Method and device for instrument, bone segment, tissue and organ navigation

• US 7,079,885 B2
• Filed: 12/13/2000
• Issued: 07/18/2006
• Est. Priority Date: 12/13/1999
• Status: Expired due to Term

• Current Assignee: LB Medical GmbH
• Original Assignee: LB Medical GmbH
• Inventors: Marmulla, Ruediger, Lueth, Tim
• Primary Examiner(s): Robinson, Daniel
• Application Number:
  US10/149,721
• Publication Number:
  US 20020183608A1
• Time in Patent Office: 2,043 Days
• Field of Search: 600/429, 600/428, 600/427, 600/426, 600/425, 600/417, 600/130
• US Class Current: 600/429
• CPC Class Codes: A61B 2017/306 holding by means of suction
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/3929 Active markers
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 2090/3979 infrared
• 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 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61B 90/96 using barcodes

Abstract

The invention relates to a method and device for referencing between a data set, which describes geometrically the spatial model of a body, and the real physical environment in which the body is placed. A three-dimensional position reference body is used on the real body. The position reference body has one or more elementary bodies or markers whose 3-dimensional position can be detected with sensors and which define a fixed geometric reference with respect to the center of gravity of the body or to other body reference volumes. For registration, the position reference body and/or its elementary bodies are correlated in the data model and in the physical world.

Claims

1. A method for instrument and bone segment as well as tissue and organ navigation, comprising the steps of:

detecting position data of position reference bodies arranged on bones, tissue or organs and contour data and/or surface data of geometric figures arranged on or spatially correlated with the position reference bodies, and mathematically processing the data in such a way that the position data and the contour and/or surface data can be represented in a common coordinate system.

2. The method according to claim 1, wherein the position reference bodies define a fixed geometric reference relative to the center of gravity of the body or other body reference volumes and that for the purpose of registration, the position reference body or its elementary bodies are associated with each other in a data model and in the physical world.

3. A device for instrument and bone segment as well as tissue and organ navigation, comprising

a 3-D marker position detection unit for detecting signals from 3-D markers, the 3-D marker position detection unit being coupled to an optical 3-D scanner or radar unit for detecting surfaces;

and a geometric figure arrangement being one or both of at least one geometric figures connected with each of said 3-D markers or at least one 3-D markers shaped as a geometric figures, wherein the geometric figure is detectrable by the 3-D scanner, thereby allowing a determination of the coordinates of the 3-D markers on the display and processing unit.

4. The device according to claim 3, wherein the display and processing unit

enables referencing between an operating site and a patient data set through a computational surface fit and

enables referencing between data of the 3-D position detection unit and data of the 3-D scanner based on the geometric figure arrangement.

5. The device according to claim 3, further comprising second 3-D markers for application on a bone segment of a patient or on an instrument for enabling a bone segment navigation or instrument navigation.

6. The device according to claim 3, wherein the geometric figures are applied to or on a frame connecting a plurality of 3-D markers.

7. The device according to claim 3, wherein a base, on which a 3-D marker is placed, is provided as the geometric figure for determining coordinates of the 3-D markers on the display and processing unit from 3-D scanner measurement data.

8. The device according to claim 6, wherein the frame forms the geometric figure for determining coordinates of the 3-D markers on the display and processing unit from 3-D scanner (5) measurement data.

9. The device according to claim 3, wherein at least one of said geometric figures is formed as one chosen from the group consisting of a recess/sulcus, a raised portion/crista (7b) and a sphere.

10. The device according to claim 3, wherein at least one of said geometric figures is color-coded or formed as a bar code.

11. The device according to claim 3, wherein at least two of the geometric figures are different from each other.

12. The device according to claim 3, wherein the coupling between the 3-D marker position detection unit and the 3-D scanner or the radar unit is a fixed connection.

13. The device according to claim 3, wherein the coupling between the 3-D marker position detection unit and the 3-D scanner or the radar unit is a connection via a coordinate measuring arm.

14. The device according to claim 5, wherein the 3-D scanner is not rigidly coupled with the position detection unit, but remains mobile with respect to the 3-D marker position detection unit and is itself provided with the second 3-D markers so as to be able to be registered by the 3-D marker position detection unit.

15. The device according to claim 14, wherein the 3-D scanner is implemented as a hand-held 3-D scanner.

16. The device according to claim 3, wherein the 3-D scanner and the position detection unit use the same receiver components for detecting position information and 3-D information.

17. The device according to claim 16, wherein the 3-D scanner and the position detection unit use the same transmitter components for detecting position information and 3-D information, and/or process the same physical transmitter waves.