Process and apparatus for image guided treatment with an integration of X-ray detection and navigation system

• US 6,527,443 B1
• Filed: 08/31/1999
• Issued: 03/04/2003
• Est. Priority Date: 04/20/1999
• Status: Expired due to Term

• Current Assignee: Brainlab AG
• Original Assignee: Brainlab AG
• Inventors: Birkenbach, Rainer, Vilsmeier, Stefan
• Primary Examiner(s): Kim, Robert H.
• Assistant Examiner(s): Song, Hoon K.
• Application Number:
  US09/387,597
• Time in Patent Office: 1,281 Days
• Field of Search: 278/162, 278/164, 278/205, 278/206, 278/207, 278/63, 600/426, 600/427, 600/429
• US Class Current: 378/205
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• 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 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/547 involving tracking of position of the device or parts of the device
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A process and apparatus for image-guided treatment of target areas, the process including the steps of: producing at least one x-ray image of a treatment area using an x-ray unit, the image including an x-ray image of a reference structure; mapping the reference structure three-dimensionally via a navigation system; and integrating the mapped data and the x-ray image in a computer unit having a display. The navigation system is capable of mapping operating instruments during surgery so that the mapped data of operating instruments can be output on the display in correct positional relationship with the x-ray image.

Claims

1. A process for image-assisted treatment of target areas comprising the steps of:

producing at least one radiographic projection image of a target area by means of an x-ray unit while simultaneously imaging a reference structure by means of the x-ray unit to create radiographic projection data;

mapping the three-dimensional location of said reference structure via a navigation system to create mapped data;

mapping the three-dimensional position of one or more operating instruments via the navigation system in the mapped data;

marrying the mapped data of the reference structure as established by said navigation system with the radiographic projection data as established by said x-ray unit in a computer unit; and

displaying the mapped data of said one or more operating instruments in correct positional relationship with the target area as determined from said radiographic projection image.

2. The process as set forth in claim 1, wherein producing at least one radiographic image includes producing at least two radiographic images in various locations for mapping said reference structure three-dimensionally.

3. The process as set forth in claim 1, wherein producing at least one radiographic image includes producing at least two radiographic images of various portions of said target area and compiling the at least two images into an overall view.

4. The process as set forth in claim 1, further comprising producing another radiographic projection image in the same location without said reference structure, wherein said second image is output on said display.

5. The process as set forth in claim 1, wherein producing said at least one radiographic projection image includes producing single images.

6. The process as set forth in claim 1, wherein producing said at least one radiographic projection image includes producing at least one image of longer duration.

7. The process as set forth in claim 1, wherein imaging said reference structure includes irradiating a body that is transparent to x-rays, said body supporting markers that are visible in said radiographic image.

8. The process as set forth in claim 1, wherein mapping the three-dimensional position of said one or more operating instruments includes reflecting radiation of a source of infrared radiation from reflectors applied to said operating instruments and to said reference structure.

9. The process as set forth in claim 1, wherein mapping the three-dimensional position of said one or more operating instruments includes emitting radiation from radiation emitters applied to said operating instruments and to said reference structure.

17. The process as set forth in claim 3, wherein producing includes producing several radiographic projection images of overlapping portions of said target area.

18. The process as set forth in claim 7, wherein irradiating said body includes irradiating a body having a truncated cone shape.

19. The process as set forth in claim 7, wherein irradiating said body includes irradiating markers having a characteristic arrangement.

20. The process as set forth in claim 9, wherein emitting radiation includes emitting radiation from light emitting diodes.

10. An apparatus for image-assisted treatment of target areas comprising:

an x-ray unit for producing at least one radiographic projection image of a target area to create radiographic projection data;

a reference structure imageable simultaneously with the target area by said x-ray unit, the location of the reference structure included in the radiographic projection data;

a navigation system for mapping said three-dimensional location of said reference structure and for mapping the three-dimensional position of one or more operating instruments to create mapped data; and

a computer unit with a display that is operable to marry the mapped data of the reference structure as determined by the navigation system with the projection image data of said target area as determined from the x-ray unit;

wherein the display outputs the mapped data of the one or more operating instruments in correct positional relationship with the target area as determined from said radiographic projection image.

11. The apparatus as set forth in claim 10, wherein said x-ray unit is suitable for making two, three, four or more x-ray images in various positions, it more particularly being a C-arm x-ray unit with variable positioning.

12. The apparatus as set forth in claim 10, wherein said reference structure is a body transparent to x-rays, said body having more particularly the shape of a truncated cone, and the body comprising markers distributed characteristically which are visible in said x-ray image.

13. The apparatus as set forth in claim 10, wherein said navigation system includes reflectors applied to said operating instruments and to said reference structure, said reflectors reflecting the radiation of a source of infrared radiation.

14. The apparatus as set forth in claim 10, wherein said navigation system includes radiation emitters applied to said operating instruments and to said reference structure.

15. The apparatus as set forth in claim 10, wherein said x-ray unit comprises a radiation source and an image intensifier provided opposite thereto, said reference structure being secured directly above said image intensifier of said x-ray unit.

16. The apparatus as set forth in claim 10, wherein both said computer unit and said display are configured as a unit integral with said x-ray unit.

21. The apparatus as set forth in claim 14, wherein said radiation emitters are light emitting diodes.

22. The apparatus as set forth in claim 15, wherein said reference structure is releasably secured directly above said image intensifier of said x-ray unit.

23. The apparatus as set forth in claim 16, wherein said navigation system includes a camera arrangement, and said computer unit, said display and said camera arrangement are configured as a unit integral with said x-ray unit.

24. An apparatus for image-assisted treatment of target areas comprising:

an x-ray unit with which at least one x-ray projection image of a target area can be produced,

a reference structure positioned within the field of view of the x-ray unit so as to appear in the x-ray image of the target area;

a navigation system that can map the three-dimensional location of the reference structure and the position of an operating instrument in the target area;

a computer unit that can integrate mapped data of the target area as established from the navigation system and x-ray projection image data of the target area as established by the x-ray unit to provide an integrated image of the target area, and that can integrate mapped data of the operating instrument as determined by the navigation system into the integrated image; and

a display that can display the integrated image of the target area and the operating instrument.