Determination of the position and orientation of at least one object in space

• US 6,442,416 B1
• Filed: 12/28/1998
• Issued: 08/27/2002
• Est. Priority Date: 04/22/1993
• Status: Expired due to Term

• Current Assignee: Image Guided Technologies, Inc. (Stryker Corporation)
• Original Assignee: Image Guided Technologies, Inc. (Stryker Corporation)
• Inventors: Schultz, Waldean A.
• Primary Examiner(s): Smith, Ruth S.
• Application Number:
  US09/220,888
• Time in Patent Office: 1,338 Days
• Field of Search: 600/426, 600/427, 600/429, 600/407, 600/425, 606/130, 356/375, 356/141--14, 356/623
• US Class Current: 600/429
• CPC Class Codes: A61B 17/7074 Tools specially adapted for spinal fixation operations other than for bone removal or filler handling A61B17/7062, A61B17/808, A61B17/8858 take precedence; for spinal image producing devices A61B90/36, A61B34/20; markers A61B90/39
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• 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 2034/2068 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 2090/363 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 2090/3929 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 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 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/1077 Measuring of profiles
• 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 6/5235 : combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT
• CPC Class Codes: A61B 8/00 : Diagnosis using ultrasonic, sonic or infrasonic waves imaging of objects using sonar G01S15/00
• CPC Class Codes: A61B 8/5238 : 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

System for sensing at least two points on an object for determining the position and orientation of the object relative to another object. Two light emitters mounted in spaced relation to each other on an external portion of an invasive probe remaining outside an object into which an invasive tip is inserted are sequentially strobed to emit light. Three light sensors or detectors, the positions of which are known with respect to a predetermined coordinate system, detect the positions of the two light emitters positioned on the probe. A computer connected to the probe and to the light sensors receives data from the sensors and determines the position and orientation of the probe relative to the predetermined coordinate system. The computer then determines the position and orientation of the invasive portion of the probe inside the object by correlating the position of the invasive portion of the probe relative to the predetermined coordinate system with the position of a model of the object defined in relation to the predetermined coordinate system. A display device connected to the computer indicates the location of the invasive portion of the probe in the object by displaying a representation of the location of the invasive portion of the probe with respect to the model of the object.

Claims

1. A system for determining the position and orientation of at least two objects, at least one of which is moveable, in a three dimensional space defined by a coordinate system, which system comprises:

a plurality of sensors disposed in spaced apart, non-linear, relationship with respect to each other and in known relation to said coordinate system;

a first plurality of illuminatable points disposed in known spaced apart relationship with respect to each other and in known relationship to one of said at least two objects disposed within said coordinate system, wherein at least three of said illuminatable points are non-linear with respect to each other;

a second plurality of illuminatable points disposed in known spaced apart relationship with respect to each other and in known relationship to another of said at least two objects disposed within said coordinate system;

means to illuminate said first and second pluralities of illuminatable points, such that said illuminated points are distinguishable from each other, wherein the first and second pluralities of illuminatable points are sufficient to define the position and orientation of the said at least two objects, wherein radiation between said first and second pluralities of illuminatable points and at least one of said sensors defines a plurality of straight lines;

means to detect a plurality of angles intercepted between said straight lines and at least one reference line; and

means to convert at least some of said detected angles into determined locations of said first and second pluralities of illuminatable points, wherein said detected angles and the determined locations of said first and second pluralities of illuminatable points are sufficient to define a position and orientation of said objects at the time that said angles were formed.

2. A method of determining the position and orientation of at least two objects in a three dimensional space defined by a coordinate system, which method comprises:

disposing a first object in a three dimensional volume defined by a three dimensional coordinate system;

disposing a second object in said three dimensional volume defined by said three dimensional coordinate system;

disposing a plurality of sensors in known relationship to said three dimensional coordinate system;

disposing a plurality of first and second illuminatable points in known relationship to each of said objects, respectively;

illuminating a plurality of said points related to at least two of said objects, respectively, whereby forming a plurality of substantially straight lines of radiation between a plurality of first illuminated points and at least one of said sensors and forming a plurality of substantially straight lines of radiation between a plurality of second illuminated points and at least one of said sensors;

measuring a sufficient number of a plurality of angles between at least some of said lines and at least one reference line, wherein the number of angles is sufficient to uniquely characterize the position and orientation of each of said first and second objects, respectively; and

converting said sufficient number of measured angles into a unique characteristic position and orientation of each of said two objects.

