Intraoperative navigation updating

• US 6,609,022 B2
• Filed: 01/08/2001
• Issued: 08/19/2003
• Est. Priority Date: 01/12/2000
• Status: Active Grant

• Current Assignee: Brainlab AG
• Original Assignee: Brainlab AG
• Inventors: Dombay, Akos, Vilsmeier, Stefan
• Primary Examiner(s): Welberg, Teresa
• Assistant Examiner(s): ROBINSON, DANIEL LEON
• Application Number:
  US09/756,582
• Publication Number:
  US 20010007918A1
• Time in Patent Office: 953 Days
• Field of Search: 600/426, 600/425, 600/424, 600/407, 378/21, 250/363.01, 606/2, 606/20, 606/27, 606/32
• US Class Current: 600/426
• CPC Class Codes: A61B 2090/374 NMR or MRI
• 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 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

The invention relates to a method for supporting the treatment of a patient, of which a patient data record was made available by an image-generating method, by means of a navigation system, the navigation system detecting and tracking the positions of the patient, of his/her parts of the body, and particularly of the target of the treatment and the treatment devices, wherein, either automatically or on demand, either one or several further current patient data records are created by means of an image-generating method, and wherein each current data record is integrated into the navigation system in a computer-aided manner.

Claims

1. A method for supporting comprising the steps of:

providing a first patient image data record;

integrating the first patient image data record into a navigation system through a computer-aided process;

using said navigation system to detect and track the positions of the patient and at least one treatment device;

generating at least one current patient image data record by means of an image-generating method; and

integrating the current patent image data record into the navigation system in a computer-aided manner by performing image fusion of the current patient image data record with the first patient image data record.

2. The method as set forth in claim 1, wherein the current patient data record is created by a method selected from the group consisting of magnetic resonance tomography (MR), computer tomography (CT), SPECT and PET.

3. The method as set forth in claim 1, wherein the step of generating at least one current patient image data record comprises locating at the patient a reference structure having a known arrangement of markers which can be detected by the navigation system and by a device that generates the patient image data record;

and using the known arrangement of markers to effect positional integration of the current patient data record in the navigation system.

4. The method as set forth in claim 3, wherein the reference structure comprises at last one that can be detected by both the navigation system and by the device that generates the current patient image data record.

5. The method as set forth in claim 1, wherein the image fusion is solely based on those data record elements from the current data record and from the patient data record to be updated that reflect no deformation or restricted deformation of a detected part of the patient'"'"'s body.

6. The method as set forth in claim 1, wherein the image fusion is characterized by at least one of the following features:

it is based on a rigid transformation;

it is based on a search region consisting essentially of rotation and translation rigid transformations between two data records;

transformations in the search region are used to bring data records into conformity with each other;

the quality of transformations is measured with regard to a criterion of conformity;

a criterion of conformity is computed from a correlation of intensity of a plurality of corresponding pixels in the data records;

a suitable transformation is determined by optimizing data records so that a criterion of conformity reaches maximum value;

a suitable transformation is determined iteratively to improve conformity; and

as few determinations of a criterion of conformity as possible are performed.

7. The method as set forth in one of claim 1, wherein the device that generates the current patient image data record is referenced by the navigation system during image data record generation.

8. The method as set forth in claim 7, wherein the relative position of the current patient image data record is determined with reference to the device that generates the patient image data record by detecting coordinates.