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

• US 5,871,445 A
• Filed: 09/07/1995
• Issued: 02/16/1999
• Est. Priority Date: 04/26/1993
• Status: Expired due to Term

• Current Assignee: St. Louis University
• Original Assignee: St. Louis University
• Inventors: Bucholz, Richard D.
• Primary Examiner(s): Lateer, Marvin M.
• Assistant Examiner(s): MANTIS MERCADER, ELENI M
• Application Number:
  US08/524,981
• Time in Patent Office: 1,258 Days
• Field of Search: 128/653.1, 128/653.2, 128/653.5, 128/920, 128/922, 128/923, 364/413.01, 364/413.22, 340/870.11, 340/853.2, 340/853.1, 606/130, 378/163, 600/407, 600/410, 600/422
• US Class Current: 600/407
• 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 2034/2063 Acoustic tracking systems, e.g. using ultrasound
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• 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 2090/061 for measuring dimensions, e.g. length
• 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 2090/373 using light, e.g. by using optical scanners
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3925 ultrasonic
• CPC Class Codes: A61B 2090/3929 Active markers
• 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 2090/3979 infrared
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 2090/3995 Multi-modality markers
• 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 5/061 : Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• CPC Class Codes: A61B 5/1077 : Measuring of profiles
• CPC Class Codes: A61B 5/702 : Posture restraints
• 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

Abstract

A system for determining a position of a probe relative to an object such as a head of a body of a patient. The head includes a surface such as a forehead having a contour. Cross sectional images of the head are scanned and stored as a function of the forehead contour. If the forehead contour does not appear in the scan images, then the position of the forehead contour relative to the scan images is determined with an optical scanner and a ring. During surgery, the optical scanner also determines the position of the forehead relative to the ring. An array for receiving radiation emitted from the probe and from the ring generates signals indicating the position of the tip of the probe relative to the ring. A stereotactic imaging system generates and displays an image of the head corresponding to the measured position of the tip of the probe. The system may also display scan images from different scanning technologies which scan images correspond to the same position in the head.

Claims

1. A system for providing a display of images from at least two different scanning technologies, the display showing a particular position within a body of a patient, said system comprising:

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

means for generating images of the body from each different scanning technology, said images including reference images corresponding to the reference points means;

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

a surgical probe including a tip adapted to be located at the particular position;

first means for determining the position of the tip of the surgical 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 tip relative to the reference points means of the body is a known position;

means for translating the known position of the tip of the surgical probe to provide a translated position within a coordinate system corresponding to the images of the body from each different scanning technology; and

means for displaying a plurality of images of the body produced from the different scanning technologies to provide displayed images which correspond to the translated position of the tip of the probe in the body.

2. The system of claim 1 wherein the reference points means comprises radiopaque marks and means for noninvasively supporting the markers on a surface of the skin of the body.

3. The apparatus of claim 2 wherein the supporting noninvasive means comprises a sheet of material adapted to be overlying the body, and means on the sheet of material for supporting the markers.

4. The apparatus of claim 2 wherein the sheet of material includes apertures therein having edges for engaging the markers and for supporting the markers, said markers being positioned within the apertures.

5. The apparatus of claim 1 wherein the reference points means comprises means for marking a surface of the skin on the body with a radiopaque material whereby the generated images include images of the marking material.

6. The apparatus of claim 1, wherein the reference points means comprises a contour of a body part.

7. A system for providing a display of images from first and second scanning technologies, the display showing 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 from each different scanning technology, said images including reference images corresponding to the reference points means;

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

a device having a position;

first means for determining the position of the device relative to the reference means;

second means including a base on the body and communicating with the reference means for determining the position of the reference points means of the body relative to the reference means so that the position of the device relative to the reference points means of the body is a known position;

means for translating the known position of the device to provide a translated position within a coordinate system corresponding to first images of the first scanning technology of the body from each different scanning technology;

means for translating the known position of the device to provide a translated position within a coordinate system corresponding to second images of the second scanning technology of the body; and

means for displaying the first and second images of the body to provide displayed images which correspond to the translated position of the device in the first and second scanning technologies.

