System for monitoring a position of a medical instrument with respect to a patient's head

• US 6,694,167 B1
• Filed: 08/22/2000
• Issued: 02/17/2004
• 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:
  US09/643,608
• Time in Patent Office: 1,274 Days
• Field of Search: 600/407, 600/415, 600/417, 600/424, 600/426, 600/427, 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 head, comprising:

a headset attachable to the patient'"'"'s head at at least three points of contact for movement with the patient'"'"'s head, the headset being configured for use during scanning and surgery to provide registration with a computer image during surgery,

a sensing unit associated with the headset for monitoring movement of the medical instrument relative to the headset, the medical instrument being non-physically coupled to the headset by the sensing unit, performance of the sensing unit being unaffected by movement of the patient'"'"'s head, and

a plurality of markers arranged in a fixed relationship relative to each other and coupled to the headset for providing reference points on computer images of the head.

2. The system of claim 1 wherein the headset is configured to provide non-invasive registration of the sensing unit relative to a computer image.

3. The system of claim 1 wherein the headset comprises a frame including a nose mount, and first and second ear mounts.

4. The system of claim 1 wherein the headset is configured for attachment to the patient'"'"'s head in a repeatable fashion.

5. The system of claim 4 wherein the headset is resilient.

6. The system of claim 1 wherein the sensing unit further includes a sensor for attachment to the medical instrument.

7. The system of claim 1 wherein the sensing unit comprises an electromagnetic unit.

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

a headset attachable to the patient'"'"'s head at at least three points of contact for movement with the patient'"'"'s head,

a sensing unit associated with the headset for monitoring movement of the medical instrument relative to the headset, performance of the sensing unit being unaffected by movement of the patient'"'"'s head, the headset being configured to provide non-invasive registration of the sensing unit relative to a computer image, and

a plurality of markers arranged in a fixed relationship relative to each other and coupled to the headset for providing reference points on computer images of the head.

9. The system of claim 8 wherein the headset comprises a frame including a nose mount, and first and second ear mounts.

10. The system of claim 8 wherein the headset is configured for attachment to the patient'"'"'s head in a repeatable fashion.

11. The system of claim 10 wherein the headset is resilient.

12. The system of claim 8 wherein the sensing unit further includes a sensor for attachment to the medical instrument.

13. The system of claim 8 wherein the sensing unit comprises an electromagnetic unit.

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

a headset attachable to the patient'"'"'s head at at least three points of contact for movement with the patient'"'"'s head,

a sensing unit associated with the headset for monitoring movement of the medical instrument relative to the headset, the medical instrument being non-physically coupled to the headset by the sensing unit, performance of the sensing unit being unaffected by movement of the patient'"'"'s head, and

a plurality of markers arranged in a fixed relationship relative to each other and coupled to the headset for providing reference points on computer images of the head.

15. The system of claim 14 wherein the headset comprises a frame including a nose mount, and first and second ear mounts.

16. The system of claim 14 wherein the headset is configured for attachment to the patient'"'"'s head in a repeatable fashion.

17. The system of claim 16 wherein the headset is resilient.

18. The system of claim 14 wherein the sensing unit further includes a sensor for attachment to the medical instrument.

19. The system of claim 14 wherein the sensing unit comprises an electromagnetic unit.

20. A headset, comprising:

a frame including a nose mount, and first and second ear mounts,

a plurality of markers arranged in a fixed relationship relative to each other and coupled to the frame for providing reference points on computer images of the head, and

a sensing unit coupled to the frame for monitoring the location of a medical instrument relative to the computer images.

21. The headset of claim 20 wherein the markers are permanently coupled to the frame.

22. The headset of claim 20 wherein the sensing unit is releasably coupled to the frame.

23. The system of claim 20 wherein the headset is configured for attachment to the patient'"'"'s head in a repeatable fashion.

24. The system of claim 23 wherein the headset is resilient.

25. The system of claim 20 wherein the sensing unit comprises an electromagnetic unit.

26. A system for monitoring the position of a medical instrument relative to a patient'"'"'s head, comprising:

a headset including a frame having a nose mount, and first and second ear mounts, the frame providing placement of the headset on a patient'"'"'s head in a repeatable fashion,

a plurality of non-invasive markers arranged in a fixed relationship relative to each other and coupled to the frame for providing reference points on computer images of the head, and

a non-invasive sensing unit coupled to the frame for monitoring the location of a medical instrument relative to the computer images.

