System and method for stereotactic registration of image scan data

• US 6,006,126 A
• Filed: 06/07/1995
• Issued: 12/21/1999
• Est. Priority Date: 01/28/1991
• Status: Expired due to Fees

• Current Assignee: Integra Radionics, Inc. (Integra LifeSciences Holdings Corporation)
• Original Assignee: Radionics, Inc. (Integra LifeSciences Holdings Corporation)
• Inventors: Cosman, Eric R.
• Primary Examiner(s): Jastrzab, Jeffrey R.
• Assistant Examiner(s): SHAW, SHAWNA JEANNINE
• Application Number:
  US08/475,681
• Time in Patent Office: 1,658 Days
• Field of Search: 128/665, 128/653.1, 128/920, 128/922, 606/130, 378/205, 378/206, 356/247, 600/407, 600/410, 600/414, 600/415, 600/417, 600/473, 600/476, 348/77, 348/164
• 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 2090/368 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 computer graphic determination and display of a patient'"'"'s anatomy, as from CT or MR scanning, and stored along with associated equipment in an object field including the patient'"'"'s anatomy. A first digitizing camera structure produces a signal representative of its field-of-view which defines coordinates of index points in its field-of-view. A second digitizing camera structure produces similar output for an offset field-of-view. The two camera positions are defined with respect to the patient'"'"'s anatomy so that the fields-of-view of the cameras include both the patient'"'"'s anatomy and the equipment, but are taken from different directions. Index markers are for fixing points in the fields of view and accordingly locate equipment relative to said patient anatomy. The index markers are provided by variety of structures including, light sources in various forms as reflectors, diodes, and laser scanner structures to provide a visible grid, mesh or cloud of points.

Claims

1. A system using designated index locations, for indicating positional relationships of an object field including a surgical instrument as related to a subject patient'"'"'s anatomy represented by image-scanner data, said system comprising:

a memory for storing said image-scanner data representing the subject patient'"'"'s anatomy and referenced in scanner-data coordinates to said designated index locations;

a camera apparatus for providing position data indicative of said designated index locations and said surgical instrument whereby to track said surgical instrument in relation to said designated index locations;

a computer graphics apparatus for transforming at least one of said position data and said image-scanner data to provide said image-scanner data and said position data in compatible coordinates;

an image generator for combining said image-scanner data and said position data to form combined display data; and

a display unit for receiving said combined display data to provide an image display including the subject patient'"'"'s anatomy.

2. A system according to claim 1 further including index means to indicate said designated index locations, said index means adapted to be affixed to the subject patient'"'"'s anatomy.

3. A system according to claim 2 wherein said index means comprises a light source.

4. A system according to claim 3 wherein said light source comprises a diode.

5. A system according to claim 3 wherein said light source comprises a reflector.

6. A system according to claim 2 wherein said index means comprise geometric means.

7. A system according to claim 6 wherein said geometric means comprises a triangular plate.

8. A system according to claim 1 further including an array projector for projecting an optically detectable array of light points on the subject patient'"'"'s anatomy to indicate said designated index locations.

9. A system according to claim 8 wherein said array projector comprises a laser grid generator.

10. A system according to claim 1 further including a mechanical holder adapted to be affixed to said subject patient'"'"'s anatomy and holder index means detectable by said camera apparatus to provide reference data for referencing said subject patient'"'"'s anatomy to preserve said display data with positional changes of said subject patient'"'"'s anatomy.

11. A system according to claim 1 wherein said computer graphics apparatus computes at least one pattern recognition transformation to determine, from said position data, a pattern of said surgical instrument.

12. A system according to claim 1 wherein said camera apparatus comprises at least one CCD camera.

13. A system according to claim 1 wherein said camera apparatus comprises at least one video camera.

14. A system according to claim 1 wherein said surgical instrument comprises a microscope.

15. A system according to claim 14 wherein said microscope includes a plurality of optically detectable objects detectable by said camera apparatus to provide said location data.

16. A system according to claim 1 wherein said system further includes a scanner for scanning the subject patient'"'"'s anatomy to provide said image-scanner data.

17. A system according to claim 1 further including index means adapted to be affixed to said patient'"'"'s anatomy to indicate said designated index locations.

18. A system according to claim 1 wherein said designated index locations comprise natural anatomical landmarks.

19. A system according to claim 1 further including an optically detectable probe, whereby said camera apparatus senses said optical probe to determine locations of said designated index locations in said object fields.

20. A system according to claim 1 wherein said surgical instrument comprises at least one marker detectable by said camera apparatus for providing a representation of said surgical instrument in said image display.

