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

• US 6,374,135 B1
• Filed: 12/09/1999
• Issued: 04/16/2002
• Est. Priority Date: 10/19/1990
• Status: Expired due to Fees

• Current Assignee: St. Louis University
• Original Assignee: Saint Louis University
• Inventors: Bucholz, Richard D.
• Primary Examiner(s): Smith, Ruth S.
• Application Number:
  US09/457,699
• Time in Patent Office: 859 Days
• Field of Search: 600/426, 600/427, 600/429, 600/411, 600/414, 600/417, 606/130
• US Class Current: 600/427
• 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 determining the position of a probe relative to a body of a patient, said system comprising:

a receiver configured to receive signals;

a reference fixed in relation to the body, the reference in a line of sight with the receiver and capable of passing a signal representing the position of the reference to the receiver;

a memory having stored images of the body, the images including reference images correlatable to the reference;

a probe in a line of sight with the receiver and capable of passing a signal representing the position of the probe to the receiver;

a processor in communication with the receiver and the memory, wherein the processor is configured to determine the position of the reference relative to the receiver, to determine the position of the probe relative to the reference and to determine the position of the probe relative to the body, and, in response to such determined positions, to translate the position of the probe relative to the body to the position of the probe relative to the body in the images of the body; and

a display of the images of the translated position of the probe relative to the body.

2. The system of claim 1, wherein the reference includes pins fixed in relation to the body.

3. The system of claim 1, wherein the reference includes a ring fixed in relation to the body.

4. The system of claim 1, wherein the probe is an imaging probe capable of taking scan images of the body.

5. The system of claim 1, wherein the probe is surgical forceps.

6. The system of claim 1 wherein the probe comprises an imaging probe configured to scan the body part providing scan images of the body part and capable of passing a signal representing the position of the imaging probe relative to the receiver.

7. A system for determining a position of an instrument relative to a body of a patient, said system comprising:

a base fixed in relation to the body and a base signal associated with the base;

a memory having stored images of the body, the images including reference images correlatable to the base;

an instrument and an instrument signal associated with the instrument;

a digitizer configured to determine the position of the base and the instrument based on the base signal and the instrument signal;

a computer in communication with the digitizer and the memory, wherein the computer is configured to determine the position of the body in the images of the body, to determine the position of the instrument relative to the base, to determine the position of the instrument relative to the body, and in response to such determined positions, to translate the position of the instrument relative to the body to the position of the instrument relative to the body in the images of the body; and

a display of the images of the translated position of the instrument to the body.

8. The system of claim 7, wherein the base includes pins fixed in relation to the body.

9. The system of claim 7, wherein the base includes a ring fixed in relation to the body.

10. The system of claim 7, wherein the instrument is an imaging probe capable of taking scan images of the body.

11. The system of claim 7, wherein the instrument is surgical forceps.

12. The system of claim 7, wherein the probe comprises an imaging probe configured to scan the body providing scan images of the body and having a probe signal associated therewith.

13. A system for determining a position of an instrument relative to a body of a patient, said system comprising:

a base fixed in relation to the body and a base signal associated with the base;

a memory having stored images of the body, the images including reference images correlatable to the base;

an instrument and an instrument signal associated with the instrument;

a detector detecting the base signal and the instrument signal;

a computer in communication with the detector and the memory, the computer configured to determine the position of the body in the images of the body, to determine the position of the instrument relative to the base, to determine the position of the instrument relative to the body, and in response to such determined positions, to translate the position of the instrument relative to the body to the position of the instrument relative to the body in the images of the body; and

a display of the images of the translated position of the instrument to the body.

14. The system of claim 13, wherein the base includes pins fixed in relation to the body.

15. The system of claim 13, wherein the base includes a ring fixed in relation to the body.

16. The system of claim 13, wherein the instrument is an imaging probe capable of taking scan images of the body.

17. The system of claim 13, wherein the instrument is surgical forceps.

18. The system of claim 13, wherein the probe comprises an imaging probe configured to scan the body providing scan images of the body and having a probe signal associated therewith.

19. The system of claim 13, further including a digitizer which communicates with the computer, the digitizer being capable of determining the position of the base and the instrument based on the base and the instrument signals.

20. A system for determining a position of an instrument relative to a body of a patient, said system comprising:

a base fixed in relation to the body, the base energizable to provide signals representing the position of the base;

a memory having stored images of the body, the images including reference images correlatable to the base;

an instrument, the instrument being energizable to provide signals representing the position of the instrument;

an array of detectors, the detectors detecting the signals representing the position of the base and the instrument;

a processor in communications with the array and the memory, wherein the processor is configured to determine the position of the body in the images of the body, to determine the position of the base and the instrument based on the signals detected by the array, to determine the position of the instrument relative to the base, and to determine the position of the instrument relative to the body; and

a display of the images of the translated position of the instrument to the body.

21. The system of claim 20, further including a digitizer which communicates with the processor, the digitizer being configured to determine the position of the base and the instrument based on the signals detected by the array.

