Method and apparatus for collecting and processing physical space data for use while performing image-guided surgery

• US 6,584,339 B2
• Filed: 06/27/2001
• Issued: 06/24/2003
• Est. Priority Date: 06/27/2001
• Status: Expired due to Term

• Current Assignee: Vanderbilt University
• Original Assignee: Vanderbilt University
• Inventors: Herline, Alan J., Pinson, Candice D., Galloway, Robert L. Jr., Stefansic, James D., Chapman, William C.
• Primary Examiner(s): Vo, Hieu T.
• Application Number:
  US09/894,732
• Publication Number:
  US 20030000535A1
• Time in Patent Office: 727 Days
• Field of Search: 600/426, 600/410, 600/411, 600/424, 600/425, 600/429, 600/443, 600/439, 600/437
• US Class Current: 600/426
• CPC Class Codes: A61B 18/02 by cooling, e.g. cryogenic techniques devices for cooling specific reflex points of the body within cell-life limits A61H39/06
• CPC Class Codes: A61B 18/14 Probes or electrodes therefor
• 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 2034/207 Divots for calibration
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• 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 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A method and apparatus for collecting and processing physical space data used while performing image-guided surgery is disclosed. Physical space data is collected by probing physical surface points of surgically exposed tissue. The physical space data provides three-dimensional (3-D) coordinates for each of the physical surface points. Based on the physical space data collected, point-based registrations used to indicate surgical position in both image space and physical space are determined. The registrations are used to map into image space, image data describing the physical space of an ablative instrument used to perform the image-guided surgery, an ablation zone of the instrument, the surgically exposed tissue, and a particular portion of the tissue to be resected or ablated. The image data is updated on a periodic basis.

Claims

1. Apparatus for collecting and processing physical space data for use while performing image-guided surgery, the apparatus comprising:

(a) a probe instrument for collecting physical space data by probing a plurality of physical surface points of surgically exposed tissue of a living patient, the physical space data providing three-dimensional (3-D) coordinates for each of the physical surface points;

(b) an ablative instrument for resecting or ablating a particular portion of the exposed tissue; and

(c) an image data processor comprising a computer-readable medium holding computer-executable instructions for;

(i) based on the physical space data collected by the probe instrument, determining point-based registrations used to indicate surgical position in both image space and physical space;

(ii) using the point-based registrations to map into image space, image data describing the physical space of an ablative instrument used to perform the image-guided surgery, an ablation zone of the ablative instrument, the tissue, and a particular portion of the tissue to be resected or ablated; and

(iii) updating the image data on a periodic basis.

2. The apparatus of claim 1, wherein the ablative instrument emits a plurality of intermittent infrared signals used to triangulate the position of the ablative instrument in 3-D image space, the signals being emitted from a plurality of infrared emitting diodes (IREDs) distributed over the surface of a handle of the ablative instrument in a spiraling fashion.

3. The method of claim 2, wherein the IREDs flash in time sequence.

4. The method of claim 3, wherein each IRED has a 60 degree transmission angle.

5. The apparatus of claim 1, further comprising:

(d) a scanning device for scanning tissue of the patient to acquire, store and process a 3-D reference of tissue prior to the tissue being surgically exposed, wherein the image data processor creates a triangularized mesh based on the scanned tissue, determines the volumetric center of a particular portion of the tissue to be resected or ablated during the surgery, and implements an algorithm using the triangularized mesh and the physical space data collected by the probe instrument to determine the point-based registrations.

6. The apparatus of claim 5, wherein the algorithm is a Besl and Mackay iterative closest point (ICP) registration algorithm.

7. The apparatus of claim 5, wherein the scanning device is one of the following scanners:

a computerized tomography (CT) scanner, a magnetic resonance imaging (MRI) scanner and a positron emission tomography (PET) scanner.

8. The apparatus of claim 1, wherein the ablative instrument has a tip comprising an ablation device.

9. The apparatus of claim 8, wherein the ablation zone extends 1 centimeter from the tip of the ablative instrument.

10. The apparatus of claim 1, wherein the probe instrument is swept over the surface of the exposed tissue.

11. The apparatus of claim 1, wherein the image data is updated in real time at 30 Hz or greater.

12. The apparatus of claim 1, wherein the ablative instrument uses one of radio-frequency and cryoablation to resect or ablate the particular portion of the tissue.

13. The apparatus of claim 1, wherein points from 3-D physical space are mapped to 2-dimensional (2-D) image space.

14. The apparatus of claim 1, wherein points from 3-D physical space are mapped to 2-dimensional (2-D) laparoscopic video space using a direct linear transformation (DLT).

15. The apparatus of claim 1, wherein points from 3-D physical space are mapped to 3-D tomographic image space.

16. The apparatus of claim 1, wherein points from 3-D physical space are mapped to 2-dimensional (2-D) endoscopic image space.

