System for indicating the position of a surgical probe within a head on an image of the head

• US 5,851,183 A
• Filed: 10/16/1995
• Issued: 12/22/1998
• Est. Priority Date: 10/19/1990
• Status: Expired due to Term

• Current Assignee: St. Louis University
• Original Assignee: St. Louis University
• Inventors: Bucholz, Richard D.
• Primary Examiner(s): Smith, Ruth S.
• Application Number:
  US08/543,516
• Time in Patent Office: 1,163 Days
• Field of Search: 128/653.1, 128/653.2, 128/653.5, 606/130, 364/413.9, 364/413.22, 600/424, 600/425, 600/437, 600/426, 600/429, 600/407, 600/443, 600/439
• US Class Current: 600/425
• CPC Class Codes: A61B 2017/00738 part of the tool being offset with respect to a main axis, e.g. for better view for the surgeon
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• 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 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3788 transmitter only
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 2090/3954 magnetic, e.g. NMR or MRI
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• 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 5/0064 Body surface scanning
• CPC Class Codes: A61B 5/0073 by tomography, i.e. reconstruction of 3D images from 2D projections A61B5/0066 takes precedence
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/1077 Measuring of profiles
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/501 for diagnosis of the head, e.g. neuroimaging or craniography
• CPC Class Codes: A61B 6/5247 : combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
• CPC Class Codes: A61B 8/00 : Diagnosis using ultrasonic, sonic or infrasonic waves imaging of objects using sonar G01S15/00
• CPC Class Codes: A61B 8/0808 : for diagnosis of the brain
• CPC Class Codes: A61B 8/5238 : for combining image data of patient, e.g. merging several images from different acquisition modes into one image for image registration algorithms G06T7/30
• CPC Class Codes: A61B 90/10 : for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/14 : Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
• 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: B82Y 15/00 : Nanotechnology for interacting, sensing or actuating, e.g. quantum dots as markers in protein assays or molecular motors

Abstract

A system for determining a position of a probe (302) relative to an object such as a head (390) of a body of a patient. The head includes a surface such as a forehead (394) having a contour. The head is placed in a cradle (392) equipped with an arc (393). The cross sectional images of the head are determined relative to the arc. A hand held unit (380) optically scans the forehead and the arc. During scanning to generate the cross sectional images, the optical scanner (380) is used to determine the position of the forehead (394) relative to the cradle (392). During surgery, the optical scanner (380) also determines the position of the forehead (394) relative to a base ring (306). An array (300) for receiving radiation emitted from the probe (302) and from the base ring (306) generates signals indicating the position of the tip of the probe (302) relative to the base ring (306). A stereotactic imaging system selects and displays the image of the head closest to the measured position of the tip of the probe (302).

Claims

1. A system for use with a part of a body of a patient, said system comprising:

an ultrasound probe adapted to be positioned adjacent to and scanning the body part;

means, responsive to the ultrasound probe, for generating an ultrasound image of the body part corresponding to the position of the ultrasound probe;

means for determining the position of the ultrasound probe relative to the body part, wherein the determining means comprises;

an array positioned in communication with the ultrasound probe;

first means for determining the position of the ultrasound probe relatively to the array;

second means for determining the position of the body part relative to the array; and

means for translating the position of the ultrasound probe as determined by the first means into a coordinate system corresponding to the position of the body part as determined by the second means;

means for scanning the body part to create scanned images thereof; and

means, responsive to the scanning means, for generating a scanned image of the body part corresponding to the determined position of the ultrasound probe relative to the body part whereby the ultrasound image of the body part corresponds to and may be compared with the scanned image of the body part.

2. The system of claim 1 wherein the first means comprises at least three emitters on the ultrasound probe and means for activating the emitters to generate a signal communicated to the array.

3. The system of claim 1 wherein the second means comprises means adapted to be mounted on the body part for generating a signal received by the array to indicate the position of the body part relative to the array.

