Navigational guidance via computer-assisted fluoroscopic imaging
First Claim
Patent Images
1. A system for realigning a first bone segment with a second bone segment in a patient comprising:
- a first tracking marker attached to the first bone segment;
a second tracking marker attached to the second bone segment;
a tracking sensor for detecting the relative position, in three-dimensional space, of the first and second tracking markers;
a position examining portion for examining position information while acquiring image data and marking the image data as erroneous if a tracking target associated with an image acquisition system moves relative to the first tracking marker, the second tracking marker, or both the first and the second tracking markers;
a delineating portion for delineating the images of the first and second bone segments in an image and for, when the second bone segment is moved in the patient, correspondingly moving the delineated second bone segment superimposed on the image; and
a display coupled to the computer for displaying the image overlaid with representations of the delineated first and second bone segments;
wherein the first bone segment and the second bone segment are distinct complete bone members that are separate vertebrae.
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Abstract
Digital x-ray images taken before a surgical procedure by a fluoroscopic C-arm imager are displayed by a computer and overlaid with graphical representations of instruments being used in the operating room. The graphical representations are updated in real-time to correspond to movement of the instruments in the operating room. A number of different techniques are described that aid the physician in planning and carrying out the surgical procedure.
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Citations
23 Claims
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1. A system for realigning a first bone segment with a second bone segment in a patient comprising:
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a first tracking marker attached to the first bone segment; a second tracking marker attached to the second bone segment; a tracking sensor for detecting the relative position, in three-dimensional space, of the first and second tracking markers; a position examining portion for examining position information while acquiring image data and marking the image data as erroneous if a tracking target associated with an image acquisition system moves relative to the first tracking marker, the second tracking marker, or both the first and the second tracking markers; a delineating portion for delineating the images of the first and second bone segments in an image and for, when the second bone segment is moved in the patient, correspondingly moving the delineated second bone segment superimposed on the image; and a display coupled to the computer for displaying the image overlaid with representations of the delineated first and second bone segments; wherein the first bone segment and the second bone segment are distinct complete bone members that are separate vertebrae. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for re-aligning a first bone segment with a second bone segment in a patient comprising:
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attaching a first tracking marker to the first bone segment; attaching a second tracking marker to the second bone segment; acquiring an image of the first bone segment and the second bone segment after attaching the first tracking marker to the first bone segment and the second tracking marker to the second bone segment; delineating the acquired image of the first and second bone segments in an image; examining position information while acquiring the image data and marking the acquired image data as erroneous if a tracking target associated with an image acquisition system moves relative to the attached first tracking marker, the attached second tracking marker, or both the attached first and the second tracking markers; detecting a relative position of the first and second bone segments in the patient using the first and second tracking markers; selecting the first tracking marker to be a fixed reference frame marker; selecting the second tracking marker to be a dynamic reference marker; moving the second bone segment having the dynamic reference marker relative to the first bone segment, where the first bone segment is substantially fixed in a location; moving the delineated second bone segment superimposed on the image when the second bone segment moves relative to the first bone segment; displaying the image overlaid with representations of the delineated first and second bone segments. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
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16. A system for realigning a first broken bone segment with a second broken bone segment in a patient comprising:
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means for attaching a first tracking marker to the first bone segment; means for attaching a second tracking marker to the second bone segment; means for acquiring an image data of the first bone segment and the second bone segment after attaching the first tracking marker to the first bone segment and the second tracking marker to the second bone segment; means for examining position information while acquiring image data and marking the image data as erroneous if the means for acquiring the image data moves relative to the first tracking marker, the second tracking marker, or both the first and the second tracking markers; means for delineating boundaries of the first and second bone segments in the image; means for detecting the relative position of the first and second bone segments in the patient using the first and second tracking markers; means for correspondingly moving the delineated boundary of the second bone segment overlaid on the image when the second bone segment moves relative to the first bone segment; means for displaying the image overlaid with representations of the delineated boundaries of the first and second bone segments; and means for selecting one of the first bone segment and the second bone segment to be a dynamic bone segment and selecting the other of the first bone segment and the second bone segment to be a fixed bone segment. - View Dependent Claims (17, 18, 19, 20, 21)
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22. A method for realigning a first bone segment with a second bone segment in a patient comprising:
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selecting a first vertebra and a second vertebra; attaching a first tracking marker to the first vertebra; attaching a second tracking marker to the second vertebra; acquiring a x-ray image of the first vertebra, the second vertebra, or combinations thereof; examining position information of an image acquisition system while acquiring the x-ray image and marking an image as erroneous if a tracking target associated with the image acquisition system moves relative to the first tracking marker, second tracking marker, or both the first and the second tracking marker; delineating images of the first vertebra and the second vertebra in the acquired x-ray image, wherein delineating images includes determining edges of the first vertebra and the second vertebra and providing a representation of the determined edges; tracking the first tracking marker and second tracking marker; detecting a relative position of the first vertebra and the second vertebra in the patient via the tracking; corresponding the delineated images with the acquired x-ray image; displaying the acquired x-ray image overlaid with the representations; and moving at least one of the delineated first vertebra representation, the delineated second vertebra representation, or combinations thereof on a display overlaid on the acquired x-ray image when either of the first vertebra, the second vertebra, or combinations thereof moves relative to the other of the first vertebra the second vertebra, or combinations thereof. - View Dependent Claims (23)
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Specification