Method of automatic guiding a C-arm X-ray device

• US 6,491,429 B1
• Filed: 09/08/2000
• Issued: 12/10/2002
• Est. Priority Date: 09/08/2000
• Status: Expired due to Term

• Current Assignee: AO-Development Institute Davos, AO Foundation, Paul Muller, Peter Messmer, Pietro Regazzoni, Urs Bopp
• Original Assignee: AO-Development Institute Davos, Paul Muller, Peter Messmer, Pietro Regazzoni, Urs Bopp
• Inventors: Suhm, Norbert
• Primary Examiner(s): Kim, Robert H.
• Assistant Examiner(s): KAO, CHIH CHENG G
• Application Number:
  US09/658,428
• Time in Patent Office: 823 Days
• Field of Search: 378/205, 378/197, 378/206, 378/198, 378/196, 600/425, 600/426, 606/130
• US Class Current: 378/205
• CPC Class Codes: A61B 6/08 Auxiliary means for directing the radiation beam to a particular spot, e.g. using light beams
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/4476 related to motor-assisted motion of the source unit

Abstract

The method concerns automatic guiding a C-arm X-ray device equipped with a motorized exact positioning unit and essentially comprises the steps of:

A) determining the position of the plane of projection (2);

E) measuring the position and orientation of the reference element (3) at the bone (4) or bone joint;

F) referencing the position of the plane of projection (2) to the position of the reference element (3);

H) measuring the actual position and orientation of the displaced bone (4);

I) determining the deviation between the actual position of the reference element (3) and the position of the reference element (3) as referenced under step F);

K) determining the new position of the C-arm X-ray device (1) in order to reset the plane of projection (2) as referenced under step F); and

L) guiding the C-arm X-ray device (1) in the new position as determined under step K) by means of automatic controlling means.

Claims

1. Method of automatically guiding a C-arm X-ray device which is equipped with a motorized exact positioning unit comprising the steps of:

(A) attaching a first reference element (3) at a bone (4) or bone joint to be surgically treated;

(B) positioning the C-arm X-ray device (1) in a desired position with a desired plane of projection (2) at the bone (4) or bone joint to be surgically treated;

(C) measuring a position and orientation of a second reference element (6) at the C-arm X-ray device (1) with respect to an on-site three-dimensional system of coordinates (5);

(D) determining a position and orientation of the plane of projection (2) with respect to the on-site system of coordinates (5);

(E) measuring a position and orientation of the first reference element (3) at the bone (4) or bone joint with respect to the on-site three-dimensional system of coordinates (5);

(F) referencing the position and orientation of the plane of projection (2) to the position and orientation of the first reference element (3); and

(G) displacing the bone (4) or bone joint in order to effect a desired surgical treatment at the bone (4) or bone joint, characterized in that the method further comprises the steps of;

(H) measuring an actual position and orientation of the displaced bone (4) or bone joint;

(I) determining a deviation between the actual position and orientation of the first reference element (3) and the position and orientation of the first reference element (3) referenced under step (F);

(J) determining a new position of the C-arm X-ray device (1) in order to reset the plane of projection (2) as referenced under step (F); and

(K) guiding the C-arm X-ray device (1) in the new position and adjusting the plane of projection (2) as determined under step (J) by means of an automatic controlling means.

2. Method according to claim 1, characterized in that it further comprises the step of storing at least one position and orientation of the bone (4) or bone joint as well as at least one position and orientation of the plane of projection (2) as sets of binary data in a data storage means of the computer (9).

3. Method according to claim 2, wherein the method further comprises the steps of:

(A) recalling the sets of binary data stored in a data storage means of the computer (9) and loading the sets of binary data into the central processing unit of the computer (9); and

(B) displacing the C-arm X-ray device (1) into the position of the stored position and orientation of the plane of projection (2) through processing of the data recalled under step (A).

4. Method according to claim 1, wherein the automatic controlling means are integrated within the C-arm X-ray device (1) as an integrated controller.

5. Method according to claim 1. wherein the automatic controlling means are performed through software means effectable with the computer (9).

6. Method according to claim 2, wherein the automatic controlling means are integrated within the C-arm X-ray device (1) as an integrated controller.

7. Method according to claim 3, wherein the automatic controlling means are integrated within the C-arm X-ray device (1) as an integrated controller.

8. Method according to claim 2, wherein the automatic controlling means are performed through software means effectable with the computer (9).

9. Method according to claim 3, wherein the automatic controlling means are performed through software means effectable with the computer (9).