Registration of human anatomy integrated for electromagnetic localization

• US 6,381,485 B1
• Filed: 10/28/1999
• Issued: 04/30/2002
• Est. Priority Date: 10/28/1999
• Status: Expired due to Term

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Inventors: Hunter, Mark W., Kessman, Paul
• Primary Examiner(s): Lateef, Marvin M.
• Assistant Examiner(s): Lin, Jeoyuh
• Application Number:
  US09/429,569
• Time in Patent Office: 915 Days
• Field of Search: 600/407, 600/409, 600/415, 600/417, 600/428, 600/429, 606/130, 324/301, 324/302, 324/244
• US Class Current: 600/407
• CPC Class Codes: A61B 2034/2051 Electromagnetic 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 2090/3954 magnetic, e.g. NMR or MRI
• CPC Class Codes: A61B 2090/3958 emitting a signal
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• 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 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: G06T 3/14 Transformations for image registration, e.g. adjusting or mapping for alignment of images

Abstract

A method for use during a procedure on a body. The method generates a display representing relative positions of two structure during the procedure. The method includes the steps of storing an image data set in memory, the image data set representing the position of the body based on scans taken of the body prior to the procedure; reading the image data set stored in the memory, the image data set having a plurality of data points in known relation to a plurality of reference points for at least one of the two structures; placing one or more magnetic field sensors in known relation to the reference points of the two structures; generating a magnetic field; detecting the magnetic field with the magnetic field sensors; ascertaining the locations of the sensors based upon the magnetic field detected by the sensors and processing the locations of the sensors to generate a displaced image data set representing the relative position of the two structures during the procedure; and generating a display based on the displaced image data set illustrating the relative position of the two structures during the procedure.

Claims

1. A system for displaying positions of a body element relative to a structure during a procedure on the body, the system comprising:

memory for storing an image data set representing the position of the body element based on scans of the body element, the image data set having a plurality of data points in known relation to a plurality of reference points for the body element;

a magnetic field generator for generating a magnetic field to be sensed by one or more magnetic field sensors placed in known and constant relation to the reference points of the body element and one or more magnetic field sensors placed on the structure for detecting the magnetic field and for generating positional signals in response to the detected magnetic field;

a processor for receiving the signals from the magnetic field sensors and for ascertaining a location of the magnetic field sensors based upon the received signals, the processor auto-registering the position of the reference points of the body element with the known and constant position of the one or more magnetic field sensors associated with the body element to generate a displaced image data set representing the relative positions of the body element and the structure during the procedure; and

a display utilizing the displaced image data set generated by the processor to display the relative position of the body element and the structure during the procedure, wherein said processor dynamically tracks movement of the body element relative to the structure.

2. The system of claim 1, wherein the magnetic field generator includes components for generating a plurality of magnetic fields.

3. The system of claim 1, wherein the structure includes a body element.

4. The system of claim 3, wherein the body element is a vertebrae.

5. The system of claim 1, wherein the structure is a medical instrument.

6. The system of claim 5, wherein the body element is a brain.

7. The system of claim 6, wherein the data points of the image data set are determined using image processing selected from the group consisting of MR, CT, ultrasound, fluoro and PET.

8. A method for use during a procedure on a body, the method generating a display representing relative positions of two structures during the procedure, the method comprising:

storing an image data set in memory, the image data set representing the position of the body based on scans taken of the body prior to the procedure;

reading the image data set stored in the memory, the image data set having a plurality of data points in known relation to a plurality of reference points for at least one of the two structures;

placing one or more first magnetic field sensors in known and constant relation to the reference points of one of the two structures;

placing one or more second magnetic field sensors in relation to the other one of the two structures;

generating a magnetic field;

detecting the magnetic field with the first and second magnetic field sensors;

ascertaining the locations of the first and second magnetic field sensors based upon the magnetic field detected by the first and second magnetic field sensors and auto-registering the locations of the first magnetic field sensors with the locations of the reference points to generate a displaced image data set representing the relative position of the two structures during the procedure;

generating a display based on the displaced image data set illustrating the relative position of the two structures during the procedure; and

dynamically tracking movement of the relative position of the two structures during the procedure.

9. The method of claim 8, wherein the image data set is determined using image processing selected from the group consisting of MR, CT, ultrasound, fluoro and PET.

10. The method of claim 8, wherein generating the magnetic field includes generating a plurality of magnetic fields.

11. The method of claim 8, wherein the two structures include body elements.

12. The method of claim 11, wherein the body elements are vertebrae.

13. The method of claim 8, wherein the two structures include a body element and a medical instrument.

14. The method of claim 13, wherein the body element includes a brain.

15. A system for use in displaying a position of a first structure relative to a second structure during a procedure on a body, said system comprising:

at least one fiducial marker positioned relative to the first structure;

memory operable to store an image data set representing a position of the first structure, said image data set having a plurality of data points with said at least one fiducial marker represented by at least one of said data points;

a magnetic field generator operable to generate a magnetic field;

a first magnetic field sensor associated with the first structure and placed in a known and constant relation to said at least one fiducial marker, said first magnetic field sensor operable to detect said magnetic field and generate positional signals in response to said detected magnetic field;

a second magnetic field sensor associated with the second structure, said second magnetic field sensor operable to detect said magnetic field and generate positional signals in response to said detected magnetic field;

a processor operable to ascertain a location of said first and second magnetic field sensors from said positional signals generated by said first and second magnetic field sensors, said processor further operable to auto-register the position of said at least one fiducial marker with the position of said first magnetic field sensor to create a dynamic reference frame to generate a displaced image data set representing relative positions of the first and second structures; and

a display operable to use said displaced image data set generated by said processor to display positions of the first structure relative to the second structure, wherein said processor dynamically tracks movement of said first magnetic field sensor associated with said at least one fiducial marker and the first structure relative to the second magnetic field sensor associated with the second structure.

16. The system as defined in claim 15 wherein the first structure is a body element and the second structure is a medical instrument.

17. The system as defined in claim 16 wherein the body element is a brain.

18. The system as defined in claim 15 wherein the first structure is a first body element and the second structure is a second body element.

19. The system as defined in claim 18 wherein the first body element is a first vertebrae and the second body element is a second vertebrae.

20. The system as defined in claim 15 further comprising a plurality of first magnetic field sensors associated with the first structure and placed in known and constant relationship to a plurality of fiducial markers positioned relative to the first structure.

21. The system as defined in claim 20 wherein said processor is further operable to learn the geometry of the plurality of first magnetic field sensors associated with the first structure to perform geometry checks to maintain system accuracy by determining if a relative location of said plurality of first magnetic field sensors associated with the first structure has changed, whereby said processor notifies a user that an error may have occurred.