Versatile stereotactic device and methods of use

• US 6,684,098 B2
• Filed: 06/04/1997
• Issued: 01/27/2004
• Est. Priority Date: 08/16/1996
• Status: Expired due to Fees

• Current Assignee: Brigham and Women's Hospital Incorporated
• Original Assignee: Brigham and Women's Hospital Incorporated
• Inventors: Guttmann, Charles R. G., Panych, Lawrence P., Oshio, Koichi
• Primary Examiner(s): Smith, Ruth S.
• Application Number:
  US08/868,719
• Publication Number:
  US 20010020127A1
• Time in Patent Office: 2,428 Days
• Field of Search: 600/407, 600/410, 600/417, 600/429, 606/130, 128/920, 128/922
• US Class Current: 600/429
• CPC Class Codes: A61B 2017/00694 with means correcting for movement of or for synchronisation with the body
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/3954 magnetic, e.g. NMR or MRI
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• 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

Abstract

A stereotactic device for use with an imager such as a magnetic resonance imager is disclosed, which permits an imaging scan to be taken with reference to a personal coordinate system (or PCS) that is independent of a machine coordinate system (or MCS). Methods using the device to obtain imaging scans are described such that the imaging scans are superimposable even if taken at different time periods using the same or a different imager. The device comprises a frame that can be reproducibly positioned on a subject and which is equipped with non-invasive affixing means and localizing means that provide the PCS. The device and methods of the invention are particularly well suited for routine initial or follow-up examinations, pre-surgical planning and post-surgical evaluation. Markers on a stereotactic device can be tracked during an MRI scan to compensate for patient motion during the scan.

Claims

1. A method of using a radiographic device comprising the steps of:

a) positioning a living organism having a body in a radiographic device having a machine coordinate system;

b) non-invasively positioning on said body a stereotactic device having at least three localizing arrays providing a plurality of reference elements to establish a personal coordinate system referenced to said body;

c) establishing a linkage between said personal coordinate system and said machine coordinate system of said radiographic device;

d) translating data captured in said machine coordinate system to data referenced to said personal coordinate system; and

e) storing data referenced to the personal coordinate system based on a location and orientation of said stereotactic device.

2. The method of claim 1 wherein said step of establishing a linkage includes calculating a transformation matrix linking said personal coordinate system and said machine coordinate system.

3. The method of claim 1 wherein said step of establishing a linkage includes calculating a rotation matrix and a translation vector linking said personal coordinate system and said machine coordinate system.

4. The method of claim 1 wherein said step of establishing a linkage includes calculating a transformation matrix linking said personal coordinate system and said machine coordinate system using at least one slice of radiographic data.

5. The method of claim 1 wherein said step of establishing a linkage includes calculating a transformation matrix linking said personal coordinate system and said machine coordinate system using at least two slices of radiographic data.

6. A system for reproducibly capturing radiographic images, comprising:

a) a radiographic scanner that provides output information, including position information used to control said radiographic scanner;

b) a stereotactic device configured to be non-invasively positioned on a body of a living organism and having at least three localizing arrays providing a plurality of reference elements connected to the stereotactic device, each reference element having a location and an orientation; and

c) a computer controlling said radiographic scanner and receiving said output information from said scanner to detect said location and orientation of said reference elements of said stereotactic device, wherein said computer is configured to store data referenced to a coordinate system defined with reference to the living organism and based on said location and orientation of said reference elements of said stereotactic device.

7. The system of claim 6 wherein said computer is configured to translate position information controlling said radiographic scanner into position information referenced to said coordinate system defined with reference to said location and orientation of said reference elements of said stereotactic device.

8. The system of claim 6, wherein the reference elements are radio opaque.

9. The system of claim 6, wherein said stereotactic device provides at least three reference elements.

10. A computer program product comprising:

a) a memory medium; and

b) a computer program stored on said memory medium and containing instructions for;

establishing a personal coordinate system referenced to a living organism having a body, using a stereotactic device configured to be non-invasively positioned on the body and having at least three localizing arrays providing a plurality of reference elements, storing data referenced to the personal coordinate system based on a location and orientation of said stereotactic device; and

establishing a linkage between said personal coordinate system and a machine coordinate system of a radiographic device.

11. The computer program product of claim 10 wherein said computer program further contains instructions for translating data captured in said machine coordinate system to data referenced in said personal coordinate system.

12. The computer program product of claim 10, wherein said instructions for determining said location and orientation of said reference elements of said sterotactic device include determining said location and orientation from at least one slice of radiographic data.

13. The computer program product of claim 10, wherein said instructions for determining said location and orientation of said reference elements of said sterotactic device include determining said location and orientation from a plurality of slices of radiographic data.

14. A method of using a radiographic device, comprising the steps of:

a) positioning a living organism having a body in a radiographic device having a machine coordinate system;

b) making at least one radiographic scan of said body;

c) fitting a stereotactic device that is non-invasively positioned on the body and has at least three localizing arrays providing a plurality of reference elements connected to the stereotactic device, each reference element having a location and an orientation, to said body so that said fitting is reproducible and establishes a personal coordinate system referenced to said body;

d) using said location and orientation of said reference elements of said stereotactic device to determine said location of one or more data points referenced to said body from said at least one radiographic scan of said body; and

e) storing data referenced to the personal coordinate system based on a location and orientation of said stereotactic device.

