Fiducial matching using fiducial implants

• US 6,694,168 B2
• Filed: 12/21/2000
• Issued: 02/17/2004
• Est. Priority Date: 06/22/1998
• Status: Expired due to Term

• Current Assignee: AO Technology AG (Johnson & Johnson)
• Original Assignee: Synthes USA LLC (Johnson & Johnson)
• Inventors: Berger, Roger, Traxel, Doris
• Primary Examiner(s): Bennett, Henry
• Assistant Examiner(s): PATEL, NIHIR B
• Application Number:
  US09/741,198
• Publication Number:
  US 20010010004A1
• Time in Patent Office: 1,153 Days
• Field of Search: 600/407, 600/414, 600/425, 600/426, 600/417, 600/429, 606/53, 606/60, 606/96
• US Class Current: 600/426
• 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 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/3916 Bone tissue
• CPC Class Codes: A61B 2090/3929 Active markers
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 2090/3958 emitting a signal
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers

Abstract

The invention relates to a device and method for referencing reference points of a fiducial implant. The fiducial implant and pointer are configured to removably and reproducibly mate to provide a known spatial relationship between the reference points and the pointer. A position finder is used to determine the position of the pointer in three-dimensional space to allow the position of each reference point in three dimensional space to be determined.

Claims

1. A device for referencing a fiducial implant, comprising:

a fiducial implant for insertion into a portion of a body, the implant having first and second spaced apart reference points and a head, the head and the reference points having a known spatial relationship;

a pointer having a distal pointer end and at least three emitters configured to emit radiation, the distal pointer end and the at least three emitters having a known spatial relationship;

a position finder comprising at least two detectors configured to detect the radiation whereby the position of the at least three emitters in three-dimensional space can be determined; and

wherein the head of the implant and the distal pointer end are configured to removably and reproducibly mate to provide a known spatial relationship between the first and second spaced apart reference points of the fiducial implant and the distal pointer end to allow the position of the first and second spaced apart reference points in three dimensional space to be determined.

2. The device of claim 1, wherein the body is a bone, and further comprising a processor configured to perform a coordinate transformation to match the position of each reference point in three-dimensional space with a corresponding position of the respective reference point in a stored image of the bone.

3. The device of claim 2, further comprising at least a second fiducial implant for insertion in the bone, the second implant having a head and at least third and fourth reference points, wherein the head of the second implant and the distal pointer end are configured to removably and reproducibly mate to provide a known spatial relationship between the third and fourth reference points and the distal pointer end to allow the position of the third and fourth reference points in three dimensional space to be determined.

4. The device of claim 3, wherein the processor is configured to match the positions in three-dimensional space of the third and fourth reference points with the positions of the respective reference points in the stored image of the bone and further wherein the processor is configured to perform a coordinate transformation whereby the position of a selected point on the bone can be matched with the corresponding position of the selected point in the image of the bone.

5. The device of claim 1, wherein the head of the fiducial implant comprises a cavity and the distal pointer end of the pointer comprises a pin configured to be received within the cavity to provide the known spatial relationship between the reference points and the first end of the pointer.

6. The device of claim 5, wherein the distal pointer end of the pointer comprises a shoulder adjoining the pin, the shoulder having a diameter larger than a diameter of the pin and being configured to abut the head of the implant when the pin is received within the cavity.

7. The device of claim 6, wherein the fiducial implant is a fiducial screw and the pointer can be used to screw in or screw out the fiducial screw when the pin is received within the cavity.

8. The device of claim 1, wherein the radiation comprises electromagnetic radiation or acoustic waves.

9. The device of claim 1, wherein the fiducial implant and pointer are arranged along a longitudinal axis and the at least three emitters are arranged in a plane perpendicular the longitudinal axis.

21. The device of claim 1, wherein the head of the fiducial implant is one of the first and second spaced apart reference points of the fiducial implant.

10. A method for determining a spatial relationship between reference points associated with a body, comprising:

inserting at least two fiducial implants in the body, each fiducial implant providing at least two spaced apart reference points; and

determining the position in three-dimensional space of the at least two spaced apart reference points of each of the at least two fiducial implants and determining the spatial relationship between the spaced apart reference points of the at least two fiducial implants.

11. The method of claim 10, wherein the body is a bone.

12. The method of claim 11, further comprising obtaining at least one image showing the bone and at least two of the inserted fiducial implants.

13. The method of claim 12, further comprising performing a coordinate transformation to match the positions of the reference points in three-dimensional space with corresponding positions of the reference points in the image.

14. The method of claim 10, wherein the step of determining the position comprises:

providing a pointer having a distal end and at least three emitters configured to emit radiation, the distal end and the at least three emitters having a known spatial relationship;

associating the distal end with one of the fiducial implants to removably and reproducibly provide a known spatial relationship between the reference points and the distal end;

detecting the radiation to determine the position of the at least three emitters in three-dimensional space to allow the position of each reference point in three dimensional space to be determined; and

repeating the associating step for each of the fiducial implants to be referenced.

15. The method of claim 10, wherein the image is a digitally recorded computer three-dimensional computer tomogram.

24. The method of claim 11, wherein at least one of the fiducial implants is a screw and the step of inserting comprises screwing the at least one screw into the bone.

16. A method for determining a spatial relationship between reference points associated with a body, comprising:

inserting at least one fiducial implant into the body, the fiducial implant having at least two spaced apart reference points;

associating with the fiducial implant a pointer having at least three emitters configured to emit radiation, wherein the at least three emitters have a known spatial relationship and the fiducial implant and pointer are oriented along a longitudinal axis; and

determining the position in three-dimensional space of the at least two spaced apart reference points of the implant associated with the pointer.

17. The method of claim 16, wherein the pointer has a distal end and the method comprises:

associating the distal end with one of the fiducial implants to removably and reproducibly provide a known spatial relationship between the spaced apart reference points of the implant associated with the distal end and the distal end;

detecting the radiation to determine the position of the at least three emitters in three-dimensional space to allow the position of each spaced apart reference point of the implant associated with the distal end to be determined in three dimensional space; and

repeating the associating step for each of the fiducial implants to be referenced.

18. The method of claim 16, wherein the body is a bone.

19. The method of claim 18, further comprising obtaining at least one image showing the bone and at least two of the inserted fiducial implants.

20. The method of claim 19, further comprising performing a coordinate transformation to match the positions of the reference points in three-dimensional space with corresponding positions of the reference points in the image.

25. The method of claim 16, wherein the body is a bone and at least one of the fiducial implants is a screw and the step of inserting comprises screwing the at least one screw into the bone.

22. A device for referencing a fiducial implant for insertion into a portion of a body, the implant having first and second spaced apart reference points and a head, the head and the reference points having a known spatial relationship, the device comprising:

a pointer having a distal pointer end and at least three emitters configured to emit radiation, the distal pointer end and the at least three emitters having a known spatial relationship;

a position finder comprising at least two detectors configured to detect the radiation whereby the position of the at least three emitters in three-dimensional space can be determined; and

wherein the head of the implant and the distal pointer end are configured to removably and reproducibly mate to provide a known spatial relationship between the first and second spaced apart reference points of the fiducial implant and the distal pointer end to allow the position of the first and second spaced apart reference points in three dimensional space to be determined.

23. The device of claim 22, wherein the implant is a screw configured to be screwed into a bone.