'"'s anatomy to serve as points of reference.

15. The method of claim 14, wherein the tracking step includes encoding the movements of joints in the arm and sending the encoded movements to the computer.

16. The method of claim 15, further comprising establishing an internal coordinate system based on the fiducial implants.

17. The method of claim 16, further comprising establishing an external coordinate system related to a fixed base of said arm, the position in space of said base being stored upon the initializing of said end tip.

18. The method of claim 17, further comprising scanning the portion of the of the patient'"'"'s anatomy using a plurality of imaging techniques.

19. The method of claim 18, further comprising simultaneously displaying images from each of the plurality of imaging techniques.

20. The method of claim 19, further comprising replacing the surgical tool on said arm with a different type of surgical tool.

21. The method according to claim 13 wherein the mechanical arm has a number of degrees of freedom, said method further includes the steps of:

confirming patient data;

setting up said computer and said surgical tool for a specific surgical procedure;

checking a plurality of optical encoders in said mechanical arm after start up;

orienting the graphic representations of said image data according to the needs of the surgeon; and

calibrating the device to determine angular errors in each degree of freedom.

22. The method according to claim 21 wherein said method further includes the steps of:

(a) sequentially locating commonality between said physical coordinate system and said image coordinate system;

(b) calculating the matrix of rotation between the physical coordinate system and the image coordinate system; and

(c) transforming the position of the surgical tool in physical space to an equivalent position in said image coordinate system.

23. The method according to claim 22 further comprising displaying the trajectory of the tool.

24. The method according to claim 23 further comprising displaying the position of the tool in image coordinate system on all raster windows and in a graphic window.