Bone navigation system

• US 6,167,145 A
• Filed: 03/29/1996
• Issued: 12/26/2000
• Est. Priority Date: 03/29/1996
• Status: Expired due to Term

• Current Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Original Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Inventors: Clayton, John B., Foley, Kevin T., Smith, Kurt R.
• Primary Examiner(s): Bella, Matthew C.
• Application Number:
  US08/623,956
• Time in Patent Office: 1,733 Days
• Field of Search: 382/294, 382/128, 364/413.15, 606/130, 606/383, 606/386, 606/407, 606/426, 606/414, 128/653.1
• US Class Current: 382/128
• CPC Class Codes: G06T 2207/10072 Tomographic images
• CPC Class Codes: G06T 2207/10121 Fluoroscopy
• CPC Class Codes: G06T 2207/10132 Ultrasound image
• CPC Class Codes: G06T 2207/30012 Spine; Backbone
• CPC Class Codes: G06T 2207/30016 Brain
• CPC Class Codes: G06T 7/33 using feature-based methods
• CPC Class Codes: G16H 30/20 for handling medical images, e.g. DICOM, HL7 or PACS

Abstract

A system for use during a medical or surgical procedure on a body. The system generates a display representing the position of two or more body elements during the procedure based on an image data set generated by a scanner prior to the procedure. The image data set has reference points for each of the body elements, the reference points of a particular body element having a fixed spatial relation to the particular body element. The system includes an apparatus for identifying, during the procedure, the relative position of each of the reference points of each of the body elements to be displayed. The system also includes a processor for modifying the image data set according to the identified relative position of each of the reference points during the procedure, as identified by the identifying apparatus, said processor generating a displaced image data set representing the position of the body elements during the procedure. The system also includes a display utilizing the displaced image data set generated by the processor, illustrating the relative position of the body elements during the procedure. Methods relating to the system are also disclosed.

Claims

1. A system for use during a medical or surgical procedure on a head, said system generating a display representing the position of the head during the procedure based on an image data set generated prior to the procedure, the image data set having a plurality of anatomical reference points for the head, the anatomical reference points having a fixed spatial relation to the head, said system comprising:

means for identifying during the procedure the position of each of the plurality of anatomical reference points, said means for identifying including a reference frame, wherein the reference frame is attached to an opening in the skull with a C-clamp-type member;

a processor for locating portions of the image data set corresponding to the identified position of each of the plurality of reference points during the procedure, said processor generating an updated image data set representing the position of the head during the procedure; and

a display for displaying an updated image utilizing the updated image data set generated by the processor.

2. A system for use during a medical or surgical procedure on a head, said system generating a display representing the position of the head during the procedure based on an image data set generated prior to the procedure, the image data set having a plurality of anatomical reference points for the head, the anatomical reference points having a fixed spatial relation to the head, said system comprising:

means for identifying during the procedure the position of each of the plurality of anatomical reference points, said means for identifying including a reference frame, wherein the reference frame is a self-adhesive pad having radiation sources thereon, and is attached directly to the skull;

a processor for locating portions of the image data set corresponding to the identified position of each of the plurality of reference points during the procedure, said processor generating an updated image data set representing the position of the head during the procedure; and

a display for displaying an updated image utilizing the updated image data set generated by the processors,

wherein the pad is deformable when heated and becomes substantially rigid upon cooling.

3. The system of claim 2 wherein the reference pad is circular and includes an aperture for placement on the skull.

4. The system of claim 2 wherein the reference pad is C-shaped.

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

a reference frame clamped to the body part at an entry point on the body part, said reference frame including

a post having a first end and a second end, the first end of said post being mountable directly to the body part at the entry point;

a connector portion joined to the second end of the post; and

a first plurality of radiation sources mounted to the connector portion;

an array of receivers for receiving radiation from said radiation sources and providing a reference point;

an imager to generate images of the body part, said images including a plurality of reference points, the plurality of reference points having a fixed spatial relation to the body part;

a surgical probe with a tip, the probe including a second plurality of radiation sources;

a computer operatively connected to the receiver array, the computer including

a computer program for determining a position of the tip of the surgical probe relative to the receiver array using the second plurality of radiation sources and for determining the position of the first plurality of radiation sources, and

a program for translating the determined position of the tip of the surgical probe to provide a translated position of the tip within a coordinate system corresponding to the images of the body part; and

a display for displaying an image of the body part to provide a displayed image which corresponds to the translated position of the tip of the surgical probe.

