Position tracking and imaging system for use in medical applications

• US 6,445,943 B1
• Filed: 12/14/1998
• Issued: 09/03/2002
• Est. Priority Date: 09/15/1994
• Status: Expired due to Term

• Current Assignee: GE Medical Systems Global Technology Company LLC (GE Healthcare Technologies, Inc.)
• Original Assignee: Visualization Technology, Inc. (GE Healthcare Technologies, Inc.)
• Inventors: Ferre, Maurice R., Jakab, Peter D., Tieman, James S.
• Primary Examiner(s): Casler, Brian L.
• Application Number:
  US09/211,365
• Time in Patent Office: 1,359 Days
• Field of Search: 600/407, 600/415, 600/417, 600/424, 606/130
• US Class Current: 600/424
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00464 for use with different instruments
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00482 with a code
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• 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 2090/0818 Redundant systems, e.g. using two independent measuring systems and comparing the signals
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/3937 Visible markers
• 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 5/06 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 5/062 using magnetic field
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/037 Emission tomography
• 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 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/39 : Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: G01B 7/004 : for measuring coordinates of points
• CPC Class Codes: G06T 3/14 : Transformations for image registration, e.g. adjusting or mapping for alignment of images

Abstract

A system is disclosed for monitoring the position of a medical instrument with respect to a patient'"'"'s body and for displaying at least one of a plurality of prerecorded images of said body responsive to the position of said medical instrument. In one embodiment the system includes a reference unit secured from movement with respect to the patient'"'"'s body such that said reference unit is substantially immobile with respect to a target operation site. The system also includes a remote unit for attachment to the medical instrument. A field generator may be associated with one of the units for generating a position characteristic field in an area including the target operation site. One or more field sensors may be associated with either of the units responsive to the presence of the position characteristic field for producing one or more sensor output signals representative of said sensed field. A position detector in communication with the sensor output signal produces position data representative of the position of the remote unit with respect to the reference unit. An output display in communication with the position detector displays at least one of the prerecorded images responsive to the position data.

Claims

1. A system for monitoring a position of a medical instrument with respect to a patient'"'"'s body and for displaying images of the patient'"'"'s body responsive to the position of the medical instrument, said system comprising:

input means for communicating with image data, said image data representing a plurality of images of the patient'"'"'s body;

a patient reference unit securable from movement with respect to the patient'"'"'s body yet permitting the patient'"'"'s body to be moved within an operating environment;

a remote unit securable from movement with respect to the medical instrument;

an operating environment reference unit capable of being positioned within an operating environment;

at least one field generator means associated with at least one of said patient reference unit, said remote unit, or said operating environment reference unit, said field generator means for generating a position characteristic field capable of passing through the patient'"'"'s body and being substantially undisturbed by passage through the patient'"'"'s body;

at least one field sensor means associated with another of said patient reference unit, said remote unit, and said operating environment reference unit, said field sensor means for producing a sensor output signal responsive to the presence of said position characteristic field, said sensor output signal being representative of a position of said sensor relative to said field generator irrespective of whether any portion of the patient'"'"'s body is interposed between said field generator means and said field sensor means;

position detection means in communication with said field generator means and said field sensor means, said position detection means for producing position data responsive to said sensor output signal representative of a position of said remote unit with respect to said reference unit irrespective of any movement of the patient within the operating environment;

tracking means in communication with said input means and said position detection means, said tracking means for selecting from said image data position image data associated with said position data; and

output display means in communication with said tracking means for displaying an image of the patient'"'"'s body responsive to said position image data, said position image data varying for different position data.

2. A system as claimed in claim 1, wherein said field generator means includes an electromagnetic field generator that is attached to said patient reference unit, and said field sensor means includes an electromagnetic field sensor that is attached to said remote unit.

3. A system as claimed in claim 1, wherein said field generator means includes an electromagnetic field generator that is attached to said operating environment reference unit, and said field sensor means includes an electromagnetic field sensor that is attached to said remote unit.

4. A system as claimed in claim 1, wherein said system includes a reference sensor positioned a fixed distance from either of said field generator means or said field sensor means, said reference sensor for producing a reference output signal for use in monitoring the field generated by said field generator means.

5. A system as claimed in claim 1, wherein said position characteristic field comprises a non-linear field that emanates from substantially a singular point.

6. A system as claimed in claim 1, wherein said position characteristic field comprises at least two time multiplexed fields that emanate from substantially the same point.