22. The system of claim 20, wherein the base includes pins fixed in relation to the body.

23. The system of claim 20, wherein the base includes a ring fixed in relation to the body.

24. The system of claim 20, wherein the instrument is an imaging probe capable of taking scan images of the body.

25. The system of claim 20, wherein the instrument is surgical forceps.

26. The system of claim 20, wherein the probe comprises an imaging probe configured to scan the body providing scan images of the body and being energizable to provide signals representing the position of the imaging probe.

27. A system for determining a position of an instrument relative to the body of a patient, the system comprising;

a base fixed in a known relationship to the body, the base configured to provide a signal representing the position of the body part;

a trackable instrument configured to provide a signal representing the position of the instrument;

an array configured to detect signals provided by the base and the instrument;

a processor, including a memory containing scan images of the body, in communication with the array, wherein the processor is configured to determine the position of the instrument relative to the body in the images of the body; and

a display for displaying images of the instrument relative to the body.

28. The system of claim 27, wherein the base includes pins fixed in relation to the body.

29. They system of claim 27, wherein the base includes a ring fixed in relation to the body.

30. The system of claim 27, wherein the instrument is an imaging probe capable of taking scan images of the body.

31. The system of claim 27, wherein the instrument is surgical forceps.

32. The system of claim 27, wherein the probe comprises a trackable imaging probe configured to scan the body providing scan images of the body and to provide a signal representing the position of the imaging probe.

33. A method for determining a position of an instrument relative to a body of a patient in a coordinate system, the method comprising:

fixing a reference base in a known relation to the body of the patient;

energizing the base to provide signals representing the position of the base in the coordinate system;

energizing an instrument to provide signals representing the position of the instrument in the coordinate system;

detecting the signals provided by the base and the instrument with an array of detectors;

determining the position of the base and the instrument in the coordinate system based on the signals detected by the array of detectors;

determining the position of the body of the patient in the coordinate system based on the known position of the base relative to the body of the patient and the position of the base in the coordinate system; and

determining the position of the instrument relative to the body of the patient based on the determined positions of the instrument and the body of the patient in the coordinate system.

34. The method according to claim 33, further comprising the steps of

determining the position of the body in previously scanned images of the body; translating the position of the instrument relative to the body to the position of the instrument relative to the body in the images of the body; and

displaying images of the translated position of the instrument relative to the body.

35. The method of claim 34 wherein the probe comprises an imaging probe and further comprising the steps of:

energizing the imaging probe positioned relative to the body of a patient to provide signals representing the position of the imaging probe in the coordinate system;

scanning the body using the imaging probe creating a scan image of the body;

detecting the signals provided from the imaging probe;

determining the position of the imaging probe in the coordinate system based on the signals detected;

determining the position of the body part in the scan image of the body part based on the position of the imaging probe relative to the body part;

displaying an image of the body part which corresponds to the position of the imaging probe in the scan image.

36. The method of claim 35, further including the steps of determining the position of the instrument in the scan image of the body part based on the position of the instrument relative to the body part, and displaying an image of the body part which correspond to the position of the instrument in the scan image.

37. A method for indicating a location of an instrument relative to the body part of a patient comprising the steps of:

positioning an instrument relative to a body part of a patient, the instrument capable of providing signals and the body part having reference points capable of providing signals;

providing signals from the instrument to indicate the position of the instrument;

providing signals from the reference points to indicate the position of the reference points and the body part;

detecting the signals provided from the instrument and reference points;

processing the detected signals from the instrument and from the reference points to determine the position of the instrument relative to the body part;

retrieving a previously scanned image of the body part;

determining the position of the body part in the previously scanned image of the body part;

correlating the position of the instrument relative to the body part to the image of the body part; and

displaying an image of the instrument relative to the body part in the image of the body part.

38. The method of claim 37 further comprising the steps of:

positioning an imaging probe relative to the body of a patient, the imaging probe capable of providing signals;

scanning the body part using the imaging probe creating a scan image of the body part;

providing signals from the imaging probe;

detecting the signals provided from the imaging probe;

processing the detected signals from the imaging probe to determine the position of the imaging probe relative to the body part;

determining the position of the body part in the scan image of the body part based on the position of the imaging probe relative to the body part;

displaying an image of the body part which corresponds to the position of the imaging probe in the scan image.

39. The method of claim 38, further including the steps of determining the position of the instrument in the scan image of the body part based on the position of the instrument relative to the body part, and displaying an image of the body part which correspond to the position of the instrument in the scan image.

40. The method of claim 37, wherein the instrument is an imaging probe for taking scan images of the body part.

41. The method of claim 37, wherein the instrument is surgical forceps.

42. A method for indicating the position of a structure within a body of a patient having multiple structures in a coordinate system, the method comprising:

placing a surgical probe at the structure within a body of a patient;

providing signals from the probe to a location remote from the probe representing the position of the probe at the structure in the coordinate system;

identifying the position of the probe in the coordinate system from the signals from the probe;

retrieving a scan image of the body part from a memory storing images of the body part corresponding to the position of the probe at the structure in the coordinate system;

displaying the scan image of the body part corresponding to the position of the probe at the structure in the coordinate system on a display; and

displaying on the scan image of the body part an image representing the probe at the structure.

43. The method of claim 42, further comprising determining the boundary of the body part in the retrieved image and displaying the boundary of the body part.