Marker navigation device

• US 7,696,899 B2
• Filed: 10/16/2007
• Issued: 04/13/2010
• Est. Priority Date: 10/20/2006
• Status: Active Grant

• Current Assignee: Brainlab AG
• Original Assignee: Brainlab AG
• Inventors: Tuma, Gregor, Immerz, Martin
• Primary Examiner(s): Mehmood; Jennifer
• Application Number:
  US11/872,737
• Publication Number:
  US 20080119726A1
• Time in Patent Office: 910 Days
• Field of Search: 3405681-5729, 340/500, 340/501, 340/524, 340/525, 340/539.13, 340 101- 106, 340/825.36, 340/825.49, 342/450, 342/453, 342/454, 342/455
• US Class Current: 340/8.1
• CPC Class Codes: A61B 2017/00115 with audible or visual output with imaging means A61B90/37, A61B34/20
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• 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 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A marker navigation device for determining and/or tracking a location of a marker device is provided. The marker device is attachable to an object, said marker device including a plurality of markers having known dimensions and being in a known positional relationship relative to each other. The marker navigation device includes: a detection device operative to detect signals emitted by or reflected from the plurality of markers, wherein the detection device is formed such that in first locations of the detection device relative to the marker device, detection of signals from one marker of the plurality of markers is restricted or impossible due to a location of another marker of the plurality of markers. In second locations of the detection device relative to the marker device, the plurality of markers are detectable by the detection device. The navigation device also includes a processing device communicatively coupled to the detection device and configured to calculate the first locations based on the relative locations of individual markers of the plurality of markers and based on the known dimensions of the plurality of markers, and calculate an actual location of the marker device relative to the detection device based on detected signals from at least one marker of the plurality of markers, the known locations of the plurality of markers relative to each other, and the known dimensions of the plurality of markers. The processing device also can determines whether the actual location of the marker device is one of the first locations. A warning device is communicatively coupled to the processing device and operative to output a warning signal when the actual relative location is one of the first relative locations.

Claims

1. A marker navigation device for determining or tracking a location of a marker device attachable to an object, said marker device including a plurality of markers having known dimensions and being in a known positional relationship relative to each other, comprising:

a detection device operative to detect signals emitted by or reflected from the plurality of markers, wherein

in first locations of the detection device relative to the marker device, detection of signals from one marker of the plurality of markers is restricted or impossible due to a location of another marker of the plurality of markers, and

in second locations of the detection device relative to the marker device, the plurality of markers are detectable by the detection device;

a processing device communicatively coupled to the detection device and configured to

calculate the first relative locations based on the relative locations of individual markers of the plurality of markers and based on the known dimensions of the plurality of markers, and

calculate an actual location of the marker device relative to the detection device based on detected signals from at least one marker of the plurality of markers, the known locations of the plurality of markers relative to each other, and the known dimensions of the plurality of markers, and

determine whether the actual relative location of the marker device is one of the first locations; and

a warning device communicatively coupled to the processing device and operative to output a warning signal when the actual relative location is one of the first relative locations.

2. The marker detection device according to claim 1, wherein the first relative locations meet at least one of the following conditions:

a) the first relative locations lie on straight lines that pass through at least two markers of the plurality of markers;

b) the first relative locations lie on straight lines that pass through a first marker of the plurality of markers and pass by a second marker of the plurality of markers at a predetermined distance or less than the predetermined distance;

or

c) the first relative locations lie on straight lines that pass by two markers of the plurality of markers at a predetermined distance or less than the predetermined distance.

3. The marker detection device according to claim 1, wherein the first relative locations lie on straight lines that intersect between two markers of the plurality of markers.

4. The marker detection device according to claim 1, wherein the first relative locations lie within an imaginary boundary surface that surrounds two markers of the plurality of the markers and touches at least one marker of the plurality of markers or passes at a predetermined distance from at least one marker of the plurality of markers.

5. The marker detection device according to claim 4, wherein the boundary surface exhibits a narrowest cross-sectional area or a cross-sectional point, from which the boundary surface continuously widens between the two markers of the plurality of markers.

6. The marker detection device according to claim 4, wherein the markers exhibit a round cross-section and the boundary surface is cone-shaped.

7. The marker detection device according to claim 1, wherein the warning device is operative to output a first message if the actual relative location is one of the first relative locations and lies within a first imaginary boundary surface but not within a second imaginary boundary surface, and the warning device is operative to output a second message if the actual relative location lies within the second boundary surface, wherein

the first boundary surface surrounds the second boundary surface,

at least the first and second boundary surfaces surround the two markers of the plurality of markers.

8. The marker detection device according to claim 7, wherein the first message differs from the second message.

9. The marker detection device according to claim 7, wherein the first boundary surface is a predetermined distance from the plurality of markers.

10. The marker detection device according to claim 1, comprising a display apparatus for displaying a location corresponding to the calculated actual relative location of the marker device.

11. The marker detection device according to claim 10, wherein the display apparatus displays the location if a) the plurality of markers are situated in one plane and b) the actual location is one of the second relative locations.

12. The marker detection device according to claim 1, wherein outputting the warning signal includes the warning device communicating an alarm signal or preventing the actual relative location from being output.

13. The marker detection device according to claim 1, further comprising the marker device.

14. A method for detecting a marker device attachable to an object, wherein the marker device comprises a plurality of markers having known dimensions and known locations relative to each other, wherein in first locations of a detection device relative to the marker device, detection of signals emitted by or reflected from at least one marker of the plurality of markers is restricted or impossible due to a location of another marker of the plurality of markers, and in second locations of the detection device relative to the marker device, the plurality of markers are detectable by the detection device, comprising:

calculating first relative locations based on the relative locations between individual markers of the plurality of markers and based on the dimensions of the plurality of markers;

calculating an actual location between the marker device relative to the detection device based on the detected signals, the known locations of the plurality of markers relative to each other and the known dimensions of the plurality of markers;

determining whether the actual relative location is one of the first relative locations; and

outputting a message if the actual relative location is one of the first relative locations.