7. A system as claimed in claim 1, wherein said position characteristic field comprises at least three time multiplexed fields that emanate from substantially the same point.

8. A system as claimed in claim 1, wherein said patient reference unit includes a headset comprising two ear mounting elements for engaging ear canal openings of the patient'"'"'s body, and a nose mounting element for engaging a nose bridge of the patient'"'"'s body.

9. A system as claimed in claim 8, wherein each said mounting element is disposed on a distal end of an elongated mounting arm.

10. A system as claimed in claim 8, wherein said patient reference unit comprises a structurally resilient material.

11. A system as claimed in claim 8, wherein said patient reference unit includes a flexible band for attachment to a portion of the patient'"'"'s body.

12. A system as claimed in claim 11, wherein said flexible band further includes at least one reference sensor for producing a reference sensor output signal representative of a position of said reference sensor relative to said field generator.

13. A system as claimed in claim 1, wherein said medical instrument includes a flexible member for insertion into the patient'"'"'s body, and said remote unit includes a field sensor at a distal end of said flexible member.

14. A system as claimed in claim 1, wherein said images include prerecorded scan images, and said system further includes registration means for registering a spatial orientation of said prerecorded scan images with a spatial orientation of said position characteristic field.

15. A system as claimed in claim 1, wherein said output display means includes means for displaying on said images an indicator representative of a location of said medical instrument with respect to the patient'"'"'s body responsive to said position data.

16. A system as claimed in claim 1, wherein said operating environment reference unit comprises a support unit for supporting at least a portion of the patient'"'"'s body.

17. A system as claimed in claim 1, wherein said operating environment reference unit comprises an articulated arm.

18. A system for monitoring a position of a medical instrument with respect to a patient'"'"'s body and for displaying images of the patient'"'"'s body responsive to the position of the medical instrument, said system comprising:

input means for communicating with image data, said image data representing a plurality of images of the patient'"'"'s body;

a patient reference unit securable from movement with respect to the patient'"'"'s body yet permitting the patient'"'"'s body to be moved within an operating environment;

a remote unit securable from movement with respect to the medical instrument;

an operating environment reference unit capable of being positioned within an operating environment;

at least one field generator means associated with at least one of said patient reference unit, said remote unit, or said operating environment reference unit, said field generator means for generating a position characteristic field capable of passing through the patient'"'"'s body and being substantially undisturbed by passage through the patient'"'"'s body;

at least one field sensor means associated with at least one of said patient reference unit, said remote unit, and said operating environment reference unit, said field sensor means for producing a sensor output signal responsive to the presence of said position characteristic field, said sensor output signal being representative of a position of said sensor relative to said field generator irrespective of whether any portion of the patient'"'"'s body is interposed between said field generator means and said field sensor means;

position detection means in communication with said field generator means and said field sensor means, said position detection means for producing position data responsive to said sensor output signal representative of a position of said remote unit with respect to said reference unit irrespective of any movement of the patient within the operating environment;

tracking means in communication with said input means and said position detection means, said tracking means for selecting from said image data position image data associated with said position data; and

output display means in communication with said tracking means for displaying an image of the patient'"'"'s body responsive to said position image data, said position image data varying for different position data.

19. A system as claimed in claim 18, wherein said operating environment reference unit comprises a support unit for supporting at least a portion of the patient'"'"'s body.

20. A system as claimed in claim 18, wherein said operating environment reference unit comprises an articulated arm.

21. A system as claimed in claim 18, wherein said position characteristic field comprises a non-linear field that emanates from a substantially point source.

22. A system as claimed in claim 18, wherein said position characteristic field comprises a non-linear field that emanates from one side only of said patient.

23. A system as claimed in claim 18, wherein said system includes a reference sensor positioned a fixed distance from either of said field generator means or said field sensor means, said reference sensor for producing a reference output signal for use in monitoring the field generated by said field generator means.