6. The system of claim 5 further including a localizer for sensing energy emitted from the first and second plurality of radiation sources.

7. The system of claim 6 wherein the first and second plurality of radiation sources emit electromagnetic radiation.

8. The system of claim 6 wherein the first and second plurality of radiation sources emit light.

9. The system of claim 6 wherein the localizer includes a digitizer.

10. The system of claim 6 wherein the first and second plurality of radiation sources comprises at least three energy emitters.

11. The system according to claim 5 wherein the reference points are anatomical points.

12. A system for use during a medical or surgical procedure on a head, said system generating a display representing the position of the head during the procedure based on an image data set generated prior to the procedure, the image data set having a plurality of reference points for the head, the reference points having a fixed spatial relation to the head, said system comprising:

means for identifying during the procedure the position of each of the plurality of reference points, said means for identifying including

a reference frame connected with a C-clamp-type member to an opening in the head at a first end; and

a planar portion connected to a second end of the reference frame;

a processor for locating portions of the image data set corresponding to the identified position of each of the plurality of reference points during the procedure, said processor generating an updated image data set representing the position of the head during the procedure; and

a display for displaying an updated image utilizing the updated image data set generated by the processor.

13. A system for use during a medical or surgical procedure on a head, said system generating a display representing the position of the head during the procedure based on an image data set generated prior to the procedure, the image data set having a plurality of reference points for the head, the reference points having a fixed spatial relation to the head, the system including means for identifying during the procedure the position of each of the plurality of reference points, said means for identifying including a reference frame;

a processor for locating portions of the image data set corresponding to the identified position of each of the plurality of reference points during the procedure, said processor generating an updated image data set representing the position of the head during the procedure; and

a display for displaying an updated image utilizing the updated image data set generated by the processor, said reference frame including;

a reference frame clamped to the head at an entry point on the head, said reference frame including

a post having a first end and a second end, the first end of said post being connected to the head at the entry point; and

a planar portion connected to the second end of the post.

14. The system according to claim 13 wherein the reference points are anatomical points.

15. A system for use during a medical or surgical procedure on a head, said system generating a display representing the position of the head during the procedure based on an image data set generated prior to the procedure, the image data set having a plurality of reference points for the head, the reference points having a fixed spatial relation to the head, said system comprising:

means for identifying, during the procedure, the position of each of the plurality of reference points, said means for identifying including

a reference frame clamped to the head at an entry point on the head, said reference frame including

a post having a first end and a second end, the first end of said post being connected to the head at the entry point; and

a planar portion connected to the second end of the post;

a processor for locating portions of the image data set corresponding to the identified position of each of the plurality of reference points during the procedure, said processor generating an updated image data set representing the position of the head during the procedure; and

a display for displaying an updated image utilizing the updated image data set generated by the processor.

16. The system of claim 15 wherein the identifying means further includes a probe, the probe having a plurality of radiation sources.

17. A system for use during a medical or surgical procedure on a head, said system generating a display representing the position of the head during the procedure based on an image data set generated prior to the procedure, the image data set having a plurality of reference points for the head, the reference points having a fixed spatial relation to the head, the system including means for identifying during the procedure the position of each of the plurality of reference points, said means for identifying including a reference frame;

a processor for locating portions of the image data set corresponding to the identified position of each of the plurality of reference points during the procedure, said processor generating an updated image data set representing the position of the head during the procedure; and

a display for displaying an updated image utilizing the updated image data set generated by the processor, said reference frame including;

a C-clamp-type member connecting a first end of the reference frame to an opening in the head; and

a planar portion at a second end of the reference frame, the planar portion having radiation sources.

18. A system for use during a medical or surgical procedure on a head, said system generating a display representing the position of the head during the procedure based on an image data set generated prior to the procedure, the image data set having a plurality of reference points for the head, the reference points having a fixed spatial relation to the head, the system including means for identifying during the procedure the position of each of the plurality of reference points, said means for identifying including a reference frame;

a processor for locating portions of the image data set corresponding to the identified position of each of the plurality of reference points during the procedure, said processor generating an updated image data set representing the position of the head during the procedure; and

a display for displaying an updated image utilizing the updated image data set generated by the processor, said reference frame including;

a self adhesive pad attached directly to the head, the self adhesive pad having radiation sources thereon, wherein the pad is deformable when heated and becomes substantially rigid upon cooling.

19. The system of claim 18 wherein the reference pad is circular and includes an aperture for placement on the skull.

20. The system of claim 18 wherein the reference pad is C-shaped.