Method for navigating in the interior of the body using three-dimensionally visualized structures

• US 7,167,738 B2
• Filed: 07/31/2001
• Issued: 01/23/2007
• Est. Priority Date: 08/01/2000
• Status: Active Grant

• Current Assignee: Stryker European Operations Holdings, LLC (Stryker Corporation)
• Original Assignee: Stryker Leibinger GmbH & Co. KG (Stryker Corporation)
• Inventors: Roth, Michael, de la Barrera, Jose, Schweikard, Achim, Doetter, Manfred
• Primary Examiner(s): Jaworski; Francis J.
• Application Number:
  US10/089,357
• Publication Number:
  US 20040082849A1
• Time in Patent Office: 2,002 Days
• Field of Search: 600/407, 600410-411, 600/425, 600/427, 378/4, 378/11, 378/21, 382/131, 382/174
• US Class Current: 600/407
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• 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 2034/2068 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 2090/367 creating a 3D dataset from 2D images using position information
• 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 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: G06T 15/20 Perspective computation
• CPC Class Codes: G06T 19/003 Navigation within 3D models or images
• CPC Class Codes: G06T 2207/10088 Magnetic resonance imaging [MRI]
• CPC Class Codes: G06T 2207/10112 Digital tomosynthesis [DTS]
• CPC Class Codes: G06T 2207/30008 Bone
• CPC Class Codes: G06T 2210/41 Medical
• CPC Class Codes: G06T 7/564 from contours
• CPC Class Codes: G06T 7/593 from stereo images

Abstract

A method is described for navigating in the interior of the body using three-dimensionally visualized structures. In a first step of the method, at least two two-dimensional images of the same anatomical object are provided from different perspectives, and also items of information that make it possible to draw conclusions about the respective spatial position of an imaging system relative to the anatomical object. The projections of a geometrical structure to be visualized are then created in every two-dimensional image, wherein a geometrical structure to be visualized is created in each two-dimensional image, wherein the geometrical structure to be visualized is different from the anatomical object. A cone surface is then generated in space for each image wherein the spatial positions of the cone vertex and cone directrix are determined from the respective spatial position of the imaging system and the shape of the cone directrix is determined from the shape of the projection of the geometrical structure to be visualized on the image. Finally, a spatial intersection of the individual cone surfaces is formed to determine the geometrical structure and the geometrical structure determined and/or an intersection of a plurality of geometrical structures determined are/is represented and the representation is used for navigation.

Claims

1. Method for navigating in the interior of the body using three-dimensionally visualized structures, comprising the following steps:

providing at least two two-dimensional images (50, 50′

) of the same anatomical object (12) from different perspectives and also of information which makes it possible to draw a conclusion about the respective spatial position of an imaging system (26) relative to the anatomical object (12);

defining a projection (76, 76′

, 78, 78′

) of a geometrical structure (72, 80, 82) to be visualized or a part thereof in each two-dimensional image, wherein the geometrical structure (72, 80, 82) to be visualized is different from the anatomical object (12);

generating a conical surface (40, 40′

) in space for every image (50, 50′

), wherein the spatial positions of cone vertex (46, 46′

) and cone directrix are determined from the respective spatial position of the imaging system (26) and the shape of the cone directrix is determined from the shape of the projection (76, 76′

, 78, 78′

) of the geometrical structure (72, 80, 82) to be visualized;

forming a spatial intersection of the individual conical surfaces (40, 40′

) to determine the geometrical structure (72, 80, 82); and

displaying the geometrical structure (72, 80, 82) determined and/or an intersection (74) of a plurality of geometrical structures (72, 80, 82) determined and using the representation for navigation.

2. Method according to claim 1, characterized in that the created projection of the geometrical structure (72, 80, 82) is a point, a straight line (76, 76′

), a circular segment (78, 78′

) or another structure having the form of a line.

3. Method according to claim 1 or 2, characterized in that the geometrical structure to be visualized is a point (72), a straight line (82), a plane, a sphere (80) or another two-dimensional or three-dimensional structure.

4. Method according to claim 1, 2 or 3, characterized in that the two-dimensional images (50, 50′

) are generated by X-ray methods and/or magnetoresonance methods.

5. Method according to one of claims 1 to 4, characterized in that the spatial intersection is revised using at least one further data set of the anatomical object (12).

6. Method according to claim 5, characterized in that a two-dimensional or three-dimensional image or a generic model of the anatomical object (12) is used as further data set.

7. Method according to one of claims 1 to 6, characterized in that suitable perspectives are determined for further two-dimensional images by inverse calculations.

8. Method according to one of claims 1 to 7, characterized in that, additionally, the spatial position of an instrument (14) to be navigated is shown graphically relative to the geometrical structure (72, 80, 82) or to the intersection (74).

9. Method according to one of claims 1 to 8, characterized in that the effective axis (60, 60′

, 60″

, 60′

″

) of a surgical instrument (14) is shown graphically.

10. Method according to one of claims 1 to 9, characterized in that the individual two-dimensional images (50, 50′

, 50″

, 50′

″

) are shown graphically taking account of the positions (46, 46′

) from which the images were taken.

11. Method according to one of claims 1 to 10, characterized in that a navigation aid in the form of a tunnel structure (92) is shown graphically.

12. Method according to claim 11, characterized in that, in addition to the navigation aid (92), a separate direction indicator (96) is shown graphically for the navigation of the surgical instrument (14).

13. Method for navigating in the interior of the body using three-dimensionally visualized structures, comprising the following steps:

providing at least two two-dimensional X-ray images (50, 50′

) of the same bone (12) from different perspectives, of information that makes it possible to draw conclusions about the respective spatial position of an X-ray imaging system (26) relative to the bone (12), and also a magnetoresonance data set of the bone (12);

defining a projection (76, 76′

, 78, 78′

) of a surface or of an outline of the spongiosa of the bone (12) in every two-dimensional X-ray image;

generating a conical surface (40, 40′

) in space for every image (50, 50′

), wherein the spatial positions of cone vertex (46, 46′

) and cone directrix are determined from the spatial position of the imaging system (26) and the shape of the cone directrix is determined from the shape of the defined projection;

forming a spatial intersection of the individual cone surfaces (40, 40′

) to determine a first model of the spongiosa;

determining a second model of the spongiosa from the magnetoresonance data set;

generating a representation of the bone (12) by combining the two models and use of the representation for the purpose of navigation.