Endoscopic targeting method and system

• US 6,850,794 B2
• Filed: 09/20/2001
• Issued: 02/01/2005
• Est. Priority Date: 09/23/2000
• Status: Expired due to Term

• Current Assignee: CICAS IP LLC
• Original Assignee: Board of Trustees of the Leland Stanford Junior University (Stanford University)
• Inventors: Shahidi, Ramin
• Primary Examiner(s): IMAM, ALI M
• Application Number:
  US09/957,477
• Publication Number:
  US 20020077544A1
• Time in Patent Office: 1,230 Days
• Field of Search: 600/102, 600/109, 600/117, 600/118, 600/300, 600407-472, 606/130, 73/10.1, 73/17.5, 73/17.9, 73/18.1, 348/130, 128/922, 128/898, 128/916, 356/51, 356/125, 356/143, 356/138, 356/908, 356/909
• US Class Current: 600/427
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• 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 2090/365 augmented reality, i.e. correlating a live optical image with another image
• 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
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras

Abstract

The invention provides a system for enhancing the ability of a surgeon to access a target site within a patient. The system includes a data file containing volumetric scan data of a region of the patient that includes the target site, a display device, and a movable imagining tool for producing on the display device, an image of visible patient structure seen by the tool. A computer in the system operates to (i) determine the position and/or orientation of the tool in the frame of reference of the patient, (ii) identify the scan-data coordinates (either x,y or x,y,z coordinates) of the target site, and (iii) project on the video image on the display device, indicia that indicate the lateral position of the target site with respect to the patient structure imaged on the display device.

Claims

1. A system for enhancing the ability of a surgeon to access a target site within a patient, comprising

a data file containing volumetric scan data of a region of the patient that includes the target site,

a display device,

a movable imagining tool for producing on the display device, an image of visible structure seen by the tool, where the position and/or orientation of the tool is tracked with respect to the patient coordinate system, and

a computer operatively connected to data file and display screen for (i) determining the position and/or orientation of the tool in a patient coordinate system, (ii) identifying the scan-data coordinates of the target site in the patient coordinate system, and (iii) projecting on the video image on the display device, indicia that indicate (a) the direction of the target site, if the target site is outside the patient structure imaged on the display device, and (b) the lateral position of the target site with respect to the patient structure imaged on the display device and the distance between the tool and the target site, if the target site is within the patient structure imaged on the display device.

2. The system of claim 1, wherein the system includes a tracking device for tracking the position and direction of the instrument with respect to patient position.

3. The system of claim 2, wherein said indicia define an area whose center corresponds to the lateral position of the target site, and whose size is related to the distance between the instrument and the target site.

4. The system of claim 3, wherein the size of the area defined by the indicia is calculated by an error function representing the degree uncertainty in patient target site in the imaged structure.

5. The system of claim 1, wherein said computer is operatively connected to a calibration device for receiving information therefrom with respect to the imaging tool'"'"'s field of view, position, direction orientation.

6. The system of claim 1, wherein (i) said imaging tool is an endoscope having an interior channel through which a surgical tool can be manipulated, (ii) the system further includes structure for tracking the position of said surgical tool relative to said imaging device, and (iii) the computer operates to project on the video image on the display device, indicia relating the position of the target site in relation to the tip of said tool.

7. A method for enhancing the ability of a surgeon to access a target site within a patient, comprising

storing in a data file, volumetric scan data of a region of the patient, including a target site within the patient region,

moving an imagining tool for producing on a display device, an image of visible patient structure seen by the tool,

tracking the position of the tool relative to the position of the patient, and

by means of a computer a computer operatively connected to data file and display screen, (i) determining the position and/or orientation of the tool in the frame of reference of the patient, (ii) identifying the scan-data coordinates of the target site, and (iii) projecting on the video image on the display device, indicia that indicate the (a) the direction of the target site, if the target site is outside the patient structure imaged on the display device, and (b) the lateral position of the target site with respect to the patient structure imaged on the display device and the distance between the tool and the target site, if the target site is within the patient structure imaged on the display device.

8. The method of claim 7, wherein said tracking is done by a tracking device for tracking the position and direction of the instrument with respect to patient position.

9. The method of claim 7, wherein said wherein said projecting includes projecting on the video image on the display device, indicia that define an area whose center corresponds to the lateral position of the target site, and whose size is related to the distance between the instrument and the target site.

10. The method of claim 9, wherein the size of the area defined by the indicia is calculated by an error function representing the degree of uncertainty in patient target site in the imaged structure.

11. The method of claim 7, wherein said determining includes calibrating the imaging tool with respect to field of view, position, direction and orientation.

12. The method of claim 7, wherein the imaging tool that is moved is an endoscope having an interior channel through which a surgical tool can be manipulated, and said projecting includes projecting on the video image on the display device, indicia relating the position of the target site in relation to the tip of said tool.