Apparatus and method for measuring anatomical objects using coordinated fluoroscopy

• US 7,804,991 B2
• Filed: 12/12/2008
• Issued: 09/28/2010
• Est. Priority Date: 01/18/2000
• Status: Expired due to Fees

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation), Biomet Manufacturing, LLC (Zimmer Biomet Holdings, Inc.)
• Inventors: Santos-Munne, Julio J., Tapia, William F., Abovitz, Rony A.
• Primary Examiner(s): Mehta; Bhavesh M
• Assistant Examiner(s): Thomas; Mia M
• Application Number:
  US12/333,599
• Publication Number:
  US 20090209866A1
• Time in Patent Office: 655 Days
• Field of Search: 382/128, 382/131, 382/209, 382/219, 600/424
• US Class Current: 382/128
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 6/022 Stereoscopic imaging
• CPC Class Codes: A61B 6/507 for determination of haemodynamic parameters, e.g. perfusion CT
• CPC Class Codes: A61B 6/583 using calibration phantoms

Abstract

Two fluoroscopic images taken from two different angles of the same anatomical feature are registered to a common three-dimensional coordinate system. A dimension of the anatomical feature is determined by specifying with reference to the two registered fluoroscopic images two constrained points within the three-dimensional coordinate system that correspond to the boundaries of the anatomical feature, and calculating a straight-line distance between the two. Additionally, a three-dimensional virtual model of an implant is projected into each of two, registered fluoroscopic image, and a surgeon manipulates the projections to adjust the size and shape of the virtual model, and thereby determine parameters for the implant.

Claims

1. A computer-assisted method for determining a dimension of an anatomical feature using two or more fluoroscopic images, the method comprising:

displaying a first fluoroscopic image taken of an anatomical feature taken from a first pose, the first image being registered to a common three-dimensional coordinate system;

receiving indication of position of at least a first point and a second point within first image corresponding respectively to at least two anatomical landmarks shown within first image;

displaying a second fluoroscopic image taken of the anatomical feature from a second angle, the second image being registered to the known three-dimensional coordinate system;

indicating with reference to the second image where the anatomical landmarks lie along each of two lines of sight defined by the first and second points within the three-dimensional coordinate system; and

determining a distance of a line specified by the first and second points.

2. The method of claim 1, further comprising:

placing within the field of view of each fluoroscopic image a plurality of fiducials having known positions with respect to each other;

receiving an input to identify two-dimensional coordinates of each of the plurality of fiducials displayed on each of the images; and

registering the images by creating a geometric model having parameters, said model projecting three-dimensional coordinates of the plurality of fiducials into the identified coordinates of the fiducials on the images, and numerically optimizing the parameters of the geometric model such that the projections of the known three-dimensional coordinates of the fiducials best fit the identified two-dimensional coordinates in each of the images.

3. The method of claim 1 wherein the lines of sight are indicated on the second image by lines drawn on the second image.

4. A surgical planning system comprising:

a fluoroscopic imaging device;

at least one monitor for displaying fluoroscopic images; and

a computer programmed to perform the method of claim 1.

5. An apparatus for determining a dimension of an anatomical feature using two or more fluoroscopic images, comprising:

means for displaying a first fluoroscopic image taken of an anatomical feature taken from a first pose, the first image being registered to a common three-dimensional coordinate system;

means for receiving indication of position of at least a first point and a second point within first image corresponding respectively to at least two anatomical landmarks shown within first image;

means for displaying a second fluoroscopic image taken of the anatomical feature from a second angle, the second image being registered to the known three-dimensional coordinate system;

means for indicating with reference to the second image where the anatomical landmarks lie along each of two lines of sight defined by the first and second points within the three-dimensional coordinate system; and

means for determining distance of a line specified by the first and second points.

6. A non-transitory computer readable storage medium on which is recorded program instructions that, when read and executed by a computer, cause the computer to undertake the following steps:

displaying a first fluoroscopic image taken of an anatomical feature taken from a first pose, the first image being registered to a common three-dimensional coordinate system;

receiving indication of position of at least a first point and a second point within first image corresponding respectively to at least two anatomical landmarks shown within first image;

displaying a second fluoroscopic image taken of the anatomical feature from a second angle, the second image being registered to the known three-dimensional coordinate system;

indicating with reference to the second image where the anatomical landmarks lie along each of two lines of sight defined by the first and second points within the three-dimensional coordinate system; and

determining distance of a line specified by the first and second points.