Position tracking and imaging system for use in medical applications

• US 6,687,531 B1
• Filed: 08/22/2000
• Issued: 02/03/2004
• Est. Priority Date: 09/15/1994
• Status: Expired due to Term

• Current Assignee: GE Medical Systems Global Technology Company LLC (GE Healthcare Technologies, Inc.)
• Original Assignee: GE Medical Systems Global Technology Company LLC (GE Healthcare Technologies, Inc.)
• Inventors: Ferre, Maurice R., Tieman, James S., Jakab, Peter D.
• Primary Examiner(s): Smith, Ruth S.
• Application Number:
  US09/643,271
• Time in Patent Office: 1,260 Days
• Field of Search: 600/407, 600/424, 600/426, 600/427, 600/429, 606/130, 128/897, 128/898
• US Class Current: 600/424
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00464 for use with different instruments with hole for different instruments A61B2017/22072
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00482 with a code
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• 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 2090/0818 Redundant systems, e.g. using two independent measuring systems and comparing the signals
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/3937 Visible markers
• 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 5/06 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 5/062 using magnetic field
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/037 Emission tomography
• 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 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/39 : Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: G01B 7/004 : for measuring coordinates of points
• CPC Class Codes: G06T 3/14 : Transformations for image registration, e.g. adjusting or mapping for alignment of images

Abstract

A system is disclosed for monitoring the position of a medical instrument with respect to a patient'"'"'s body and for displaying at least one of a plurality of prerecorded images of said body responsive to the position of said medical instrument. In one embodiment the system includes a reference unit secured from movement with respect to the patient'"'"'s body such that said reference unit is substantially immobile with respect to a target operation site. The system also includes a remote unit for attachment to the medical instrument. A field generator may be associated with one of the units for generating a position characteristic field in an area including the target operation site. One or more field sensors may be associated with either of the units responsive to the presence of the position characteristic field for producing one or more sensor output signals representative of said sensed field. A position detector in communication with the sensor output signal produces position data representative of the position of the remote unit with respect to the reference unit. An output display in communication with the position detector displays at least one of the prerecorded images responsive to the position data.

Claims

1. A system for monitoring a position of a medical instrument with respect to a patient'"'"'s body, comprising:

a medical instrument;

a reference mount attachable to the patient'"'"'s body for movement with the patient'"'"'s body, and

an electromagnetic unit for association with the reference mount and the medical instrument for monitoring movement of the medical instrument relative to the reference mount, the electromagnetic unit including a first member attachable to the patient'"'"'s body and a second member attachable to the medical instrument, the first and second members communicating by electromagnetic radiation that is not blocked by the body, the reference mount being configured to provide non-invasive registration of the electromagnetic unit relative to a computer image.

2. The system of claim 1 wherein the first member is attachable to the patient'"'"'s body by the reference mount.

3. The system of claim 1, wherein the reference mount is attachable to patient'"'"'s body in a repeatable fashion.

4. The system of claim 3 wherein the electromagnetic unit is configured to permit easy surgical access.

5. The system of claim 1 wherein the electromagnetic unit is configured to permit easy surgical access.

6. The system of claim 1 wherein the reference mount comprises a headset.

7. The system of claim 6 wherein the headset is configured for attachment to the patient'"'"'s head at at least three points of contact.

8. The system of claim 6 wherein the headset is configured for use during scanning and surgery to provide registration with a computer image during surgery.

9. The system of claim 6 further comprising markers coupled to the headset for providing reference points on computer images of the head.

10. The system of claim 6 wherein the headset comprises a frame including a nose mount, and first and second ear mounts.

11. The system of claim 1 wherein the reference mount is configured for use during scanning and surgery to provide registration with a computer image during surgery.

12. The system of claim 1 wherein the medical instrument comprises an aspirator.

13. The system of claim 12 wherein the aspirator defines an instrument mount for receiving the second member.

14. The system of claim 1 wherein the medical instrument comprises a flexible medical instrument.

15. The system of claim 14 wherein the second member is mounted at a distal region of the medical instrument.

16. The system of claim 1 further comprising a position detection unit for producing position data responsive to an output signal from the second member.

17. The system of claim 16 further comprising an image storage unit including image data representing a plurality of images of the patient'"'"'s body.

18. The system of claim 17 further comprising a registration unit for relating the position data and the image data to select an image of the patient'"'"'s body.

19. The system of claim 18 further comprising a display for displaying the image of the patient'"'"'s body.

20. The system of claim 1 wherein the first member comprises an electromagnetic generator, and the second member comprises an electromagnetic receiver.

21. The system of claim 20 wherein the generator produces a field that emanates from substantially a single point.

22. The system of claim 20 wherein the generator comprises three orthogonally disposed magnetic dipoles.

23. The system of claim 1 wherein the electromagnetic unit further includes a third member communicating with the first and second members by electromagnetic radiation and fixable relative to the operating environment.

