Method and devices for localizing an instrument
First Claim
1. A method of localizing an instrument relative to three dimensional corporeal data, particularly for stereotaxis, comprising the following steps:
- a) connecting an internal marker means fixedly to a body to define an intracorporeal, spatial reference system,b) implementing an analytical scan of the body including said internal marker means to determine the positions of said three-dimensional corporeal data obtained from said analytical scan in said intracorporeal reference system defined by said internal marker means,c) implementing a referencing step, whereby position and orientation of said intracorporeal reference system defined by said internal marker means relative to an extracorporeal reference system defined by an external marker means is determined and said external marker means is located outside of the body in a fixed spatial relationship to the body,d) determining the position and orientation of an instrument in said extracorporeal reference system by means of said external marker means and an instrument marker means attached to said instrument, ande) computing from the position and orientation of the instrument in said extracorporeal reference system the position and orientation of said instrument in said intracorporeal reference system via the relationship between said intracorporeal and said extracorporeal reference system known from step c),wherein said referencing step comprises a reference scan of said internal marker means and said external marker means, andwherein said external marker means comprises a first external marker means and a second external marker means, the relative spatial positions of which to each other define respective first and second extracorporeal reference systems which rest one in the other, said first marker means being scannable by said referencing scan to thus define the relative position of said intracorporeal reference system to said first extracorporeal reference system, and said second marker means is scannable by an instrument position determining means so as to define the position and orientation of said instrument in said second reference system.
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Abstract
The invention relates to a method of localizing an instrument relative to three-dimensional corporeal data, particularly for stereotaxis, comprising the following steps: connecting internal markers fixedly to the body to define an intracorporeal, spatial reference system, implementing an analytical scan of the body including the internal markers to determine the positions of the three-dimensional corporeal data obtained from analytical scan in the intracorporeal reference system defined by the internal markers, implementing a referencing step, whereby position and orientation of the intracorporeal reference system defined by the internal markers relative to an extracorporeal reference system defined by external markers is determined and said external markers is located outside of the body in a fixed spatial relationship, determining the position and orientation of an instrument in the extracorporeal reference system with the aid of the external markers and a instrument markers attached to the instrument, and computing from said position and orientation in the extracorporeal reference system the position and orientation of the instrument in the intracorporeal reference system via the relationship between the intracorporeal and the extracorporeal reference systems known from the referencing step, as well as a markers device and a device for referencing.
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Citations
22 Claims
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1. A method of localizing an instrument relative to three dimensional corporeal data, particularly for stereotaxis, comprising the following steps:
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a) connecting an internal marker means fixedly to a body to define an intracorporeal, spatial reference system, b) implementing an analytical scan of the body including said internal marker means to determine the positions of said three-dimensional corporeal data obtained from said analytical scan in said intracorporeal reference system defined by said internal marker means, c) implementing a referencing step, whereby position and orientation of said intracorporeal reference system defined by said internal marker means relative to an extracorporeal reference system defined by an external marker means is determined and said external marker means is located outside of the body in a fixed spatial relationship to the body, d) determining the position and orientation of an instrument in said extracorporeal reference system by means of said external marker means and an instrument marker means attached to said instrument, and e) computing from the position and orientation of the instrument in said extracorporeal reference system the position and orientation of said instrument in said intracorporeal reference system via the relationship between said intracorporeal and said extracorporeal reference system known from step c), wherein said referencing step comprises a reference scan of said internal marker means and said external marker means, and wherein said external marker means comprises a first external marker means and a second external marker means, the relative spatial positions of which to each other define respective first and second extracorporeal reference systems which rest one in the other, said first marker means being scannable by said referencing scan to thus define the relative position of said intracorporeal reference system to said first extracorporeal reference system, and said second marker means is scannable by an instrument position determining means so as to define the position and orientation of said instrument in said second reference system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A marker device for defining a corporeal reference system comprising
a) an anchoring means implantable subcutaneously and securable to a skeleton, b) an insert comprising a mounting means and marker means, c) said mounting means being releasably securable in said anchoring means and d) said marker means being releasably connectable to said mounting means outside of the body.
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20. A device for referencing an extracorporeal reference system to an intracorporeal reference system, comprising
a) a first external marker means including first external markers, the position of which is scannable by x-ray images, the first external markers defining a first extracorporeal reference system by their known position relative to each other, b) a spacer mounting means which is transparent for x-ray radiation and c) a second external marker means which by means of said spacer mounting means is mounted in a known, fixed position relative to said first external marker means and includes second external markers, the position of which is determinable by an instrument position determining means, the second external markers defining by their relative position to each other a second extracorporeal reference system, which rests in said first extracorporeal reference system.
Specification