Device and method for navigation

• US 6,772,002 B2
• Filed: 09/12/2001
• Issued: 08/03/2004
• Est. Priority Date: 11/24/2000
• Status: Expired due to Term

• Current Assignee: Brainlab AG
• Original Assignee: Brainlab AG
• Inventors: Schmidt, Robert, Dombay, Akos, Hartlep, Andreas
• Primary Examiner(s): Sykes, Angela D.
• Assistant Examiner(s): Jung, William C.
• Application Number:
  US09/954,476
• Publication Number:
  US 20020087062A1
• Time in Patent Office: 1,056 Days
• Field of Search: 600/407-482
• US Class Current: 600/429
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• 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 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

The present invention relates to a method for determining the position of at least one object in a navigation system of co-ordinates, wherein: reference points and/or markers (4) are connected in a defined positional relationship to the object; the position of the object is detected in relation to a detection system of co-ordinates; the position of the reference points (4) is detected in relation to the detection system of co-ordinates; the position of the reference points is detected in relation to a navigation system of co-ordinates; and the position of the object is determined in the navigation system of co-ordinates, from the position of the at least one reference point (4) in the detection system of co-ordinates; as well as to a device for determining the position of an object in a navigation system of co-ordinates.

Claims

1. A method for determining the position of at least one object in a navigation system of coordinates, said method comprising the steps of:

a) fixing at least one reference marker in relation to said object in a defined positional relationship;

b) using a detection system to detect the said position of said object in a detection system of coordinates;

c) detecting the position of said at least one reference marker in relation to said detection system of coordinates;

d) using a navigation system to detect the position of said at least one reference marker in a navigation system of coordinates; and

e) determining the position of said object in said navigation system of coordinates from the detected position of said at least one reference marker in said navigation system of coordinates and from the detected position of said object relative to said at least one reference marker, as determined in steps b) and c).

2. The method as set forth in claim 1, wherein said position of said object is continuously in said navigation system of coordinates is continuously determined by said navigation system.

3. The method as set forth in claim 1, wherein anatomical image data are detected, before the position of said object and/or of said at least one reference marker is detected by said detection system in said detection system of coordinates in a desired image resolution.

4. The method as set forth in claim 1, wherein an area is specified in said navigation system of co-ordinates in relation to said object, within which area data are detected by said detection system in said detection system of coordinates.

5. The method as set forth in claim 1, wherein said position is detected by said detection system in said detection system of coordinates by using an imaging method.

6. The method as set forth in claim 1, wherein said position is detected by said navigation system in said navigation system of coordinates by using infrared, sound, ultrasonic or electromagnetic, or radio methods.

7. The method as set forth claim 1, wherein a co-ordinate transformation matrix is determined and used to convert detection coordinates into navigation coordinates.

8. The method as set forth in claim 1, wherein the position of further reference markers, and/or at least one instrument, is detected by said detection and/or said navigation system.

9. A device for determining the position of at least one object in a navigation system of coordinates, comprising:

a) a fixing device which may be arranged in a defined positional relationship on the object;

b) a detection system for detecting the relative position of said object and of at least one reference marker fixed to said fixing device in a defined positional relationship to said object, in a detection system of coordinates;

c) a navigation system for detecting the position of said at least one reference marker in a navigation system of coordinates; and

d) a data processing device for determining said position of said object in said navigation system of coordinates from the detected position of said object relative to said at least one reference marker in said detection system of coordinates and from the detected position of said at least one reference marker in said navigation system of coordinates.

10. The device as set forth in claim 9, wherein said navigation system is separate from said detection system.

11. The device as set forth in claim 9, wherein said at least one reference marker is detachably secured to said fixing device.

12. The device as set forth in claim 9, wherein said at least one reference marker contains a substance which is detectable in a magnetic resonance method and/or in a computer tomography method, and/or comprises a coating which is clearly reflected or visible in a specified spectral range.

13. The device as set forth in claim 9, wherein at least two said reference markers are provided on said fixing device.

14. The device as set forth in claim 13, wherein all said reference markers are constructed the same.

15. The device as set forth in claim 9, wherein a display device is provided for displaying the detected position of said object in said navigation system of coordinates.

16. The device as set forth in claim 9, wherein said detection system includes a device for for performing a nuclear spin resonance procedure, or a computer tomography procedure, and said navigation system includes a device for the detecting light, radio signals or sonic signals.

17. The device as set forth in claim 9, wherein at least one of said navigation system and said detection system is movable.