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

a headset attachable to the patient'"'"'s head at at least three points of contact for movement with the patient'"'"'s head, the headset being configured for use during scanning and surgery to provide registration with a computer image during surgery, and

a sensing unit associated with the headset for determining position and orientation of the medical instrument relative to the headset, the medical instrument being non-physically coupled to the headset by the sensing unit, performance of the sensing unit being unaffected by movement of the patient'"'"'s head.

28. The system of claim 27 wherein the headset is configured to provide non-invasive registration of the sensing unit relative to a computer image.

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

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

31. The system of claim 27 wherein the headset is configured for attachment to the patient'"'"'s head in a repeatable fashion.

32. The system of claim 31 wherein the headset is resilient.

33. The system of claim 27 wherein the sensing unit further includes a sensor for attachment to the medical instrument.

34. The system of claim 27 wherein the sensing unit comprises an electromagnetic unit.

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

a headset attachable to the patient'"'"'s head at at least three points of contact for movement with the patient'"'"'s head, and

a sensing unit associated with the headset for determining position and orientation of the medical instrument relative to the headset, performance of the sensing unit being unaffected by movement of the patient'"'"'s head, the headset being configured to maintain non-invasive registration of the sensing unit relative to a computer image during surgery.

36. The system of claim 35 further comprising markers coupled to the headset for providing reference points on computer images of the head.

37. The system of claim 35 wherein the headset comprises a frame including a nose mount, and first and second ear mounts.

38. The system of claim 35 wherein the headset is configured for attachment to the patient'"'"'s head in a repeatable fashion.

39. The system of claim 38 wherein the headset is resilient.

40. The system of claim 35 wherein the sensing unit further includes a sensor for attachment to the medical instrument.

41. The system of claim 35 wherein the sensing unit comprises an electromagnetic unit.

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

a headset attachable to the patient'"'"'s head at at least three points of contact for movement with the patient'"'"'s head, the headset including a frame having a nose mount, first and second ear mounts, a first member extending between the ear mounts and a second member extending from the firs member to the nose mount, and

a sensing unit associated with the headset for determining position and orientation of the medical instrument relative to the headset, performance of the sensing unit being unaffected by movement of the patient'"'"'s head, the headset being configured to maintain registration of the sensing unit relative to a computer image during surgery.

43. The system of claim 42 further comprising markers coupled to the headset for providing reference points on computer images of the head.

44. The system of claim 42 wherein the headset is configured for attachment to the patient'"'"'s head in a repeatable fashion.

45. The system of claim 44 wherein the headset is resilient.

46. The system of claim 42 wherein the sensing unit further includes a sensor for attachment to the medical instrument.

47. The system of claim 42 wherein the sensing unit comprises an electromagnetic unit.

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

a headset attachable to the patient'"'"'s head at at least three points of contact for movement with the patient'"'"'s head,

a sensing unit associated with the headset for determining position and orientation of the medical instrument relative to the headset, the medical instrument being non-physically coupled to the headset by the sensing unit, performance of the sensing unit being unaffected by movement of the patient'"'"'s head, and

markers coupled to the headset for providing reference points on computer images of the head.

49. The system of claim 48 wherein the headset comprises a frame including a nose mount, and first and second ear mounts.

50. The system of claim 48 wherein the headset is configured for attachment to the patient'"'"'s head in a repeatable fashion.

51. The system of claim 50 wherein the headset is resilient.

52. The system of claim 48 wherein the sensing unit further includes a sensor for attachment to the medical instrument.

53. The system of claim 48 wherein the sensing unit comprises an electromagnetic unit.

54. A headset, comprising:

a frame including a nose mount, and first and second ear mounts,

markers coupled to the frame for providing reference points on computer images of the head, and

a sensing unit coupled to the frame for determining the position and orientation of a medical instrument relative to the computer images.

55. The headset of claim 54 wherein the markers are permanently coupled to the frame.

56. The headset of claim 54 wherein the sensing unit is releasably coupled to the frame.

57. The system of claim 54 wherein the headset is configured for attachment to the patient'"'"'s head in a repeatable fashion.

58. The system of claim 57 wherein the headset is resilient.

59. The system of claim 54 wherein the sensing unit comprises an electromagnetic unit.

60. A system for monitoring the position of a medical instrument relative to a patient'"'"'s head, comprising:

a headset including a frame having a nose mount, and first and second ear mounts, the frame providing placement of the headset on a patient'"'"'s head in a repeatable fashion,

non-invasive markers coupled to the frame for providing reference points on computer images of the head, and

a non-invasive sensing unit coupled to the frame for determining the position and orientation of a medical instrument relative to the computer images.