Optically coupled frameless stereotactic system and method

• US 5,848,967 A
• Filed: 06/07/1995
• Issued: 12/15/1998
• Est. Priority Date: 01/28/1991
• Status: Expired due to Fees

• Current Assignee: Sherwood Services AG
• Original Assignee: Radionics, Inc. (Integra LifeSciences Holdings Corporation)
• Inventors: Cosman, Eric R.
• Primary Examiner(s): Smith, Ruth S.
• Application Number:
  US08/482,213
• Time in Patent Office: 1,287 Days
• Field of Search: 128/653.1, 128/630, 128/664, 128/665, 606/130, 600/426, 600/429, 600/414, 600/417, 600/427
• US Class Current: 600/426
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• 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 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/368 changing the image on a display according to the operator's position
• CPC Class Codes: A61B 2090/371 with simultaneous use of two cameras
• 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 2090/502 Headgear, e.g. helmet, spectacles
• 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
• CPC Class Codes: A61B 90/20 Surgical microscopes characterised by non-optical aspects
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61N 2005/105 using a laser alignment system
• CPC Class Codes: G06T 3/14 Transformations for image registration, e.g. adjusting or mapping for alignment of images
• CPC Class Codes: G06V 10/245 by locating a pattern; Special marks for positioning
• CPC Class Codes: G06V 2201/03 : Recognition of patterns in medical or anatomical images
• CPC Class Codes: G06V 30/144 : using a slot moved over the image; using discrete sensing elements at predetermined points; using automatic curve following means

Abstract

A system for quantitative computer graphic determination of positions on a patient'"'"'s anatomy and positions on associated equipment located near the patient'"'"'s anatomy in relation to anatomical data, as from CT or MR scanning. A first camera produces a quantitative electronic readout of its field-of-view which provides a determination of relative spacial coordinates of uniquely identifiable points in its field-of-view. A second camera produces a quantitative electronic readout of its field-of-view which provides a determination of relative spacial coordinates of uniquely identifiable points in its field-of-view. The two cameras are located with respect to the patient'"'"'s anatomy and the associated equipment so that the fields-of-view of the cameras include both the patient'"'"'s anatomy and the equipment, but are taken from different directions. A body marker is positioned with respect to the patient'"'"'s anatomy at a known position relative to said patient anatomy. The body marker has known coordinates in a stereotactic coordinate system that is established relative to the patient'"'"'s anatomy so that the coordinates of all identifiable points in the fields of view of the two cameras can be determined relative to the stereotactic coordinate system and related to imaging data.

Claims

1. A process for providing an instant graphics display including anatomy of a patient and showing indications of a surgical instrument and a microscope in relation to indications of internal and external anatomy of a patient, the process including the steps of:

indexing a patient'"'"'s anatomy, the surgical instrument and the microscope to define fiducial point locations;

storing scanned image data taken of the patient representative of internal anatomy and indexed at said fiducial point locations;

optically sensing a data field encompassing the patient'"'"'s anatomy, the surgical instrument and the microscope with a camera to provide representative camera data indexed at said fiducial point locations;

correlating said scanned image data and said representative camera data based on said fiducial point locations to provide instant graphics display data; and

driving a computer graphics display with said instant graphics display data to show indications of the surgical instrument and the microscope in relation to indications of internal and external anatomy of the patient.

2. A process according to claim 1 wherein the step of indexing includes fixing light sources to said fiducial point locations.

3. A process according to claim 1 wherein the step of indexing includes fixing light sources comprising diodes to said fiducial point locations.

4. A process according to claim 1 wherein the step of indexing includes fixing reflector light sources to said fiducial point locations.

5. A process according to claim 1 wherein said step of optically sensing a data field includes using a plurality of cameras to sense said data field respectively with different fields of view.

6. A process according to claim 1 wherein other instruments are indexed and placed within the data field and are visualized by said computer graphics display.

7. A system for use with respect to a patient'"'"'s anatomy and a surgical device in the proximity of the patient'"'"'s anatomy, for indicating the current position of the surgical device with respect to a patient'"'"'s anatomy, comprising:

memory means for storing and providing image scanned data representative of the patient'"'"'s anatomy in three dimensions;

a camera system for providing current position data indicative of the patient'"'"'s anatomy and the surgical device whereby to track movement of the surgical device in relation to the patient'"'"'s anatomy;

means for referencing said current position data to said image scanned data to provide composite display signals indicative of the surgical device in relation to the patient'"'"'s anatomy as represented by said image scanned data; and

a display means for displaying said composite display signals to indicate the current position of the surgical device in relation to the patient'"'"'s anatomy.

8. A system according to claim 7 wherein said means for referencing includes markers affixed for indicating index locations with respect to the patient'"'"'s anatomy in said image scanned data and said current position data indicative of the patient'"'"'s anatomy.

9. A system according to claim 8 wherein said markers comprise optically detectible objects.

10. A system according to claim 8 wherein said markers comprise reflective objects.

11. A system according to claim 8 wherein said markers comprise light sources.

12. A system according to claim 7 further including a mechanical holder adapted to be affixed to the patient'"'"'s anatomy and including index means for referencing said current position data to said image scanned data.

13. A system according to claim 7 wherein said means for referencing comprises computer graphic means for rendering and viewing the patient'"'"'s anatomy to thereby register said current position data with said image scanned data.

14. System according to claim 7 wherein said system further includes a surgical device and marker means affixed to said surgical device and detectable to be represented in said current position data.

15. A system according to claim 7 wherein said camera system includes a plurality of cameras for sensing a plurality of fields of view to provide said current position data.