15. A method of correcting an imaging plane during data acquisition using a radiographic device and a stereotactic device configured to be non-invasively positioned on a body and having at least three localizing arrays providing a plurality of reference elements connected to the stereotactic device, each reference element having a location and an orientation, comprising the steps of capturing said location and orientation of each of a plurality of reference elements connected to a stereotactic device, using a video camera to gather image data, and using said image data from said video camera to compensate data acquired by the radiographic device for patient motion during use of said radiographic device.

16. The method of correcting an imaging plane of claim 15, where the radiographic device has at least one imaging modality selected from the group consisting of magnetic resonance imaging, magnetic resonance spectroscopy, computer-aided tomography, positron emission tomography, single photon emission computed tomography, electroencephalography, and magnetoenceophalography.

17. A method of using a radiographic device comprising the steps of:

a) positioning a living organism having a body in a radiographic device having a machine coordinate system;

b) non-invasively positioning on a nasion and in or about ears on said body a stereotactic device having three or more non-invasive fittings providing a plurality of reference elements to establish a personal coordinate system referenced to said body;

c) establishing a linkage between said personal coordinate system and said machine coordinate system of said radiographic device;

d) translating data captured in said machine coordinate system to data referenced to said personal coordinate system; and

e) storing data referenced to the tersonal coordinate system based on a location and orientation of said stereotactic device.

18. The method of claim 17 wherein said step of establishing a linkage includes calculating a transformation matrix linking said personal coordinate system and said machine coordinate system.

19. The method of claim 17 wherein said step of establishing a linkage includes calculating a rotation matrix and a translation vector linking said personal coordinate system and said machine coordinate system.

20. The method of claim 17 wherein said step of establishing a linkage includes calculating a transformation matrix linking said personal coordinate system and said machine coordinate system using at least one slice of radiographic data.

21. The method of claim 17 wherein said step of establishing a linkage includes calculating a transformation matrix linking said personal coordinate system and said machine coordinate system using at least two slices of radiographic data.

22. system for reproducibly capturing radiographic images, comprising:

a) a radiographic scanner that provides output information, including position information used to control said radiographic scanner;

(b) a stereotactic device having three or more non-invasive fittings configured to be non-invasively positioned on a nasion and in or about ears on a body of a living organism and providing a plurality of reference elements connected to the stereotactic device, each reference element having a location and an orientation; and

c) a computer controlling said radiographic scanner and receiving said output information from said scanner to detect said location and orientation of said reference elements of said stereotactic device, wherein said computer is configured to store data referenced to a coordinate system defined with reference to the living organism and based on said location and orientation of said reference elements of said stereotactic device.

23. The system of claim 22 wherein said computer is configured to translate position information controlling said radiographic scanner into position information referenced to said coordinate system defined with reference to said location and orientation of said reference elements of said stereotactic device.

24. The stem of claim 22, wherein the reference elements are radio opaque.

25. The system of claim 22, wherein said stereotactic device provides at least three reference elements.

26. A computer program product comprising:

a) a memory medium; and

b) a computer program stored on said memory medium and containing instructions for;

establishing a personal coordinate system referenced to a living organism having a body, using a stereotactic device having three or more non-invasive fittings configured to be non-invasively positioned on a nasion and in or about ears on the body and providing a plurality of reference elements, storing data referenced to the personal coordinate system based on a location and orientation of said stereotactic device; and

establishing a linkage between said personal coordinate system and a machine coordinate system of a radiographic device.

27. The computer program product of claim 26 wherein said computer program further contains instructions for translating data captured in said machine coordinate system to data referenced in said personal coordinate system.

28. The computer program product of claim 26, wherein said instructions for determining said location and orientation of said reference elements of said stereotactic device include determining said location and orientation from at least one slice of radiographic data.

29. The computer program product of claim 26, wherein said instructions for determining said location and orientation of said reference elements of said stereotactic device include determining said location and orientation from a plurality of slices of radiographic data.

30. A method of using a radiographic device, comprising the steps of:

a) positioning a living organism having a body in a radiographic device;

b) making at least one radiographic scan of said body;

c) fitting a stereotactic device having three or more non-invasive fittings configured to be non-invasively positioned on a nasion and in or about ears of said body and providing a plurality of reference elements connected to the stereotactic device, each reference element having a location and an orientation, to said body so that said fitting is reproducible;

d) using said location and orientation of said reference elements of said stereotactic device to determine said location of one or more data points referenced to said body from said at least one radiographic scan of said body; and

f) storing data referenced to the personal coordinate system based on said location and orientation of said reference elements.

31. A method of correcting an imaging plane during data acquisition using a radiographic device and a stereotactic device having three or more non-invasive fittings configured to be non-invasively positioned on a nasion and in or about ears of a body and providing a plurality of reference elements connected thereto, each reference element having a location and an orientation, comprising the steps of capturing said location and orientation of each of a plurality of reference elements connected to the stereotactic device, using a video camera to gather image data, and using said image data from said video camera to compensate data acquired by the radiographic device for patient motion during use of said radiographic device.

32. The method of correcting an imaging plane of claim 31, where the radiographic device has at least one imaging modality selected from the group consisting of magnetic resonance imaging, magnetic resonance spectroscopy, computer-aided tomography, positron emission tomography, single photon emission computed tomography, electroencephalography, and magnetoencephalography.