8. A system for indicating a location within a body of a patient, said system comprising:

reference points means having a position in fixed relation to the body for providing reference points, said reference points means including emitters mounted to the body of the patient;

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

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

a surgical probe including a tip having a position;

first means for determining the position of the tip of the surgical 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 tip relative to the reference points means of the body is a known position;

means for translating the known position of the tip of the surgical 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 images which corresponds to the translated position of the tip of the surgical probe.

9. The system of claim 8 wherein the second means comprises:

an optical scanner for scanning the body part to produce a signal received by the array indicative of the contour of a portion of the body part; and

means adapted to be mounted on the body part in fixed relationship with the scanned portion of the body part for generating a signal received by the reference means to indicate the position of the generating means relative to the reference means, whereby the position of the body part relative to the reference means can be determined.

10. The system of claim 8 wherein the second means comprises:

an optical scanner for scanning the body part to produce a signal received by the optical scanner indicative of the contour of a portion of the body part;

means mounted on the optical scanner for emitting a signal received by the array to indicate the position of the optical scanner relative to the array; and

means adapted to be mounted on the body part in fixed relationship with the scanned portion of the body part for generating a signal received by the reference means to indicate the position of the generating means relative to the reference means, whereby the position of the body part relative to the reference means can be determined.

11. The system of claim 8 wherein the reference points means comprises:

radiopaque markers; and

means adapted for noninvasively supporting the markers on a surface of the skin of the body.

12. The system of claim 11 wherein the supporting means comprises a sheet of material adapted to be overlying the body, and means on the sheet of material for supporting the markers.

13. The system of claim 12 wherein the sheet of material includes apertures therein having edges for engaging the markers and for supporting the markers.

14. The system of claim 8 wherein the reference points means comprises:

means for marking the surface of the skin on the body part with a radiopaque material, whereby the generated images include images of the marking means.

15. The system of claim 8 wherein the device comprises a surgical probe having a tip and wherein the displayed image corresponds to the translated position of the tip of the surgical probe.

16. The apparatus of claim 8 wherein the reference points means comprises a contour of a body part.

17. The system of claim 16 wherein the second means comprises:

an optical scanner for scanning the body part to produce a signal received by the optical scanner indicative of the position of the contour of a portion of the body part;

means mounted on the optical scanner for emitting a signal received by the reference means to indicate the position of the optical scanner relative to the reference means; and

means adapted to be mounted on the body part in fixed relationship with the scanned portion of the body part for generating a signal received by the reference means to indicate the position of the generating means relative to the reference means, whereby the position of the contour of the body part relative to the reference means can be determined.

18. A system for indicating a location within a body of a patient, said system comprising:

means for defining a contour of a body part having a position in fixed relation to the body for providing reference points;

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

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

a device having a position;

first means for determining the position of the device relative to the reference means;

second means for determining the position of the contour of the body part relative to the reference means so that the position of the device relative to the contour of the body part of the body is a known position;

means for translating the known position of the device 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 device.

19. The system of claim 18 wherein the second means comprises:

a scanner for scanning the body part to produce a signal indicative of the position of the contour of a portion of the body part;

means mounted on the scanner for emitting a signal received by the reference means to indicate the position of the scanner relative to the reference means.

20. The system of claim 18 wherein the means for translating comprises means for fitting the contour of the body part to images of the body parts.

21. A system for use with a part of a body of patient during a procedure or operation, 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 relative to the array; and

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

means for generating a previous scanned image of the body part corresponding to the determined position of the ultrasound probe relative to the body part, said previous scanned image corresponding to a scan of the body part prior to the operation or procedure whereby the ultrasound image of the body part corresponds to and may be compared with the scanned image of the body part to provide more definite localization of the body part.

22. A system for use with a part of a body of patient during a procedure or operation, 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 relative to the array; and

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

means for generating a previous scanned image of the body part corresponding to the determined position of the ultrasound probe relative to the body part, said previous scanned image corresponding to a scan of the body part prior to the operation or procedure whereby the ultrasound image of the body part corresponds to and may be compared with the scanned image of the body part to provide continual monitoring of the position of the body part.

23. The system according to claim 22 wherein at least one of said emitters is mounted to at least one fiducial marker on the body.