System for determining the position in a scan image corresponding to the position of an imaging probe

• US 6,678,545 B2
• Filed: 07/16/2002
• Issued: 01/13/2004
• Est. Priority Date: 10/19/1990
• Status: Expired due to Fees

• Current Assignee: Saint Louis University
• Original Assignee: Saint Louis University
• Inventors: Bucholz, Richard D.
• Primary Examiner(s): Smith, Ruth S.
• Application Number:
  US10/197,337
• Publication Number:
  US 20020183615A1
• Time in Patent Office: 546 Days
• Field of Search: 600/407, 600/426, 600/427, 600/429, 600/425, 600/424, 600/437, 600/439, 600/443, 606/130
• US Class Current: 600/426
• CPC Class Codes: A61B 2017/00738 part of the tool being offset with respect to a main axis, e.g. for better view for the surgeon
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• 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 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3788 transmitter only
• 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 2090/3983 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 5/0064 Body surface scanning
• CPC Class Codes: A61B 5/0073 by tomography, i.e. reconstruction of 3D images from 2D projections A61B5/0066 takes precedence
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• 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 5/1077 Measuring of profiles
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/501 for diagnosis of the head, e.g. neuroimaging or craniography
• CPC Class Codes: A61B 6/5247 : combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
• CPC Class Codes: A61B 8/00 : Diagnosis using ultrasonic, sonic or infrasonic waves imaging of objects using sonar G01S15/00
• CPC Class Codes: A61B 8/0808 : for diagnosis of the brain
• CPC Class Codes: A61B 8/5238 : for combining image data of patient, e.g. merging several images from different acquisition modes into one image for image registration algorithms G06T7/30
• 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 90/39 : Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: B82Y 15/00 : Nanotechnology for interacting, sensing or actuating, e.g. quantum dots as markers in protein assays or molecular motors

Abstract

A system for use in imaging a subject and determining a position relative to a body of a patient. A base is fixed in relation to the subject. An imaging probe is configured to scan the subject and provide scan images of the subject. An array of receivers is in communication with the base and the imaging probe. A first plurality of reference points is fixed in relation to the base and in communication with the array. A second plurality of reference points is fixed in relation to the imaging probe and in communication with the array. A processor in communication with the imaging probe and the array calculates the position in the scan images corresponding to the position of the imaging probe relative to the subject.

Claims

1. A system comprising:

a base fixed in relation to a subject;

an imaging probe configured to scan the subject and provide scan images of the subject;

an array of receivers in communication with the base and the imaging probe;

a first plurality of reference points fixed in relation to the base, the first plurality of reference points in communication with the array;

a second plurality of reference points fixed in relation to the imaging probe, the second plurality of reference points in communication with the array; and

a processor in communication with the imaging probe and the array, wherein

(i) the processor is configured to calculate a position of the first reference points relative to the array based on the communication between the first reference points and the array, thereby calculating a position of the base relative to the array, and calculating a position of the subject relative to the array;

(ii) the processor is configured to calculate a position of the second reference points relative to the array based on the communication between the second reference points and the array, thereby calculating a position of the imaging probe relative to the array;

(iii) the processor is configured to calculate a position of the imaging probe relative to the subject based on the calculated positions of the subject relative to the array and the imaging probe relative to the array; and

(iv) the processor is configured to calculate the position in the scan images corresponding to the position of the imaging probe relative to the subject.

2. The system according to claim 1, further comprising a display in communication with the processor, wherein the processor is configured to generate images in the scan images corresponding to the position of the imaging probe relative to the subject and the display is configured to display scan images of the subject and the images corresponding to the position of the imaging probe relative to the subject.

3. The system according to claim 1, further comprising a signal generator located remotely from the imaging probe and the base and in communication with the imaging probe and the base, wherein the signal generator generates a signal and communicates that signal to the first and second reference points and wherein the first and second reference points communicate that signal to the receivers of the array.

4. The system according to claim 3, wherein the generator generates radiation signals communicated between the first reference points and the receivers of the array and between the second reference points and the receivers of the array.

5. The system according to claim 1, wherein the first and second reference points comprise emitters, the emitters communicating a signal to the receivers of the array.

6. The system according to claim 5, further comprising a signal generator located remotely from the imaging probe and the base and in communication with the imaging probe and the base, wherein the signal generator generates a signal and communicates that signal to the emitters and wherein the emitters communicate the signal to the receivers of the array.

7. The system according to claim 5, wherein the emitters are energizable to send a signal to the receivers of the array.

8. The system according to claim 1, further comprising a memory storing additional scan images of the subject, the scan images correlated to the subject, and wherein the processor is configured to calculate the position of the additional scan images corresponding to the position of the imaging probe relative to the subject.

9. The system according to claim 8, further comprising a display in communication with the processor, wherein the processor is configured to generate images in the scan images of the subject and the additional scan images of the subject corresponding to the position of the imaging probe relative to the subject and the display is configured to display images of the subject corresponding to the position of the imaging probe relative to the subject in the scan images and the additional scan images, wherein the scan images of the subject may be compared to the additional scan images of the subject.

10. The system according to claim 8, further comprising subject reference points located in fixed relation to the subject, wherein the subject reference points correlate the additional scan images to the subject.