3. The method claimed in claim 2 further comprising repeatedly determining the position and orientation of at least one of said two objects at sufficiently short time intervals so that movement of said object is discernable.

4. A system for determining the position and orientation of at least two movable objects in a three dimensional space defined by a coordinate system, which system comprises:

at least two sensors disposed in spaced apart relationship with respect to each other and in know relation to said coordinate system;

a first plurality of illuminatable points disposed in known spaced apart relationship with respect to each other and in known spatial relationship to a first of said moveable objects;

a second plurality of illuminatable points disposed in known spaced apart relationship with respect to each other and in known spatial relationship to a second of said moveable objects;

means to illuminate said first and second pluralities of illuminatable points, such that said first and second pluralities of illuminatable points are distinguishable from each other, wherein the first and second pluralities of illuminatable points are sufficient to define the position and orientation of said at least two moveable objects;

wherein radiation between said first and second pluralities of illuminatable points and said sensors in line of sight with respect to each other form substantially straight lines;

means to detect and measure angles intercepted between at least two of said substantially straight lines, involving each of said first and second pluralities of illuminatable points, and a corresponding reference line;

means to convert said detected angles into determined locations of said first and second pluralities of illuminatable points, wherein said detected angles and said determined locations of said first and second pluralities of illuminatable points are sufficient to define a position and orientation of said objects at the time that said angles were formed; and

means to convert the determined locations into the positions and orientations of said first and second objects at a time when said first and second pluralities of illuminatable lights are illuminated.

5. A system as claimed in claim 4 wherein at least one of said illuminatable points comprises a reflector of light radiation.

6. A system as claimed in claim 5 wherein at least one of said illuminatable points comprises an emitter of light radiation.

7. A method of determining the position and orientation of at least two objects in a three dimensional space defined by a coordinate system, which method comprises:

disposing a first object in a three dimensional volume defined by a three dimensional coordinate system;

disposing a second object in said three dimensional volume defined by said three dimensional coordinate system;

disposing at least two sensors in known relationship to said three dimensional coordinate system;

disposing a plurality of first and second illuminatable points in known relationship to each of said two objects, respectively, wherein said plurality of illuminatable points are sufficient in number and location to be visible to at least two of said sensors regardless of the orientation of their respective objects;

illuminating a plurality of said points related to said objects, respectively, wherein radiation between said illuminatable points and said sensors respectively form a plurality of substantially straight lines of radiation;

whereby forming a plurality of angles between at least some of said lines and at least one reference line, wherein the number of angles is sufficient to uniquely characterize the position and orientation of each of said first and second objects, respectively;

measuring said sufficient number of angles;

converting said sufficient number of measured angles into a unique location of each of said illuminated points that are visible to said sensors; and

converting said locations of said illuminatable points into characteristic positions and orientations of each of said two objects at the time of illumination.

8. The method claimed in claim 7 further comprising repeatedly determining the position and orientation of at least one of said two objects at sufficiently short time intervals so that movement of said object is discernable on a visual representation of said objects.

9. Apparatus for determining the position and orientation of a first object in relation to the position and orientation of a second object, where both of said objects are disposed within a three dimensional space defined by a coordinate system, comprising:

at least two sensors disposed in known spatial relationship to said coordinate system;

at least two objects disposed in said coordinate system;

a first plurality of illuminatable points disposed on said first object in known spatial relationship to each other and to said first object, wherein said first plurality of illuminatable points will be sufficient to define a position and an orientation of at least a portion of said first object;

a second plurality of illuminatable points disposed on said second object in known spatial relationship to each other and to said second object, wherein said second plurality of illuminatable points will be sufficient to define a position and an orientation of at least a portion of said second object;

means to illuminate said first and second pluralities of illuminatable points to define the position and orientation of at least a portion of said first and second objects, wherein illumination created by the first and second pluralities of illuminatable lights comprises electromagnetic radiation, whereby said illumination forms substantially straight lines of radiation between said first and second pluralities of illuminatable points and said sensors;

means to measure a plurality of angles between said substantially straight lines of radiation and said first and second pluralities of illuminatable points and said sensors and at least one reference line; and

means to convert said angles into locations of said first and second pluralities of illuminatable points disposed at locations, to define a position and orientation of at least a portion of each of said respective objects.

