Magnetic field digitizer for stereotatic surgery

• US 5,787,886 A
• Filed: 04/10/1995
• Issued: 08/04/1998
• Est. Priority Date: 03/19/1993
• Status: Expired due to Fees

• Current Assignee: Compact International Incorporated (Publicis Groupe SA)
• Original Assignee: Compact International Incorporated (Publicis Groupe SA)
• Inventors: Kelly, Patrick J., Goerss, Stephan J.
• Primary Examiner(s): Casler, Brian L.
• Application Number:
  US08/419,445
• Time in Patent Office: 1,212 Days
• Field of Search: 128/653.1, 128/897, 128/899, 128/653.2, 128/653.5, 606/130, 364/413.13, 601/4
• US Class Current: 600/407
• CPC Class Codes: A61B 2017/00482 with a code
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2017/3411 with a plurality of holes, e.g. holes in matrix arrangement
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• 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 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis

Abstract

The present invention enables stereotactic surgery with a minimal structure present in order to facilitate surgery yet with enhanced accuracy in stereotactic imaging assistance to the surgeon. This device and method is known as "frameless" stereotaxis system, and uses coordinate referencing between the CT or MRI scans and a stereotactic referencing system which uses an electromagnetically driven system to determine the location of a stylus.

Claims

1. A process of coordinating a position indicated by an electromagnetic position indicator with the position of an image on an imaging scan display system comprising the steps of:

forming a set of scans representing a spatial view of a body;

transmitting an electromagnetic signal from a known point;

receiving said electromagnetic signal at a receiver and utilizing said received electromagnetic signal to compute a position coordinate of said receiver;

converting the position coordinate of said receiver into a scan coordinate;

projecting a scan image associated with said scan coordinate and visually indicating on said scan image a position relative from said known point, on said scan; and

calibrating said electromagnetic position indicator against a three dimensional reference to account for both the position of the body and a presence of any objects having an effect on the electromagnetic signal before the converting the position coordinate of said receiver into scan coordinates step.

2. The process of coordinating a position indicated by an electromagnetic position indicator with the position of an image on an imaging scan display system as recited in claim 1 wherein said converting the position coordinates of said receiver into scan coordinates step is accomplished through a matrix transformation.

3. The process of coordinating a position indicated by an electromagnetic position indicator with the position of an image on an imaging scan display system as recited in claim 1 further comprising the step of performing surgery during the performance of said transmitting, receiving, converting and projecting steps.

4. A process of coordinating a position indicated by an electromagnetic position indicator with the position of an image on an imaging scan display system comprising the steps of:

forming a set of scans representing a spatial view of a body;

transmitting an electromagnetic signal from a known point;

receiving said electromagnetic signal at a receiver and utilizing said received electromagnetic signal to compute a position coordinate of said receiver;

converting the position coordinate of said receiver into a scan coordinate;

projecting a scan image associated with said scan coordinate and visually indicating on said scan image a position relative from said known point on said scan;

computing a first midpoint reference based upon at least three position coordinates and computing a second midpoint reference based upon at least three associated scan coordinates;

setting said first midpoint reference equivalent to said second midpoint reference; and

computing a coordinate rotation of one of said first and second midpoint references with respect to the other of said midpoint references.

5. The process of converting the position coordinates of said receiver into scan coordinates, as recited in claim 4 and further comprising the step of formulating a transformation matrix based upon at least one of said first and second midpoint references and said coordinate rotation.