Frameless to frame-based registration system

• US 6,259,943 B1
• Filed: 02/01/2000
• Issued: 07/10/2001
• Est. Priority Date: 02/16/1995
• Status: Expired due to Term

• Current Assignee: Integra Burlington MA, Inc. (Integra LifeSciences Holdings Corporation)
• Original Assignee: Sherwood Services AG
• Inventors: Ledoux, Robert J., Mauge, Christophe P., Labuz, Jeffrey, Cosman, Eric R., Daniels, Robert A., Cundari, Michael A.
• Primary Examiner(s): Lateef, Marvin M.
• Assistant Examiner(s): SHAW, SHAWNA JEANNINE
• Application Number:
  US09/495,623
• Time in Patent Office: 525 Days
• Field of Search: 600/429, 600/417, 600/426, 600/414, 606/130, 378/205, 378/206
• US Class Current: 600/429
• 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 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• 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

Abstract

This invention involves apparatus and methods for relating image scan data of a patient'"'"'s anatomy from an imaging scanner to a device attached to said patient'"'"'s anatomy or to an apparatus located nearby said patient'"'"'s anatomy. In one embodiment it includes identification of fiducial points or markers on or near the patient'"'"'s anatomy in the image scan data, and subsequently relating these fiducial points to reference points or structures connected to an apparatus attached to or nearby the patient'"'"'s body. Such an apparatus might be a surgical head clamp or stereotactic frame or arc which has been attached to the patient'"'"'s head at the time of surgery. A mapping is made between the coordinate frame data of the scan image to the coordinate reference frame of the patient attachment means or external apparatus by physically referencing the fiducial points to the patient attachment means or external apparatus. In one embodiment, such registration can be in the form of distance or coordinate measurements between the fiducial points on the patient'"'"'s body and the reference points on the external apparatus. Applications are given in the field of frameless stereotaxy, radiosurgery, and stereotactic frame application.

Claims

1. A method of determining a target position in a patient'"'"'s anatomy, comprising:

a. scanning the patient'"'"'s anatomy with an image scanner to obtain image scan data referenced in an image coordinate reference frame;

b. identifying physical fiducial points on the patient'"'"'s anatomy and also identifying corresponding fiducial point images in said image scan data from scanning of the patient'"'"'s anatomy with said image scanner corresponding to said fiducial points, such that said fiducial points and said fiducial point images index the physical space of the patient'"'"'s anatomy to said image scanner coordinate reference frame;

c. applying a patient attachment means to the patient'"'"'s anatomy, said patient attachment means having a defined stereotactic coordinate system and physical reference points in known coordinate positions with respect to said stereotactic coordinate system;

d. applying registration apparatus adapted to determine physical registration data relating to a relationship between said reference points of said patient attachment means and said fiducial points and which thereby provides a mapping between said image scan data and said stereotactic coordinate system; and

e. determining a target position in said stereotactic coordinate system identifiable in said image scan data using said mapping between said image scan data and said stereotactic coordinate system.

2. The method of claim 1 further including the steps of determining a course to said target position based on said image scan data and said mapping.

3. The method of claim 1, wherein said patient attachment means is a surgical head clamp adapted for attachment to the head of the patient'"'"'s anatomy, and wherein the step of applying includes attaching said surgical head clamp to the head of the patient'"'"'s anatomy after the step of said scanning of the patient'"'"'s anatomy with said image scanner.

4. A method of determining a target in a patient'"'"'s anatomy, comprising:

a. scanning the patient'"'"'s anatomy using an image scanner to obtain image scan data;

b. identifying fiducial points on the patient'"'"'s anatomy, the fiducial points being identifiable on images of said patient'"'"'s anatomy as part of said image scan data from said scanning of said patient'"'"'s anatomy by said image scanner, such that knowledge of positions of said fiducial points in the patient'"'"'s anatomy and said images of said patient'"'"'s anatomy provide indexing of the patient'"'"'s anatomy to said images of said patient'"'"'s anatomy;

c. securing a stereotactic patient attachment means to the patient'"'"'s anatomy, said stereotactic patient attachment means having a stereotactic coordinate system;

d. registering said stereotactic patient attachment means to said fiducial points and thereby registering said patient'"'"'s anatomy to said patient attachment means and/or said stereotactic coordinate system; and

e. determining a target position in said stereotactic coordinate system which is identifiable in said image scan data using said physical reference data.

5. The method of claim 4, further including the step of determining a course to said target position based on said image scan data.

6. A method of registering a stereotactic patient attachment means to a patient'"'"'s anatomy comprising:

a. scanning the patient'"'"'s anatomy using an image scanner to obtain image scan data;

b. identifying fiducial points on the patient'"'"'s anatomy which are identifiable on said image scan data from said scanning of said patient'"'"'s anatomy with said image scanner, and thereby at known positions with respect to the patient'"'"'s anatomy;

c. securing stereotactic patient attachment means to the patient'"'"'s anatomy, said stereotactic patient attachment means having a stereotactic coordinate system and being adapted to provide physical reference data between said stereotactic patient attachment means and said fiducial points so as to register the patient'"'"'s anatomy with respect to said stereotactic coordinate system;

d. registering said stereotactic patient attachment means to said fiducial points and thereby registering the patient'"'"'s anatomy and said image scan data with respect to said stereotactic patient attachment means and/or said stereotactic coordinate system.

7. The method of claim 6 further including the step of identifying a target point in said image scan data and registering said target point in said stereotactic coordinate system of said stereotactic patient attachment means.