10. Apparatus as claimed in claim 9 further comprising an electronic display of icons that represent said objects, wherein said icons are electronically depicted in substantially the same relative positions and orientations, respectively, as said objects.

11. Apparatus as claimed in claim 10 further comprising at least one independently produced, previous time image of a second of said objects;

and means for superimposing the icon of a first of said objects with said previously taken image in real time in a substantial duplication of a real time spatial relationship between said first and second objects.

12. Apparatus as claimed in claim 11 wherein said previous time image is of an interior view of said second object, said first object is adapted to partially penetrate into said second object, said real time spatial relationship is a portion of said first object within said second object, and said icon of said first object is depicted as being disposed in accurate relationship to said inside of said second object.

13. Apparatus as claimed in claim 9 wherein said illuminatable points comprise light emitting diodes (LED'"'"'s).

14. Apparatus as claimed in claim 13 wherein said LED'"'"'s emit infra red electromagnetic radiation.

15. Apparatus comprising:

a frame, adapted to be attached to a moveable object so as to move in concert with said object such that the position and orientation of said frame is directly related to the position and orientation of said object wherein said object is disposed within a three dimensional space defined by a particular coordinate system;

at least three non-colinear reference points in known spatial relationship to said frame and in known spatial relationship to each other, wherein said reference points are sufficient to identify a position and an orientation of said frame, and the position and orientation of said frame is sufficient to identify a position and orientation of said object;

at least three emitters of electromagnetic energy that are disposed in known spatial relation to said reference points;

a plurality of receivers of electromagnetic energy wherein at least one of the receivers receives the electromagnetic energy emitted from said emitters, wherein said plurality of receivers are disposed in known spatial relationship to said coordinate system, wherein said emitted energy forms a substantially straight line with at least one of the receivers, and wherein said straight line forms an angle with a reference line;

means for measuring the angle to identify the locations of determined reference point locations; and

means for converting the locations of a sufficient number of said determined reference point locations into a position and orientation of said frame in said coordinate system, and means for converting said position and orientation of said frame to a position and orientation of said object.

16. Apparatus as claimed in claim 15 further comprising at least one image of at least a portion of said object taken prior to said energy emission from said at least three emitters,

wherein said at least one image is referenced to a further three dimensional coordinate system different from said particular three dimensional coordinate system; and

means to transform at least one of said particular and further three dimensional coordinate systems to correspond to the other of said three dimensional coordinate systems thereby causing said position and orientation of said object to be defined in the same three dimensional coordinate system as said image.

17. Apparatus as claimed in claim 16 wherein said electromagnetic energy comprises light of an infra red wavelength.

18. Apparatus as claimed in claim 15 wherein at least one of said emitters comprises a reflector of electromagnetic radiation.

19. A method of determining the position and orientation of an object in a three dimensional volume defined by a three dimensional coordinate system comprising:

disposing a sufficient number of object related emitters or receivers of electromagnetic radiation on said object to define a position and orientation of said object, wherein said sufficient number of object related emitters or receivers, respectively, comprise at least three non-colinear elements;

disposing a sufficient number of volume related electromagnetic sensors or emitters, respectively, in respective line of sight with said object related emitters or sensors, and in known location(s) in relation to said three dimensional coordinate system, to obtain data sufficient to calculate a three dimensional location of each of said sufficient number of object related emitters or sensors, respectively;

causing electromagnetic radiation to be radiated from said emitters to one or more of said sensors, in a manner as to distinguish the radiation from each emitter from the radiation from all other emitters, wherein said radiation exists in substantially straight lines extending between said emitters, respectively, and one or more of said sensors;

determining an angle of at least some of said lines of radiation with respect to at least one reference line;

from a plurality of said angles relative to each object related emitter or sensor, determining the locations of said sufficient number of said object related emitters or one or more of said sensors; and

from said sufficient number of object related locations determining a position and orientation of said object at the time of said radiation.

20. A method as claimed in claim 19 further comprising disposing said emitters on said object and disposing at least one or more of said sensors on said object and in fixed relationship to said volume.

21. A method as claimed in claim 19 further comprising employing at least three one dimensional sensors.