4. A system for use with a part of a body of a patient, said system comprising:

an ultrasound probe adapted to be positioned adjacent to and scanning the body part;

means, responsive to the ultrasound probe, for generating an ultrasound image of the body part corresponding to the position of the ultrasound probe;

means for determining the position of the ultrasound probe relative to the body part, wherein the determining means comprises

reference points means having a position in fixed relation to the body part for providing reference points, said scanned images including reference images corresponding to the reference points means;

reference means having a location outside the body part for providing a reference;

first means for determining the position of the ultrasound probe relative to the reference means;

second means for determining the position of the reference points means of the body part relative to the reference means so that the position of the ultrasound probe relative to the reference points means of the body part is a known position; and

means for translating the known position of the ultrasound probe to provide a translated position within a coordinate system corresponding to the scanned images of the body part;

means for scanning the body part to create scanned images thereof; and

means, responsive to the scanning means, for generating a scanned image of the body part corresponding to the determined position of the ultrasound probe relative to the body part whereby the ultrasound image of the body part corresponds to and may be compared with the scanned image of the body part.

5. The system of claim 4 wherein the second means comprises a base adapted to be mounted on the body part in a position having a fixed relationship with the reference points means of the body and means for measuring the position of the base with respect to the reference means.

6. The system of claim 5 wherein the reference means comprises an array having sensors and wherein the ultrasound probe includes emitters on the probe for communicating with the sensors of the array to indicate a position of the ultrasound probe relative to the array.

7. The system of claim 6 further comprising additional emitters on the base for communicating with the sensors of the array to indicate the position of the base relative to the array.

8. A method for use with a part of the body of a patient, said method comprising the steps of:

scanning the body part with a ultrasound probe positioned adjacent the body part;

generating in response to the scanning step an ultrasound image of the body part corresponding to the position of the ultrasound probe;

determining the position of the ultrasound probe relative to the body part, wherein the determining step comprises the steps of

positioning an array in communication with the ultrasound probe;

first determining the position of the ultrasound probe relative to the array;

second determining the position of the body part relative to the array; and

translating the position of the ultrasound probe as determined by the first determining step into a coordinate system corresponding to the position of the body part as determined by the second determining step;

scanning the body part to create scanned images thereof; and

generating in response to the second scanning step a scanned image of the body part corresponding to the determined position of the ultrasound probe relative to the body part whereby the ultrasound image of the body part corresponds to and may be compared with the scanned image of the body part.

9. The method of claim 8 wherein the first determining step comprises the steps of providing at least three emitters on the ultrasound probe and activating the emitters to generate a signal communicated to the array.

10. The method of claim 8 wherein the second determining step comprises the steps of generating by means on the body part a signal received by the array to indicate the position of the body part relative to the array.

11. A method for use with a part of the body of a patient, said method comprising the steps of:

scanning the body part with an ultrasound probe positioned adjacent the body part;

generating in response to the scanning step an ultrasound image of the body part corresponding to the position of the ultrasound probe;

scanning the body part to create scanned images thereof;

determining the position of the ultrasound probe relative to the body part, wherein the determining step comprises the steps of

determining the position of the ultrasound probe relative to a reference means having a position in fixed relation to the body part;

determining the position of the body part relative to the reference means so that the position of the ultrasound probe relative to the body part is a known position; and

translating the known position of the ultrasound probe to provide a translated position within a coordinate system corresponding to the scanned images of the body part; and

generating in response to the second scanning step a scanned image of the body part corresponding to the determined position of the ultrasound probe relative to the body part whereby the ultrasound image of the body part corresponds to and may be compared with the scanned image of the body part.

12. The method of claim 11 wherein the second determining step comprises the step of mounting a base on the body part in a position having a fixed relationship with the body part and measuring the position of the base with respect to the reference means.

13. The method of claim 12 wherein the reference means comprises an array having sensors and wherein the ultrasound probe includes emitters on the probe for communicating with the sensors of the array to indicate a position of the ultrasound probe relative to the array.

14. A system for providing a display of a scan of a scanning technology, the display showing a cross section of a particular position within the body, said system comprising:

reference points means having a position in relation to the body for providing reference points;

means for generating images of the body, said images including reference images corresponding to the reference points means;

reference means having a position outside the body for providing a reference;

an ultrasound probe having a position and generating an ultrasound image of the body;

first means for determining the position of the ultrasound probe relative to the reference means;

second means for determining the position of the reference points means of the body relative to the reference means so that the position of the ultrasound probe relative to the reference points means of the body is a known position;

means for translating the known position of the ultrasound probe to provide a translated position within a coordinate system corresponding to the images of the body; and

means for displaying an image of the body to provide a displayed image which corresponds to the translated position of the ultrasound probe and for displaying the ultrasound image of the body whereby the displayed image and the ultrasound image correspond to each other.