Fluoroscopic registration artifact with optical and/or magnetic markers

• US 7,139,418 B2
• Filed: 09/25/2001
• Issued: 11/21/2006
• Est. Priority Date: 09/25/2000
• Status: Expired due to Term

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: Biomet Manufacturing, LLC (Zimmer Biomet Holdings, Inc.), Z-KAT, Inc.
• Inventors: Larocque, Brandon D., Abovitz, Rony A., Santos-Munne, Julio J.
• Primary Examiner(s): Mehta, Bhavesh M.
• Assistant Examiner(s): Kronenthal, Craig W.
• Application Number:
  US09/963,873
• Publication Number:
  US 20030059097A1
• Time in Patent Office: 1,883 Days
• Field of Search: 600/414, 600/426, 382/128, 382/132, 382/294
• US Class Current: 382/132
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• 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 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: G06T 2207/30004 Biomedical image processing
• CPC Class Codes: G06T 7/33 using feature-based methods

Abstract

A registration artifact (10) for use in registering two or more fluoroscopic images includes a plurality of radio opaque spheres (12, 14, 16) and a plurality of trackable markers, such as optical reflectors (20, 22, 24 and 26), mounted to a radio transparent body (11). A tracking system locates the position of registrable artifact using the trackable markers for registering the fluoroscopic images with respect to a known frame of reference.

Claims

1. A method for registering fluoroscopic images comprising:

positioning a registration artifact in a first location, the registration artifact including a plurality of radio-opaque fiducials arranged in a known geometric relationship and a plurality of trackable markers disposed in a known geometric relationship to the fiducials;

capturing a first fluoroscopic image of a patient and the radio-opaque fiducials with the registration artifact in the first location;

determining positions of the trackable markers with respect to a known coordinate frame when the registration artifact is in the first location using a tracking system, the tracking system being separate from the patient and a fluoroscope;

determining positions of the radio-opaque fiducials in the first fluoroscopic image with respect to the known coordinate frame of the determined positions of the trackable markers;

relocating the registration artifact to a second location;

capturing a second fluoroscopic image of the patient and the radio-opaque fiducials with the registration artifact in the second location;

determining positions of the trackable markers with respect to the known coordinate frame when the registration artifact is in the second location using the tracking system;

determining positions of the radio-opaque fiducials in the second fluoroscopic image with respect to the known coordinate frame of the determined positions of the trackable markers;

registering the first and second fluoroscopic images using the positions of the fiducials in each fluoroscopic image and the determined positions, with respect to the known coordinate frame, of the trackable markers.

2. The method of claim 1 wherein the registration artifact for use in registering fluoroscopic images includes:

a plurality of the radio-opaque fiducials carried by a radio-transparent support structure in a known geometric relationship; and

a plurality of the trackable markers depending from the support structure in a known geometric relationship to the fiducials.

3. The method of claim 1, wherein at least one of the first and second locations of the registration artifact is independent of the patient.

4. An image guided surgery system comprising:

a registration artifact, including a plurality of radio-opaque fiducials associated with a radio-transparent body in a known geometric relationship, and a plurality of trackable markers depending from the registration artifact in a known geometric relationship to the fiducials;

a tracking system for determining positions of the trackable markers within a known reference frame, the tracking system being separate from a patient and a fluoroscope; and

a computer in communication with the tracking system for receiving information on the positions of the trackable markers, wherein the computer is programmed to;

register first and second images of the patient and the registration artifact, the registration artifact being disposed in a first location in the first image and a second location in the second image, and

compensate for changes in position of the registration artifact from the first location to the second location when registering the first and second images.

5. The image guided surgery system of claim 4, wherein the trackable markers include an infrared emitting diode (IRED).

6. The image guided surgery system of claim 4, wherein the trackable markers include a reflective sphere to reflect infrared radiation.

7. The image guided surgery system of claim 4, wherein the trackable markers include optically trackable markers.

8. The image guided surgery system of claim 4, wherein at least one of the first and second locations of the registration artifact is independent of the patient.

9. The image guided surgery system of claim 4, further including:

a patient table, the registration artifact including a mounting assembly for mounting the artifact to the table at a selectively adjustable location relative to the patient.

10. The image guided surgery system of claim 9, further including:

a fluoroscope movably mounted relative to the table.

11. The image guided surgery system of claim 9, further including a surgical instrument carrying a plurality of trackable markers.

12. An image guided surgery system comprising,

a registration artifact including a plurality of imageable fiducials arranged in a known geometric pattern and a plurality of trackable markers disposed in a known geometric relationship to the fiducials;

a fluorographic camera which is movably mounted to capture a first fluoroscopic image of a patient and the imageable fiducials with the registration artifact in a first location and a second fluorographic image of the patient and the imageable fiducials with the registration artifact in a second location;

a tracking system which determines positions of the trackable markers with respect to a known coordinate frame, the tracking system being separate from the patient and a fluoroscope; and

,

a computer programmed to;

determine positions of the trackable markers with respect to the known coordinate frame when the artifact is in the first location using an output of the tracking system,

determine positions of the trackable markers with respect to the known coordinate frame when the artifact is in the second location using the output of the tracking system,

determine positions of the imageable markers in the first and second fluorographic images from the determined positions of the trackable markers in the first and second images and the known relationship between the imageable fiducials and the trackable markers, and

registering the first and second fluorographic images.