21. A system according to claim 1 wherein said surgical instrument comprises at least one light source detectable by said camera apparatus for providing a representation of said surgical instrument in said image display.

22. A system according to claim 1 wherein said surgical instrument comprises at least one reflector detectable by said camera apparatus for providing a representation of said surgical instrument in said image display.

23. A system according to claim 22 further including at least one light source for projecting light onto said at least one reflector.

24. A system according to claim 1 further including at least one marker adapted to be affixed to said subject patient'"'"'s anatomy to indicate at least a portion of said designated index locations.

25. A system according to claim 24 wherein said surgical instrument comprises at least one light source.

26. A system according to claim 25 wherein said at least one light source comprises a light emitting diode.

27. A system according to claim 25 wherein said at least one light source comprises a reflector.

28. A system according to claim 24 wherein said at least one marker comprises at least one light source.

29. A system according to claim 28 wherein said at least one light source comprises at least one reflector.

30. A system according to claim 28 wherein said at least one light source comprises at least one diode.

31. A system according to claim 1 further including a mechanical holder adapted to be affixed to said subject patient'"'"'s anatomy, said holder comprising at least one light source detectable by said camera apparatus to provide reference data for referencing said subject patient'"'"'s anatomy.

32. A system according to claim 1 further including a mechanical holder adapted to be affixed to said subject patient'"'"'s anatomy, said holder comprising at least one reflector detectable by said camera apparatus to provide reference data for referencing said subject patient'"'"'s anatomy.

79. A system according to claim 17 wherein said index means comprise radiopaque markers.

33. A method of determining the positional relationship of a surgical instrument with respect to a subject patient'"'"'s anatomy comprising the steps of:

designating at least one index location for detection in relation to the subject patient'"'"'s anatomy and the surgical instrument;

storing three dimensional image scanner data representative of the subject patient'"'"'s anatomy in scanner-data coordinates and referenced to said at least one index location;

determining, using a camera system, the position of said surgical instrument in detector coordinates relative to the subject patient'"'"'s anatomy based on said at least one index location and represented by surgical instrument data;

correlating the surgical instrument data and the image scanner data representative of the subject patient'"'"'s anatomy to a compatible coordinate system;

combining said surgical instrument data and said image scanner data in said compatible coordinate system to provide display signals; and

driving a computer graphics display with said display signals to display said surgical instrument in relation to said subject patient'"'"'s anatomy.

34. A method according to claim 33 further including the step of affixing at least one index marker to said subject patient'"'"'s anatomy to indicate said index locations.

35. A method according to claim 34 wherein said at least one index marker comprises at least one radiopaque marker.

36. A method according to claim 34 wherein said at least one index marker comprises at least one light source.

37. A method according to claim 36 wherein said at least one light source comprises at least one diode.

38. A method according to claim 36 wherein said at least one light source comprises at least one reflector.

39. A method according to claim 34 further including the step of detecting light from at least one light emitting diode on said surgical instrument.

40. A method according to claim 34 further including the step of detecting light from at least one reflector on said surgical instrument.

41. A method according to claim 40 further including the step of projecting light onto said at least one reflector to track said surgical instrument.

42. A method according to claim 33 wherein said at least one index location comprises at least one natural anatomical landmark.

43. A method according to claim 33 further including the step of projecting an optically detectable array of light points on said subject patient'"'"'s anatomy to indicate said at least one index location.

44. A method according to claim 33 further including the step of affixing a mechanical holder to said subject patient'"'"'s anatomy, said mechanical holder comprising holder index means detectable by said camera system to provide reference data for referencing said subject patient'"'"'s anatomy to preserve said display signals with positional changes of said subject patient'"'"'s anatomy.

45. A method according to claim 33 further including the step of affixing a mechanical holder to said subject patient'"'"'s anatomy, said mechanical holder comprising at least one reflector detectable by said camera system to provide reference data for referencing said subject patient'"'"'s anatomy.

46. A method according to claim 33 further including the step of affixing a mechanical holder to said subject patient'"'"'s anatomy, said mechanical holder comprising at least one light source detectable by said camera system to provide reference data for referencing said subject patient'"'"'s anatomy.

47. A method according to claim 33 further including the step of computing at least one pattern recognition transformation to determine, from said surgical instrument data, a pattern of said surgical instrument.

48. A method according to claim 33 wherein said surgical instrument comprises a microscope including a plurality of optically detectable objects, the method further including the step of detecting said optically detectable objects by said camera system to provide at least a portion of said surgical instrument data.

49. A method according to claim 33 further including the step of scanning said subject patient'"'"'s anatomy to provide said image scanner data.

