Referencing or registering a patient or a patient body part in a medical navigation system by means of irradiation of light points

• US 6,873,867 B2
• Filed: 04/05/2001
• Issued: 03/29/2005
• Est. Priority Date: 04/05/2000
• Status: Expired due to Term

• Current Assignee: Brainlab AG
• Original Assignee: Brainlab AG
• Inventors: Vilsmeier, Stefan
• Primary Examiner(s): ROBINSON, DANIEL LEON
• Application Number:
  US09/827,253
• Publication Number:
  US 20020002330A1
• Time in Patent Office: 1,454 Days
• Field of Search: 600/415, 600/414, 600/416, 600/417, 600/427, 600/418, 600/429, 600/420, 600/426, 600/421, 600/425, 600/436, 600/431, 436/173, 324/307, 324/308, 324/309, 378/21, 606/130
• US Class Current: 600/415
• CPC Class Codes: A61B 2018/2025 with a pilot laser
• 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 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/3937 Visible markers
• 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 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers

Abstract

A method for referencing a body part in a camera-assisted, medical navigation system including the following steps: manually manipulating a light beamer to sequentially produce a plurality of light marks on a surface of the body part; using a plurality of cameras to scan the surface of the body part, wherein the plurality of cameras detect the plurality of light marks; determining three-dimensional spatial positions for respective sequential light marks; and referencing or registering the body part based on the three dimensional spatial positions of light marks.

Claims

1. A method for referencing or registering a body part in a camera-assisted, medical navigation system comprising the following steps:

manually manipulating a light beamer so as to scan a light beam produced thereby across a surface of the body part to sequentially produce a plurality of light marks on the surface of the body part;

using a plurality of cameras to detect the light marks on the surface of the body part;

determining three-dimensional spatial positions for respective light marks; and

referencing or registering the body part based on the three dimensional spatial positions of light marks.

2. The method as set forth in claim 1, wherein the step of referencing or registering the body part includes assigning a set of image data, previously produced by an imaging technique for said body part, to the referenced or registered body part.

3. The method as set forth in claim 1, wherein the plurality of light marks are produced by a beam of invisible light.

4.The method as set forth in claim 3, wherein said light beam is a laser light beam.

4. The method as set forth in claim 3, wherein a visible light reflection is created on said surface by means of a second beam of visible light, aimed substantially at the same target area as that of said invisible light beam.

7. The method as set forth in claim 1, wherein the position of the light marks are continuously detected and determined until a sufficient number of positional data is obtained for registering the body part.

8. The method as set forth in claim 2, wherein the image data includes at least one of CT, MRI, PET, SPECT, X-ray and ultrasound scan data.

9. The method as set forth in claim 3, wherein the invisible light is infrared light.

5. The method as set forth in claim 5, wherein said second light beam is a visible laser beam.

6. The method as set forth in claim 6, wherein said light beams are generated by two juxtaposed or nested light sources.

10. A method for referencing or registering a patient or a patient body part in a camera-assisted, medical navigation system comprising the following steps:

the patient body part to be referenced is brought into the detecting range of a navigation system assisted by at least two cameras, this navigation system detecting with computer support the three-dimensional, spatial positions of light marks,

light marks are generated on the surface of the part of the body to be referenced by means of a light beam, the three-dimensional position of the light marks being determined by the camera-assisted navigation system,

the three-dimensional position of the surface of the part of the body to be referenced is determined by means of the positional data for the light marks,

wherein either the camera arrangement or said body part to be referenced is moved during referencing so that camera shades are eliminated, a relative movement of said body part being tracked in said navigation system by means of a marker array fixedly positioned relative to said body part.

11. A system for referencing or registering a body part in a medical navigation system, comprising:

a manually manipulated light beamer for producing at least one light beam that can be scanned over the surface of the body part to produce a plurality of sequential light marks on the surface of the body part;

a plurality of cameras that detect the light marks and provide positional data related to respective locations of the light marks; and

a processor operatively cooled to the plurality of cameras for receiving the positional data from the cameras and executing program code

to determine a three-dimensional position in space for respective light marks, and

to reference or register the body part based on the three dimensional position of the light marks.

12. The apparatus as set forth in claim 12, wherein said light beamer produces a beam of invisible light.

13. The apparatus as set forth in claim 13, wherein said light beamer includes a laser light beamer.

14. The apparatus as set forth in claim 13, wherein said light beamer produces a second beam of visible light aimed substantially at said same target area as that of said invisible referencing light beam, whereby a visible light reflection can be generated on said surface.

17. The apparatus as set forth in claim 13, wherein the invisible light is infrared light.

15. The apparatus as set forth in claim 15, wherein said light beamer includes a visible light beamer.

16. The apparatus as set forth in claim 15, wherein the light sources for said beams are unified into a single light source or are two juxtaposed or two nested light sources.

18. A method for referencing or registering a patient or a patient body part in a camera-assisted, medical navigation system comprising the following steps:

the patient body part to be referenced is brought into the detecting range of a navigation system assisted by at least two cameras, this navigation system detecting with computer support the three-dimensional, spatial positions of light marks,

light marks are generated on the surface of the part of the body to be referenced by means of a light beam, the three-dimensional position of the light marks being determined by the camera-assisted navigation system,

the three-dimensional position of the surface of the part of the body to be referenced is determined by means of the positional data for the light marks,

wherein relative movement between said body part to be referenced and said camera arrangement is tracked to eliminate camera shades during referencing through use of a marker array fixedly positioned relative to said body part.