24. A system for monitoring a position of a medical instrument with respect to a patient'"'"'s body, comprising:

a medical instrument;

a reference mount attachable to the patient'"'"'s body in a repeatable fashion for movement with the patient'"'"'s body; and

an electromagnetic unit for association with the reference mount and the medical instrument for monitoring movement of the medical instrument relative to the reference mount, the electromagnetic unit including a first member attachable to the patient'"'"'s body and a second member attachable to the medical instrument, the first and second members communicating by electromagnetic radiation that is not blocked by the body.

25. The system of claim 24 wherein the first member is attachable to the patient'"'"'s body by the reference mount.

26. The system of claim 24 wherein the electromagnetic unit is configured to permit easy surgical access.

27. The system of claim 24 wherein the reference mount comprises a headset.

28. The system of claim 27 wherein the headset is configured for attachment to the patient'"'"'s head at at least three points of contact.

29. The system of claim 27 wherein the headset is configured for use during scanning and surgery to provide registration with a computer image during surgery.

30. The system of claim 27 further comprising markers coupled to the headset for providing reference points on computer images of the head.

31. The system of claim 27 wherein the headset comprises a frame including a nose mount, and first and second ear mounts.

32. The system of claim 24 wherein the reference mount is configured for use during scanning and surgery to provide registration with a computer image during surgery.

33. The system of claim 24 wherein the medical instrument comprises an aspirator.

34. The system of claim 33 wherein the aspirator defines an instrument mount for receiving the second member.

35. The system of claim 24 wherein the medical instrument comprises a flexible medical instrument.

36. The system of claim 35 wherein the second member is mounted at a distal region of the medical instrument.

37. The system of claim 24 further comprising a position detection unit for producing position data responsive to an output signal from the second member.

38. The system of claim 37 further comprising an image storage unit including image data representing a plurality of images of the patient'"'"'s body.

39. The system of claim 38 further comprising a registration unit for relating the position data and the image data to select an image of the patient'"'"'s body.

40. The system of claim 39 further comprising a display for displaying the image of the patient'"'"'s body.

41. The system of claim 24 wherein the first member comprises an electromagnetic generator, and the second member comprises an electromagnetic receiver.

42. The system of claim 41 wherein the generator produces a field that emanates from substantially a single point.

43. The system of claim 41 wherein the generator comprises three orthogonally disposed magnetic dipoles.

44. The system of claim 24 wherein the electromagnetic unit further includes a third member communicating with the first and second members by electromagnetic radiation and fixable relative to the operating environment.

45. A system for monitoring a position of a medical instrument with respect to a patient'"'"'s body, comprising:

a medical instrument;

a reference mount attachable to the patient'"'"'s body for movement with the patient'"'"'s body; and

an electromagnetic unit for association with the reference mount and the medical instrument for monitoring movement of the medical instrument relative to the reference mount, the electromagnetic unit permitting easy surgical access, the electromagnetic unit employing electromagnetic radiation that is not blocked by the body, the reference mount being configured to provide non-invasive registration of the electromagnetic unit relative to a computer image.

46. The system of claim 45 further comprising a first member attachable to the patient'"'"'s body by the reference mount.

47. The system of claim 45 wherein the reference mount comprises a headset.

48. The system of claim 47 wherein the headset is configured for attachment to the patient'"'"'s head at at least three points of contact.

49. The system of claim 47 wherein the headset is configured for use during scanning and surgery to provide registration with a computer image during surgery.

50. The system of claim 47 further comprising markers coupled to the headset for providing reference points on computer images of the head.

51. The system of claim 47 wherein the headset comprises a frame including a nose mount, and first and second ear mounts.

52. The system of claim 45 wherein the reference mount is configured for use during scanning and surgery to provide registration with a computer image during surgery.

53. The system of claim 45 wherein the medical instrument comprises an aspirator.

54. The system of claim 53 wherein the aspirator defines an instrument mount for receiving the second member.

55. The system of claim 45 wherein the medical instrument comprises a flexible medical instrument.

56. The system of claim 55 wherein the second member is mounted at a distal region of the medical instrument.

57. The system of claim 45 further comprising a position detection unit for producing position data responsive to an output signal from the second member.

58. The system of claim 57 further comprising an image storage unit including image data representing a plurality of images of the patient'"'"'s body.

59. The system of claim 58 further comprising a registration unit for relating the position data and the image data to select an image of the patient'"'"'s body.