24. A system for monitoring a position of a medical instrument with respect to a patient'"'"'s body and for displaying images of the patient'"'"'s body responsive to the position of the medical instrument, said system comprising:

image data means for communicating with image data, said image data representing a plurality of images of the patient'"'"'s body;

a patient reference unit securable from movement with respect to the patient'"'"'s body yet permitting the patient'"'"'s body to be moved within an operating environment;

a remote unit securable from movement with respect to the medical instrument;

an operating environment reference unit capable of being positioned within an operating environment;

at least one field generator means associated with at least one of said patient reference unit, said remote unit, or said operating environment reference unit, said field generator means for generating an electromagnetic position characteristic field capable of passing through the patient'"'"'s body and being substantially undisturbed by passage through the patient'"'"'s body;

at least one field sensor means associated with at least one of said patient reference unit, said remote unit, and said operating environment reference unit, said field sensor means for producing a sensor output signal responsive to the presence of said position characteristic field, said sensor output signal being representative of a position of said sensor relative to said field generator irrespective of whether any portion of the patient'"'"'s body is interposed between said field generator means and said field sensor means;

position detection means in communication with said field generator means and said field sensor means, said position detection means for producing position data responsive to said sensor output signal representative of a position of said remote unit with respect to said reference unit irrespective of any movement of the patient within the operating environment; and

tracking means in communication with said image means and said position detection means, said tracking means for selecting from said image data position image data associated with said position data.

25. A system as claimed in claim 24, wherein said system includes a reference sensor positioned a fixed distance from either of said field generator means or said field sensor means, said reference sensor for producing a reference output signal for use in monitoring the field generated by said field generator means.

26. A system for monitoring a position of a medical instrument with respect to a patient'"'"'s body and for displaying images of the patient'"'"'s body responsive to the position of the medical instrument, said system comprising:

a patient reference unit securable from movement with respect to the patient'"'"'s body yet permitting the patient'"'"'s body to be moved within an operating environment;

a remote unit securable from movement with respect to the medical instrument;

an operating environment reference unit capable of being positioned within an operating environment;

at least one field generator associated with at least one of said patient reference unit, said remote unit, and said operating environment reference unit, said field generator being configured to generate a position characteristic field capable of passing through the patient'"'"'s body and being substantially undisturbed by passage through the patient'"'"'s body;

at least one field sensor associated with another of said patient reference unit, said remote unit, and said operating environment reference unit, said field sensor being configured to produce a sensor output signal responsive to the presence of said position characteristic field, said sensor output signal being representative of a position of said field sensor relative to said field generator irrespective of whether any portion of the patient'"'"'s body is interposed between said field generator and said field sensor;

a position detection unit in communication with said field generator and said field sensor, said position detection unit being configured to produce position data responsive to said sensor output signal representative of a position of said remote unit with respect to said patient reference unit irrespective of any movement of the patient within the operating environment;

a registration unit in communication with said position detection unit and with image data representing a plurality of images of the patient'"'"'s body, said registration unit being configured to select from said image data position image data associated with said position data; and

an output display in communication with said registration unit, said output display being configured to display an image of the patient'"'"'s body responsive to said position image data, said position image data varying for different position data.

27. A system as claimed in claim 26, wherein said field generator includes an electromagnetic field generator that is attached to said reference unit, and said field sensor includes an electromagnetic field sensor that is attached to said remote unit.

28. A system as claimed in claim 26, wherein said filed generator includes an electromagnetic filed generator that is attached to said operating environment reference unit, and said field sensor includes an electromagnetic field sensor that is attached to said remote unit.

29. A system as claimed in claim 26, wherein said system includes a reference sensor positioned a fixed distance from either of said field generator or said field sensor, said reference sensor for producing a reference output signal for use in monitoring the field generated by said field generator.

30. A system as claimed in claim 26, wherein said position characteristic field comprises a non-linear field that emanates from substantially a singular point.

31. A system as claimed in claim 26, wherein said position characteristic field comprises at least two time multiplexed fields that emanate from substantially the same point.

32. A system as claimed in claim 26, wherein said position characteristic field comprises at least three time multiplexed fields that emanate from substantially the same point.

33. A system as claimed in claim 26, wherein said patient reference unit includes a headset comprising two ear mounting elements for engaging ear canal openings of the patient'"'"'s body, and a nose mounting element for engaging a nose bridge of the patient'"'"'s body.

34. A system as claimed in claim 33, wherein each said mounting element is disposed on a distal end of an elongated mounting arm.

35. A system as claimed in claim 33, wherein said patient reference unit comprises a structurally resilient material.

36. A system as claimed in claim 26, wherein said patient reference unit includes a flexible band for attachment to a portion of the patient'"'"'s body.

37. A system as claimed in claim 36, wherein said flexible band further includes at least one reference sensor for producing a reference sensor output signal representative of a position of said reference sensor relative to said field generator.

38. A system as claimed in claim 26, wherein said medical instrument includes a flexible member for insertion into the patient'"'"'s body, and said remote unit includes a field sensor at a distal end of said flexible member.