11. The system according to claim 10, wherein the subject reference points comprise markers located in fixed relation to the subject, the markers identifiable in the additional scan images and the scan images.

12. The system according to claim 10, wherein the subject reference points comprise a subject contour which is representative of a contour of the subject, the subject contour identifiable in the additional scan images and the scan images.

13. The system according to claim 1, further comprising:

a light source positionable to direct light at the base and a surface of the subject; and

an array of sensors located remotely from the subject and positioned to receive light reflected from the base and the surface of the subject, the array of sensors in communication with the processor, and wherein the processor is configured to calculate the position of the subject relative to the array based on the light reflected to the array.

14. The system of claim 13, further comprising a memory storing previously taken scan images of the subject, the surface of the subject correlated to the previously taken scan images, and wherein the processor is configured to correlate the surface of the subject to the location of the surface of the subject in the previously taken scan images.

15. A system comprising:

a base fixed in relation to a body part;

a memory storing the first scan images of the body part in a first coordinate system, the location of the body part in the first coordinate system correlated to the first scan images;

an imaging probe configured to scan the body part and provide second scan images of the body part in a second coordinate system;

an array of detectors in communication with the base and the imaging probe;

a first plurality of reference points fixed in relation to the body part, the first plurality of reference points in communication with the array; and

a processor in communication with the array, wherein

(i) the processor is configured to determine the position of the first reference points in the second coordinate system, thereby determining the position of the body part in the second coordinate system;

(ii) the processor is configured to determine a corresponding position of the reference points in the second coordinate system, thereby determining the position of the imaging probe in the second coordinate system;

(iii) the processor is configured to determine the position in the second coordinate system corresponding to the position of the imaging probe relative to the body part, thereby determining the position of the imaging probe relative to the body part in the second scan images; and

(iv) the processor is configured to determine a plane in the first coordinate system corresponding to the position of the imaging probe relative to the body part in the second scan images, thereby determining the position of the imaging probe relative to the body part in the first scan images.

16. The system according to claim 15, wherein the processor is configured to generate images of the body part corresponding to the position of the imaging probe relative to the body part in the first and second coordinate systems and the first and second scan images.

17. The system according to claim 16, further comprising a display configured to display images of the body part corresponding to the position of the imaging probe relative to the subject in the first and second coordinate systems and the first and second scan images, wherein the images of the subject in the first and second scan images may be compared.

18. The system of claim 15, further comprising a second plurality of reference points fixed in relation to the imaging probe, the second plurality of reference points in communication with the array, wherein the processor is configured to determine the corresponding position of the second reference points in the second coordinate system, thereby determining the position of the imaging probe in the second coordinate system.

19. The system according to claim 18, further comprising a signal generator in communication with the imaging probe and the base, wherein the signal generator generates a signal and communicates that signal to the first and second reference points and wherein the first and second reference points communicate that signal to the detectors of the array.

20. The system according to claim 19, wherein the signal generator generates radiation signals communicated between the first reference points and the detectors of the array and between the second reference points and the detectors of the array.

21. The system according to claim 19, wherein the first and second reference points communicate radiation to the detectors of the array.

22. The system according to claim 18, wherein the first and second reference points comprise emitters, the emitters communicating a signal to the detectors of the array.

23. The system according to claim 22, wherein the emitters are energizable to send a signal to the detectors of the array.

24. The system according to claim 15, further comprising a reference fixed in relation to the body part and the base, the reference being identifiable in the first scan images of the first coordinate system.

25. The system according to claim 24, wherein the reference comprises a surface contour representative of a contour of the body part, the surface contour being identifiable in the first scan images of the first coordinate system.

26. The system according to claim 25, further comprising an optical scanner having a light source, the light source positionable to direct light at the base and the surface contour;

and an array of sensors positioned to receive light reflected from the base and the contour surface and in communication with the processor, wherein the processor is configured to determine the position of the body part relative to the array based on the light reflected to the array.

27. The system according to claim 15, wherein the base comprises a ring and wherein the reference points are located on the ring.

28. The system according to claim 15, wherein the system further includes a surgical probe having an additional set of reference points in communication with the array and wherein the processor is configured to determine the position of the surgical probe in the second coordinate system and the second scan images and translate the determined position of the surgical probe in the second coordinate system into the corresponding position in the first coordinate system and the first scan images.

29. A system for determining a position relative to a body of a patient, the system comprising:

an array separate from the body of the patient;

body reference points fixed in relation to the body, the body reference points in communication with the array to communicate signals indicating the position of the body reference points;

a probe;

probe reference points fixed in relation to the probe, the probe reference points in communication with the array to communicate signals indicating the position of the probe reference points;

a memory having stored images of the body, the images including reference images correlatable to the body reference points; and

a processor in communication with the array and the memory, the processor configured to determine the position of body and the probe based on communications from the body reference points and the probe reference points to the array and to translate the position of the body and the probe to the position of the body and the probe in the images of the body.

30. The system of claim 29, further comprising a display for displaying images of the body and the probe.

31. The system of claim 29 wherein the probe is an imaging probe capable of taking scan images of the body.

32. The system of claim 29 further including an imaging probe configured to scan the body providing scan images of the body, the imaging probe having imaging probe reference points fixed in relation to the imaging probe, the imaging probe reference points in communication with the array to communicate signals indicating the position of the imaging probe reference points.