Registration of human anatomy integrated for electromagnetic localization
First Claim
1. A device for use in a system for displaying relative positions of two structures during a procedure on a body, the system including a scanning device for scanning the body to generate a scan image, said device comprising:
- a base having a top side and a bottom side operable to be attached to the body via the bottom side of said base;
a fiducial marker operable to be removably attached to the top side of said base; and
a sensor formed within and as one structure with said base, wherein the fiducial marker is spaced a predetermined distance from the body when the base is attached to the body, the predetermined distance being greater than a slice thickness used for obtaining the scan image creating a barrier that inhibits the fiducial marker from blending with the body in the scan image.
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Accused Products
Abstract
A method for use during a procedure on a body. The method generates a display representing relative positions of two structures during the procedure. The method comprises the steps of storing an image data set in memory, the image data set representing the position of the body based on scans taken of the body prior to the procedure; reading the image data set stored in the memory, the image data set having a plurality of data points in known relation to a plurality of reference points for at least one of the two structures; placing one or more magnetic field sensors in known relation to the reference points of the two structures; generating a magnetic field; detecting the magnetic field with the magnetic field sensors; ascertaining the locations of the sensors based upon the magnetic field detected by the sensors and processing the locations of the sensors to generate a displaced image data set representing the relative position of the two structures during the procedure; and generating a display based on the displaced image data set illustrating the relative position of the two structures during the procedure.
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Citations
52 Claims
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1. A device for use in a system for displaying relative positions of two structures during a procedure on a body, the system including a scanning device for scanning the body to generate a scan image, said device comprising:
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a base having a top side and a bottom side operable to be attached to the body via the bottom side of said base; a fiducial marker operable to be removably attached to the top side of said base; and a sensor formed within and as one structure with said base, wherein the fiducial marker is spaced a predetermined distance from the body when the base is attached to the body, the predetermined distance being greater than a slice thickness used for obtaining the scan image creating a barrier that inhibits the fiducial marker from blending with the body in the scan image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A method for using at least a first fiducial marker and a first sensor during a procedure on a body to generate a display representing relative positions of two structures during the procedure, the method comprising:
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attaching to the body a first base having a top side and a bottom side, via the bottom side of the base, the base further includes the first sensor integrated therein and the first fiducial marker removable attached to the top side of the base; imaging at least a portion of the body where the first base and the first fiducial marker are located to create a data set having a plurality of data points in image space, wherein the first fiducial marker is spaced a predetermined distance from the body, the predetermined distance being greater than a slice thickness used for obtaining the image creating a barrier that inhibits the fiducial marker from blending with the body in the image space; identifying at least one data point in image space representing the first fiducial marker; removing the first fiducial marker from the first base; receiving signals from the first sensor positioned at a known location relative to the first fiducial marker to identify at least one reference point in patient space; auto registering the body by correlating the reference point to the data point; and generating a display representing relative positions of two structures during the procedure. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
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32. A system for displaying relative positions of two structures during a procedure on a body, said system comprising:
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a scanning device for scanning the body to generate a scan image; and a fiducial marker-sensor device comprising; a base including an exterior wall enclosing a volume, a top and a bottom; a fiducial marker operable to be attached to the top of said base; and a sensor enclosed by the exterior wall of the base within the volume to form a one piece structure; wherein the bottom of the base is connected directly to the body, the fiducial marker is connected to the base, the fiducial marker is spaced a predetermined distance from the body when the base is attached to the body, the predetermined distance being greater than a slice thickness used for obtaining the scan image creating a barrier that inhibits the fiducial marker from blending with the body in the scan image, and the base encloses the sensor; wherein said fiducial marker is removable attached to said base; wherein a position of the sensor is operable to be determined with a processor. - View Dependent Claims (33, 34, 35, 36, 37)
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38. A device for use in a system for displaying relative positions of two structures during a procedure on a body, the system including a scanning device for scanning the body to generate a scan image, said device comprising:
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a base removably affixed to the body; a fiducial marker substantially permanently attached to said base via a fiducial attachment portion that defines an exterior wall, wherein the fiducial marker is spaced a predetermined distance from the body when the base is attached to the body, the predetermined distance being greater than a slice thickness used for obtaining the scan image creating a barrier that inhibits the fiducial marker from blending with the body in the scan image; and a sensor body formed as an annular member comprising an inner perimeter that defines an opening operable to be removably positioned near said fiducial marker such that at least a portion of the fiducial marker or the fiducial attachment portion extends into the sensor body or the opening in the annular member wherein the fiducial marker and the sensor body are in known relation to each other. - View Dependent Claims (39, 40)
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41. A method for using at least a first fiducial marker and a first sensor during a procedure on a body to generate a display representing relative positions of two structures during the procedure, the method comprising:
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providing a first base having a top side and a bottom side enclosing the first sensor; attaching the first base with the enclosed first sensor to the body via the bottom side of the base; removably attaching the first fiducial marker to the top side of the first base with a fiducial holding portion; acquiring image data of the body where the first base and the first fiducial marker are located to create a data set having a plurality of data points in image space including at least one fiducial data point formed by the first fiducial marker, wherein the first fiducial marker is spaced a predetermined distance from the body, the predetermined distance being greater than a slice thickness used for obtaining the image creating a barrier that inhibits the fiducial marker from blending with the body in the image space; identifying at least one fiducial data point in image space representing the first fiducial marker; receiving signals from the first sensor enclosed in the first base to identify at least one reference point in patient space; and auto-registering the body in patient space to the image data by correlating the at least one reference point to the at least one fiducial data point. - View Dependent Claims (42)
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43. A system for displaying relative positions of two structures during a procedure on a body, said system comprising:
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a scanning device for scanning the body to generate a scan image; and a fiducial marker-sensor device comprising; a base having a top side and a bottom side operable to be removably affixed to the body via the bottom side of said base; a fiducial marker operable to be removably attached to the top side of the base; and a sensor formed within and as one structure with the base wherein the fiducial marker is spaced a predetermined distance from the body when the base is attached to the body, the predetermined distance being greater than a slice thickness used for obtaining the scan image creating a barrier that inhibits the fiducial marker from blending with the body in the scan image. - View Dependent Claims (44, 45, 46)
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47. A device for use in a system for displaying relative positions of two structures during a procedure on a body, the system including a scanning device for scanning the body to generate a scan image, said device comprising:
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a base having a top side and a bottom side operable to be attached to the body via the bottom side of said base, the base having an integrated sensor formed as one with the base and a raised ring portion, the raised ring portion defining a central circular depression; and a fiducial marker operable to be removably attached to the top side of the base, the fiducial marker shaped to mate with the ring portion and central circular depression when removably attached to the base, wherein the fiducial marker is spaced a predetermined distance from the body when the base is attached to the body, the predetermined distance being greater than a slice thickness used for obtaining the scan image creating a barrier that inhibits the fiducial marker from blending with the body in the scan image. - View Dependent Claims (48, 49)
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50. A device for use in a system for displaying relative positions of two structures during a procedure on a body, the system including a scanning device for scanning the body to generate a scan image, said device comprising:
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a base operable to be removably attached to the body; a fiducial marker substantially permanently attached to the base; and a sensor operable to be removably attached to the base, wherein the fiducial marker is configured to be spaced a predetermined distance from the body when the base is attached to the body, the predetermined distance being greater than a slice thickness used for obtaining the scan image creating a barrier that inhibits the fiducial marker from blending with the body in the scan image. - View Dependent Claims (51, 52)
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Specification