Head band for frameless stereotactic registration

• US 6,246,900 B1
• Filed: 02/02/2000
• Issued: 06/12/2001
• Est. Priority Date: 05/04/1995
• Status: Expired due to Term

• Current Assignee: Integra Burlington MA, Inc. (Integra LifeSciences Holdings Corporation)
• Original Assignee: Sherwood Services AG
• Inventors: Cundari, Michael A., Cosman, Eric R., Daniels, Robert A.
• Primary Examiner(s): Smith, Ruth S.
• Application Number:
  US09/496,802
• Time in Patent Office: 496 Days
• Field of Search: 606/130, 600/426, 600/427, 600/429, 600/411, 600/414, 600/417
• US Class Current: 600/426
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• 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 2090/3983 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 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 skin-based band is fixed to a patient'"'"'s skin in a repeatable position and includes reference markers which, attached to the skin band, can be visualized in tomographic image scanning. The reference markers appear as reference marker images in the image scan data from the image scan and correspond to coordinate positions in the image scan coordinate system. The reference markers also provide corresponding reference marker positions in the physical space of the patient'"'"'s anatomy, which may correspond to a stereotactic coordinate system associated with a digitized navigator or frameless stereotactic reference system near the patient. The band can also be placed on the patient again at the time of surgical intervention, and the reference markers can be touched or referenced by the surgical navigator in the stereotactic coordinate system. A computer system assimilates the image scan data and calibration data and enables a mapping from the image scan coordinate system to the stereotactic coordinate system so that surgical instruments can be tracked by a surgical navigator so that their position can be referenced to the image scan data.

Claims

1. A method for localizing positions in a patient'"'"'s anatomy, comprising the steps of:

providing a localizer system including a band, image reference markers mounted to the band and detectable as image scan data, and dynamic reference markers mounted to the band and having a predetermined reference pattern detectable by a detection apparatus;

securing the band of the localizer system with respect to a body part of the patient to mount the localizer system to the patient;

image scanning the body part to obtain image scan data of the body part and the image reference markers and referenced in an image scan coordinate system;

referencing physical locations of the image reference markers and the dynamic reference markers in a stereotactic coordinate system associated with an external treatment apparatus;

mapping the image scan coordinate system into the stereotactic coordinate system utilizing a computer to define a coordinate transformation between the image scan coordinate system and the stereotactic coordinate system;

detecting movement of the dynamic reference markers with the detection apparatus, the detection apparatus having a known position with respect to the stereotactic coordinate system to detect changes in position of the body part with respect to the stereotactic coordinate system; and

modifying the coordinate transformation based upon detected changes in position of the dynamic reference markers to thereby account for movement of the body part to correct mapping between the image scan and stereotactic coordinate system.

2. The method according to claim 1 wherein the step of detecting includes optically sensing the movement of the dynamic reference markers.

3. The method according to claim 2 wherein the dynamic reference markers are selected from the group consisting of optically visible objects, light emitting diodes and optically reflecting objects and wherein the detection includes optical sensing means, and whereby, during the step of detecting, the movement of the dynamic reference markers is sensed with the optical sensing means.

4. The method according to claim 3 wherein the step of detecting includes optically sensing the movement of the dynamic reference markers with a camera.

5. The method according to claim 1 wherein the band of the localizer system is a head band and wherein the step of securing includes positioning the head band about the head of the patient.

6. The method according to claim 1 wherein the image reference markers include graphic reference frame having a plurality of elongated elements and wherein, during the step of image scanning, the elongated elements are referenced in the stereotactic coordinate system.

7. The method according to claim 1 wherein the step of detecting includes detecting a position of a probe identifiable within the stereotactic coordinate system and tracking the relative movements of the probe and the movement of the patient, and determining relative differences between the position of the patient and the position of the probe.

8. The method according to claim 7, further including displaying an image currently representative of the probe related to the body part.