60. The system of claim 55 further comprising a display for displaying the image of the patient'"'"'s body.

61. The system of claim 45 further comprising an electromagnetic generator, and an electromagnetic receiver.

62. The system of claim 61 wherein the generator produces a field that emanates from substantially a single point.

63. The system of claim 61 wherein the generator comprises three orthogonally disposed magnetic dipoles.

64. The system of claim 45 wherein the electromagnetic unit further includes a member fixable relative to the operating environment.

65. A system for monitoring a position of a medical instrument with respect to a patient'"'"'s body, comprising:

a medical instrument;

a reference mount attachable to the patient'"'"'s body in a repeatable fashion for movement with the patient'"'"'s body; and

an electromagnetic unit for association with the reference mount and the medical instrument for monitoring movement of the medical instrument relative to the reference mount, the electromagnetic unit being configured to permit easy surgical access, the electromagnetic unit employing electromagnetic radiation that is not blocked by the body.

66. The system of claim 65 further comprising a first member attachable to the patient'"'"'s body by the reference mount.

67. The system of claim 65 wherein the reference mount comprises a headset.

68. The system of claim 67 wherein the headset is configured for attachment to the patient'"'"'s head at at least three points of contact.

69. The system of claim 67 wherein the headset is configured for use during scanning and surgery to provide registration with a computer image during surgery.

70. The system of claim 67 further comprising markers coupled to the headset for providing reference points on computer images of the head.

71. The system of claim 67 wherein the headset comprises a frame including a nose mount, and first and second ear mounts.

72. The system of claim 65 wherein the reference mount is configured for use during scanning and surgery to provide registration with a computer image during surgery.

73. The system of claim 65 wherein the medical instrument comprises an aspirator.

74. The system of claim 73 wherein the aspirator defines an instrument mount for receiving the second member.

75. The system of claim 65 wherein the medical instrument comprises a flexible medical instrument.

76. The system of claim 75 further comprising a member mounted at a distal region of the medical instrument.

77. The system of claim 65 further comprising a position detection unit for producing position data responsive to an output signal from the second member.

78. The system of claim 77 further comprising an image storage unit including image data representing a plurality of images of the patient'"'"'s body.

79. The system of claim 78 further comprising a registration unit for relating the position data and the image data to select an image of the patient'"'"'s body.

80. The system of claim 79 further comprising a display for displaying the image of the patient'"'"'s body.

81. The system of claim 65 further comprising an electromagnetic generator, and an electromagnetic receiver.

82. The system of claim 81 wherein the generator produces a field that emanates from substantially a single point.

83. The system of claim 81 wherein the generator comprises three orthogonally disposed magnetic dipoles.

84. The system of claim 65 wherein the electromagnetic unit further includes a member fixable relative to the operating environment.

85. A method for monitoring a position of a medical instrument with respect to a patient'"'"'s body, comprising the steps of:

attaching a reference mount to the patient'"'"'s body, the reference mount being movable with the patient'"'"'s body, and

monitoring movement of the medical instrument relative to the reference mount with an electromagnetic unit associated with the reference mount and the medical instrument, the electromagnetic unit including a first member attachable to the patient'"'"'s body and a second member attachable to the medical instrument, the first and second member communicating by electromagnetic radiation that is not blocked by the body, the reference mount being configured to provide non-invasive registration of the electromagnetic unit relative to a computer image.

86. A method for monitoring a position of a medical instrument with respect to a patient'"'"'s body, comprising the steps of:

attaching a reference mount to the patient'"'"'s body in a repeatable fashion, the reference mount being movable with the patient'"'"'s body, and

monitoring movement of the medical instrument relative to the reference mount with an electromagnetic unit associated with the reference mount and the medical instrument, the electromagnetic unit including a first member attachable to the patient'"'"'s body and a second member attachable to the medical instrument, the first and second member communicating by electromagnetic radiation that is not blocked by the body.

87. A method for monitoring a position of a medical instrument with respect to a patient'"'"'s body, comprising the steps of:

attaching a reference mount to the patient'"'"'s body, the reference mount being movable with the patient'"'"'s body, and

monitoring movement of the medical instrument relative to the reference mount with an electromagnetic unit associated with the reference mount and the medical instrument, the electromagnetic unit permitting easy surgical access, the electromagnetic unit employing electromagnetic radiation that is not blocked by the body, the reference mount being configured to provide non-invasive registration of the electromagnetic unit relative to a computer image.

88. A method for monitoring a position of a medical instrument with respect to a patient'"'"'s body, comprising the steps of:

attaching a reference mount to the patient'"'"'s body in a repeatable fashion, the reference mount being movable with the patient'"'"'s body, and

monitoring movement of the medical instrument relative to the reference mount with an electromagnetic unit associated with the reference mount and the medical instrument, the electromagnetic unit permitting easy surgical access, the electromagnetic unit employing electromagnetic radiation that is not blocked by the body.