Single-camera tracking of an object

• US 7,567,697 B2
• Filed: 04/13/2005
• Issued: 07/28/2009
• Est. Priority Date: 10/23/1998
• Status: Expired due to Fees

• Current Assignee: Varian Medical Systems Incorporated (Siemens AG)
• Original Assignee: Varian Medical Systems Incorporated (Siemens AG)
• Inventors: Mostafavi, Hassan
• Primary Examiner(s): Johns; Andrew W
• Application Number:
  US11/105,884
• Publication Number:
  US 20050201613A1
• Time in Patent Office: 1,567 Days
• Field of Search: 382/128, 382/131, 382/154, 382/294, 128/922
• US Class Current: 382/131
• CPC Class Codes: A61B 2090/371 with simultaneous use of two cameras
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 5/11 Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb for measuring pulse A61B5/02 ;A61B5/1038 takes precedence; motion detection to correct for motion artifacts in physiological signals A61B5/721
• CPC Class Codes: A61B 5/1114 Tracking parts of the body
• CPC Class Codes: A61B 5/1127 using markers
• CPC Class Codes: A61B 5/4818 Sleep apnoea
• CPC Class Codes: A61B 5/7289 Retrospective gating, i.e. associating measured signals or images with a physiological event after the actual measurement or image acquisition, e.g. by simultaneously recording an additional physiological signal during the measurement or image acquisition
• CPC Class Codes: A61B 6/463 characterised by displaying multiple images or images and diagnostic data on one display
• CPC Class Codes: A61B 6/5247 combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
• CPC Class Codes: A61B 6/541 involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 8/4263 using sensors not mounted on the probe, e.g. mounted on an external reference frame
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61N 2005/1059 using cameras imaging the patient
• CPC Class Codes: A61N 5/1048 Monitoring, verifying, controlling systems and methods
• CPC Class Codes: A61N 5/1049 for verifying the position of the patient with respect to the radiation beam
• CPC Class Codes: A61N 5/1064 for adjusting radiation treatment in response to monitoring
• CPC Class Codes: G01C 11/02 Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 3/7864 T.V. type tracking systems
• CPC Class Codes: G01S 5/163 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49
• CPC Class Codes: G06T 2207/30196 : Human being; Person
• CPC Class Codes: G06T 2207/30204 : Marker
• CPC Class Codes: G06T 7/73 : using feature-based methods

Abstract

A method and system for determining the position and orientation of an object is disclosed. A set of markers attached or associated with the object is optically tracked and geometric translation is performed to use the coordinates of the set of markers to determine the location and orientation of their associated object.

Claims

1. A method for determining a position of an object, comprising:

performing an imaging procedure to acquire imaging data for an internal region of a patient;

determining a location of at least a portion of the internal region in reference to a first coordinate system;

optically determining a position of the object in a second coordinate system; and

determining a position of the object relative to the location of the at least the portion of the internal region in the first coordinate system.

2. The method of claim 1, wherein the imaging procedure is selected from the group consisting of a CT procedure, a MRI procedure, and a PET procedure.

3. The method of claim 1, wherein the act of optically determining the position of the object in the second coordinate system comprises:

viewing a plurality of markers with at least one camera, the plurality of markers fixed relative to the object;

generating image data for the plurality of markers; and

determining the position of the object in the second coordinate system based on the image data for the plurality of markers.

4. The method of claim 1, further comprising:

moving the patient between the step of performing the imaging procedure on the patient and the step of determining the position of the object in the second coordinate system; and

repositioning the patient prior to determining the position of the object to match patient position determined at completion of the step of performing the imaging procedure.

5. The method of claim 1, wherein the imaging procedure is performed to acquire the imaging data in substantially real-time.

6. The method of claim 1, wherein the object comprises a medical instrument.

7. The method of claim 1, wherein the object is a first portion of a device, and wherein the position of the object in the second coordinate system is determined by:

identifying markers that are coupled to a second portion of the device;

determining a position and an orientation associated with the identified markers; and

determining the position of the object in the second coordinate system based on the determined position and orientation that are associated with the identified markers.

8. The method of claim 1, wherein the object comprises a device that is moveable relative to the patient during use of the device.

9. The method of claim 1, wherein the object comprises a device having a first portion for insertion into the patient and a second portion that is outside the patient, the second portion being viewable by a camera.

10. A computer program product that includes a medium usable by a processor, the medium comprising a set of instructions which, when executed by the processor, causes a process to be performed, the process comprising:

receiving imaging data for an internal region of a patient, wherein the imaging data is generated using an imaging procedure;

determining a location of at least a portion of the internal region in reference to a first coordinate system;

determining a position of the object in a second coordinate system using information from an optical device; and

determining a position of the object relative to the location of the at least the portion of the internal region in the first coordinate system.

11. The computer program product of claim 10, wherein the imaging procedure is selected from the group consisting of a CT procedure, a MRI procedure, and a PET procedure.

12. The computer program product of claim 10, wherein the optical device comprises at least one camera, and wherein the act of determining the position of the object in the second coordinate system comprises:

receiving image data for a plurality of markers that are fixed relative to the object, the image data for the plurality of markers generated using the at least one camera; and

determining the position of the object in the second coordinate system based on the image data for the plurality of markers.

13. The computer program product of claim 10, wherein the imaging data for the internal region is received in substantially real-time.

14. The computer program product of claim 10, wherein the object comprises a medical instrument.

15. The computer program product of claim 10, wherein the object is a first portion of a device, and wherein the position of the object is determined by:

identifying markers that are coupled to a second portion of the device;

determining a position and an orientation associated with the identified markers; and

determining the position of the object based on the determined position and orientation that are associated with the identified markers.

16. The computer program product of claim 10, wherein the object comprises a device that is moveable relative to the patient during use of the device.

17. The computer program product of claim 10, wherein the object comprises a device having a first portion for insertion into the patient and a second portion that is outside the patient, the second portion being viewable by a camera.

18. A system for determining a position of an object, comprising:

means for acquiring imaging data for an internal region of a patient;

means for determining a location of at least a portion of the internal region in reference to a first coordinate system;

means for determining a position of the object in a second coordinate system; and

means for determining a position of the object relative to the location of the at least the portion of the internal region in the first coordinate system.

19. The system of claim 18, wherein the means for acquiring the imaging data is configured to perform an imaging procedure selected from the group consisting of a CT procedure, a MRI procedure, and a PET procedure.

20. The system of claim 18, wherein the means for determining the position of the object in the second coordinate system comprises:

a camera for viewing a plurality of markers, the plurality of markers fixed relative to the object, wherein the camera is also for generating image data for the plurality of markers; and

a processor for determining the position of the object in the second coordinate system based on the image data for the plurality of markers.

21. The system of claim 18, wherein the means for obtaining the imaging data for the internal region is configured to acquire the imaging data in substantially real-time.

22. The system of claim 18, wherein the object comprises a medical instrument.

23. The system of claim 18, wherein the object is a first portion of a device, and wherein the means for determining the position of the object in the second coordinate system is configured for:

identifying markers that are coupled to a second portion of the device;

determining a position and an orientation associated with the identified markers; and

determining the position of the object based on the determined position and orientation that are associated with the identified markers.

24. The system of claim 18, wherein the object comprises a device that is moveable relative to the patient during use of the device.

25. The system of claim 18, wherein the object comprises a device having a first portion for insertion into the patient and a second portion that is outside the patient, the second portion being viewable by a camera.