17. An article of manufacture for collecting and processing physical space data for use while performing image-guided surgery, the article of manufacture comprising a computer-readable medium holding computer-executable instructions for performing a method comprising:

(a) determining point-based registrations used to indicate surgical position in both image space and physical space by processing physical space data collected by probing a plurality of physical surface points of surgically exposed tissue of a living patient, the physical space data providing three-dimensional (3-D) coordinates for each of the physical surface points;

(b) using the point-based registrations to map into image space, image data describing the physical space of an ablative instrument used to perform the image-guided surgery, an ablation zone of the ablative instrument, the tissue, and a particular portion of the tissue to be resected or ablated; and

(c) updating the image data on a periodic basis.

18. The article of manufacture of claim 17, wherein the computer-executable instructions perform a method further comprising:

(d) creating a triangularized mesh based on a 3-D reference of tissue of the patient, the 3-D reference being acquired, stored and processed prior to the tissue being surgically exposed;

(e) determining the volumetric center of a particular portion of the tissue to be resected or ablated during the surgery; and

(f) implementing an algorithm using the triangularized mesh and the physical space data to determine the point-based registrations.

19. The article of manufacture of claim 18, wherein the algorithm is a Besl and Mackay iterative closest point (ICP) registration algorithm.

20. The article of manufacture of claim 17, wherein points from 3-D physical space are mapped to 2-dimensional (2-D) image space.

21. The article of manufacture of claim 17, wherein points from 3-D physical space are mapped to 2-dimensional (2-D) laparoscopic video space using a direct linear transformation (DLT).

22. The article of manufacture of claim 17, wherein points from 3-D physical space are mapped to 3-D tomographic image space.

23. The article of manufacture of claim 17, wherein points from 3-D physical space are mapped to 2-dimensional (2-D) endoscopic image space.

24. A method of collecting and processing physical space data for use while performing image-guided surgery, the method comprising:

(a) surgically exposing tissue of a living patient;

(b) collecting physical space data by probing a plurality of physical surface points of the exposed tissue, the physical space data providing three-dimensional (3-D) coordinates for each of the physical surface points;

(c) based on the physical space data collected in step (b), determining point-based registrations used to indicate surgical position in both image space and physical space;

(d) using the registrations determined in step (c) to map into image space, image data describing the physical space of an ablative instrument used to perform the image-guided surgery, an ablation zone of the instrument, the tissue, and a particular portion of the tissue to be resected or ablated; and

(e) updating the image data on a periodic basis.

25. The method of claim 24, wherein the ablative instrument emits a plurality of intermittent infrared signals used to triangulate the position of the ablative instrument in 3-D image space, the signals being emitted from a plurality of infrared emitting diodes (IREDs) distributed over the surface of a handle of the ablative instrument in a spiraling fashion.

26. The method of claim 25, wherein the IREDs flash in time sequence.

27. The method of claim 26, wherein each IRED has a 60 degree transmission angle.

28. The method of claim 24, further comprising:

(f) prior to surgery, scanning tissue of the patient to acquire, store and process a 3-D reference;

(g) creating a triangularized mesh based on the scanned tissue; and

(h) determining the volumetric center of a particular portion of the tissue to be resected or ablated during the surgery, wherein an algorithm using the triangularized mesh and the physical space data collected in step (b) is implemented to determine the registrations in step (c).

29. The method of claim 28, wherein the algorithm is a Besl and Mackay iterative closest point (ICP) registration algorithm.

30. The method of claim 28, wherein step (f) is performed by one of a computerized tomography (CT) scanner, a magnetic resonance imaging (MRI) scanner and a positron emission tomography (PET) scanner.

31. The method of claim 24, wherein the ablative instrument has a tip comprising an ablation device.

32. The method of claim 31, wherein the ablation zone extends 1 centimeter from the tip of the ablative instrument.

33. The method of claim 24, wherein step (b) comprises sweeping an optically tracked localization probe over the surface of the exposed tissue.

34. The method of claim 24, wherein the tissue is the patient'"'"'s liver and the particular portion of tissue to be resected or ablated is a hepatic metastatic tumor.

35. The method of claim 24, wherein the image data is updated in real time at 30 Hz or greater.

36. The method of claim 24, wherein the ablative instrument uses one of radio-frequency and cryoablation to resect or ablate the particular portion of the tissue.

37. The method of claim 24, wherein points from 3-D physical space are mapped to 2-dimensional (2-D) image space.

38. The method of claim 24, wherein points from 3-D physical space are mapped to 2-dimensional (2-D) laparoscopic video space using a direct linear transformation (DLT).

39. The method of claim 24, wherein points from 3-D physical space are mapped to 3-D tomographic image space.

40. The method of claim 24, wherein points from 3-D physical space are mapped to 2-dimensional (2-D) endoscopic image space.