50. A method according to claim 33 further including the step of detecting at least one marker on said surgical instrument.

51. A method according to claim 33 further including the step of detecting at least one light source on said surgical instrument.

52. A method according to claim 33 further including the step of detecting at least one reflector on said surgical instrument.

53. A method according to claim 52 further including the step of projecting light onto said at least one reflector to track said surgical instrument.

54. A method according to claim 33 further including the step of sensing an optically detectable probe to designate said at least one index location.

55. A system using designated index locations, for indicating positional relationships of an object field including a surgical instrument as related to a subject patient'"'"'s anatomy represented by image-scanner data, said system comprising;

a memory for storing said image-scanner data representing the subject patient'"'"'s anatomy and referenced in scanner-data coordinates to said designated index locations;

a camera apparatus for optically sensing said object field from plural different fields of view to provide location data comprising first data associated with said designated index locations and second data associated with said surgical instrument;

a computer graphics apparatus for transforming at least one of sad location data and said image-scanner data to provide said image-scanner data and said location data in compatible coordinates;

an image generator for combining said image-scanner data and said location data to form combined display data; and

a display unit for receiving said combined display data to provide an image display including the subject patient'"'"'s anatomy.

56. A system according to claim 55 wherein said surgical instrument comprises at least one light source detectable by said camera apparatus.

57. A system according to claim 55 wherein said surgical instrument comprises at least one reflector detectable by said camera apparatus.

58. A system according to claim 55 further including at least one marker adapted to be affixed to said subject patient'"'"'s anatomy to indicate at least a portion of said designated index locations.

59. A system according to claim 58 wherein said surgical instrument comprises at least one light source.

60. A system according to claim 59 wherein said at least one light source comprises a light emitting diode.

61. A system according to claim 59 wherein said at least one light source comprises a reflector.

62. A system according to claim 58 wherein said at least one marker comprises at least one light source.

63. A system according to claim 62 wherein said at least one light source comprises at least one reflector.

64. A system according to claim 62 wherein said at least one light source comprises at least one diode.

65. A system according to claim 55 further including a mechanical holder adapted to be affixed to said subject patient'"'"'s anatomy, said holder comprising at least one light source detectable by said camera apparatus to provide reference data for referencing said subject patient'"'"'s anatomy.

66. A system according to claim 55 further including a mechanical holder adapted to be affixed to said subject patient'"'"'s anatomy, said holder comprising at least one reflector detectable by said camera apparatus to provide reference data for referencing said subject patient'"'"'s anatomy.

67. A system using designated index locations, for indicating positional relationships of an object field including a surgical instrument as related to a subject patient'"'"'s anatomy represented by image-scanner data, said system comprising:

a memory for storing said image-scanner data representing the subject patient'"'"'s anatomy and referenced in scanner-data coordinates to said designated index locations;

a camera apparatus for sensing plural fields of view of said object field for tracking said surgical instrument in said fields of view relative to said designated index locations, said camera apparatus providing location data relating said surgical instrument to said image scanner data;

a computer graphics apparatus for transforming data based on said index locations to provide said image-scanner data and said location data in compatible coordinates;

an image generator for combining said image-scanner data and said location data to form combined display data; and

a display unit for receiving said combined display data to provide an image display including the subject patient'"'"'s anatomy.

68. A system according to claim 67 wherein said surgical instrument comprises at least one light source detectable by said camera apparatus.

69. A system according to claim 67 wherein said surgical instrument comprises at least one reflector detectable by said camera apparatus.

70. A system according to claim 67 further including at least one marker adapted to be affixed to said subject patient'"'"'s anatomy to indicate at least one of said designated index locations.

71. A system according to claim 70 wherein said surgical instrument comprises at least one light source.

72. A system according to claim 71 wherein said at least one light source comprises at least one light emitting diode.

73. A system according to claim 71 wherein said at least one light source comprises at least one reflector.

74. A system according to claim 72 wherein said at least one marker comprises at least one light source.

75. A system according to claim 74 wherein said at least one light source comprises at least one reflector.

76. A system according to claim 74 wherein said at least one light source comprises at least one diode.

77. A system according to claim 67 further including a mechanical holder adapted to be affixed to said subject patient'"'"'s anatomy, said holder comprising at least one light source detectable by said camera apparatus to provide reference data for referencing said subject patient'"'"'s anatomy.

78. A system according to claim 67 further including a mechanical holder adapted to be affixed to said subject patient'"'"'s anatomy, said holder comprising at least one reflector detectable by said camera apparatus to provide reference data for referencing said subject patient'"'"'s anatomy.