Neuro-navigation system

• US 6,859,660 B2
• Filed: 02/26/2002
• Issued: 02/22/2005
• Est. Priority Date: 09/28/1995
• Status: Expired due to Term

• Current Assignee: Brainlab AG
• Original Assignee: Brainlab AG
• Inventors: Vilsmeier, Stefan
• Primary Examiner(s): Jaworski, Francis J.
• Application Number:
  US10/083,041
• Publication Number:
  US 20020095081A1
• Time in Patent Office: 1,092 Days
• Field of Search: 702/94, 702/95, 600407-437, 356614-615, 356/620, 356622-624
• US Class Current: 600/407
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable
• 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 2034/2063 Acoustic tracking systems, e.g. using ultrasound
• 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 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/3925 ultrasonic
• CPC Class Codes: A61B 2090/397 electromagnetic other than visible, e.g. microwave
• 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 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/4405 the apparatus being movable or portable, e.g. handheld or mounted on a trolley
• CPC Class Codes: A61B 6/583 using calibration phantoms
• CPC Class Codes: A61B 8/0808 for diagnosis of the brain
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/20 Surgical microscopes characterised by non-optical aspects
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: G02B 21/32 Micromanipulators structurally combined with microscopes

Abstract

The invention relates to a Neuro-navigation system comprising a reflector referencing system including passive reflectors and a marker system with markers or landmarks wherein the reflectors as well as the markers as regards their shape, size and material selection as well as their arrangement or attachment on the parts of the body to be operatively treated and on the surgical instruments are configured so that mapping their locations is substantially facilitated or is able to take place more accurately positioned by a computer/camera unit having a graphic display terminal as well as the operative treatment with the aid of this unit. Optionally a surgical microscope, an ultrasonic diagnostic system as well as a calibration procedure may be integrated in the Neuro-navigation system in accordance with the invention.

Claims

1. A calibration process for mapping the angular and spacing positions of referencing cameras, comprising

positioning a calibration tool having two reflectors secured at predetermined positions at a known distance away from each other in the viewing range of said cameras,

moving said calibration tool three-dimensionally in said viewing range,

mapping several intermediate positions of said calibration tool by said referencing cameras and converting the resulting data by means of a computer unit individually into three-dimensional coordinates of the reflectors or calibration tool, and

computing said angular and spacing positions of said cameras from said three-dimensional coordinates of said reflectors or calibration tool by means of said computer unit.

2. The process set forth in claim 1, further comprising projecting on a graphic display terminal a projected relative position of said reflectors during said three-dimensional movement of said calibration tool.

3. The process set forth in claim 1, wherein a pointer provided with said removable reflectors is used as said calibration tool.

4. The process set forth in claim 1, wherein a calibration rod provided with said removable reflectors is used as said calibration tool.

5. A surgical microscope control system comprising:

a microscope stand having a base, a microscope mounted to the stand for three-dimensional movement, a source of infrared radiation, at least two mapping infrared cameras, a computer unit connected to said cameras, a graphic display terminal connected to said computer unit, and at least three infrared radiation reflectors removably attached to said microscope in a characteristic arrangement, said microscope having optics and being adapted to focus the optics of said microscope on a point having known three-dimensional coordinates and provide focusing data representative of the coordinates of the point to the computer unit, said computer unit being adapted to receive said focal data from said microscope and to relate said focal data to the three-dimensional position of said microscope obtained by means of said reflectors and said cameras.

6. The control system set forth in claim 5, wherein one or more of the following control sequences are implemented by the computer unit:

a) automatically tracking and focusing an instrument tip, the position of which is known to said computer unit via the use of infrared radiation reflectors and said cameras;

b) automatically focusing a memorized or predetermined point of operative treatment; and

c) focusing a point of operative treatment from various three-dimensional and angular positions of said microscope.