39. A system as claimed in claim 26, wherein said images include prerecorded scan images, said registration unit being configured to register a spatial orientation of said prerecorded scan images with a spatial orientation of said position characteristic field.

40. A system as claimed in claim 26, wherein said output display is configured to display on said images an indicator representative of a location of said medical instrument with respect to the patient'"'"'s body responsive to said position data.

41. A system as claimed in claim 26, wherein said operating environment reference unit comprises a support unit for supporting at least a portion of the patient'"'"'s body.

42. A system as claimed in claim 26, wherein said operating environment reference unit comprises an articulated arm.

43. A system for monitoring a position of a medical instrument with respect to a patient'"'"'s body and for displaying images of the patient'"'"'s body responsive to the position of the medical instrument, said system comprising:

a patient reference unit securable from movement with respect to the patient'"'"'s body yet permitting the patient'"'"'s body to be moved within an operating environment;

a remote unit securable from movement with respect to the medical instrument;

an operating environment reference unit capable of being positioned within an operating environment;

at least one field generator associated with at least one of said patient reference unit, said remote unit, and said operating environment reference unit, said field generator being configured to generate a position characteristic field capable of passing through the patient'"'"'s body and being substantially undisturbed by passage through the patient'"'"'s body;

at least one field sensor associated with at least one of said patient reference unit, said remote unit, and said operating environment reference unit, said field sensor being configured to produce a sensor output signal responsive to the presence of said position characteristic field, said sensor output signal being representative of a position of said field sensor relative to said field generator irrespective of whether any portion of the patient'"'"'s body is interposed between said field generator and said field sensor;

a position detection unit in communication with said field generator and said field sensor, said position detection unit being configured to produce position data responsive to said sensor output signal representative of a position of said remote unit with respect to said patient reference unit irrespective of any movement of the patient within the operating environment;

a registration unit in communication with said position detection unit and with image data representing a plurality of images of the patient'"'"'s body, said registration unit being configured to select from said image data position image data associated with said position data; and

an output display in communication with said registration unit, said output display being configured to display an image of the patient'"'"'s body responsive to said position image data, said position image data varying for different position data.

44. A system as claimed in claim 43, wherein said operating environment reference unit comprises a support unit for supporting at least a portion of the patient'"'"'s body.

45. A system as claimed in claim 43, wherein said operating environment reference unit comprises an articulated arm.

46. A system as claimed in claim 43, wherein said position characteristic field comprises a non-linear field that emanates from a substantially point source.

47. A system as claimed in claim 43, wherein said position characteristic field comprises a non-linear field that emanates from one side only of said patient.

48. A system as claimed in claim 43, wherein said system includes a reference sensor positioned a fixed distance from either of said field generator or said field sensor, said reference sensor for producing a reference output signal for use in monitoring the field generated by said field generator.

49. A system for monitoring a position of a medical instrument with respect to a patient'"'"'s body and for displaying images of the patient'"'"'s body responsive to the position of the medical instrument, said system comprising:

a patient reference unit securable from movement with respect to the patient'"'"'s body yet permitting the patient'"'"'s body to be moved within an operating environment;

a remote unit securable from movement with respect to the medical instrument;

an operating environment reference unit capable of being positioned within an operating environment;

at least one field generator associated with at least one of said patient reference unit, said remote unit, and said operating environment reference unit, said field generator being configured to generate an electromagnetic position characteristic field capable of passing through the patient'"'"'s body and being substantially undisturbed by passage through the patient'"'"'s body;

at least one field sensor associated with at least one of said patient reference unit, said remote unit, and said operating environment reference unit, said field sensor being configured to produce a sensor output signal responsive to the presence of said position characteristic field, said sensor output signal being representative of a position of said field sensor relative to said field generator irrespective of whether any portion of the patient'"'"'s body is interposed between said field generator and said field sensor;

a position detection unit in communication with said field generator and said field sensor, said position detection unit being configured to produce position data responsive to said sensor output signal representative of a position of said remote unit with respect to said patient reference unit irrespective of any movement of the patient within the operating environment; and

a registration unit in communication with said position detection unit and with image data representing a plurality of images of the patient'"'"'s body, said registration unit being configured to select from said image data position image data associated with said position data.

50. A system as claimed in claim 49, wherein said system includes a reference sensor positioned a fixed distance from either of said field generator or said field sensor, said reference sensor for producing a reference output signal for use in monitoring the field generated by said field generator.