Interactive image-guided surgical system for displaying images corresponding to the placement of a surgical tool or the like
First Claim
Patent Images
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 andmeans 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.
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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.
759 Citations
24 Claims
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1. An interactive system guiding the use of a surgical tool using an imaging technique, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method of performing a surgical procedure comprising:
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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. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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Specification