Device and method for ensuring the accuracy of a tracking device in a volume

• US 7,805,269 B2
• Filed: 11/14/2005
• Issued: 09/28/2010
• Est. Priority Date: 11/12/2004
• Status: Active Grant

• Current Assignee: Philips Electronics Limited (Koninklijke Philips N.V.)
• Original Assignee: Philips Electronics Limited (Koninklijke Philips N.V.)
• Inventors: Glossop, Neil David
• Primary Examiner(s): BHAT, ADITYA S
• Application Number:
  US11/271,966
• Publication Number:
  US 20060122497A1
• Time in Patent Office: 1,779 Days
• Field of Search: 702/94
• US Class Current: 702/94
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• 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
• CPC Class Codes: B33Y 80/00 Products made by additive manufacturing

Abstract

The invention provides a system and method for testing and correcting the accuracy of a tracking device in a volume using an accuracy device. The invention may include placing a rigid object into an experimental volume and sampling position and orientation information regarding one or more position indicating elements at known positions relative to a frame of reference of the tracking device. The position and orientation information may then be compared to known baseline position and orientation information. If a difference between the experimental position and orientation information and the baseline position and orientation information exceeds a predetermined threshold, a correction map enabling adjustment of the tracking device to correct for the distortion in the experimental volume may be generated, and the tracking device may be adjusted accordingly.

Claims

1. A method for detecting and correcting an existence of one or more distortions in an electromagnetic field created using a magnetic tracking device for image guided surgery, wherein the one or more distortions originate from a volume of space where a medical procedure is to be performed using the magnetic tracking device and decrease an accuracy of the magnetic tracking device, the method comprising:

placing, prior to performing the medical procedure, a rigid object into the volume of space, wherein the rigid object comprises one or more position indicating elements at one or more known locations of the rigid object, and wherein the one or more position indicating elements are associated with baseline position and orientation information that indicates known position and orientation of the one or more known locations prior to first use of the rigid object;

obtaining sampled position and orientation information of the one or more position indicating elements in the volume of space;

comparing the sampled position and orientation information to the baseline position and orientation information of the one or more position indicating elements; and

determining the existence of the one or more distortions in the electromagnetic field that originated from the volume of space and that are imposed upon the one or more known locations based on the comparison, whereby the decrease in the accuracy of the magnetic tracking device resulting from the one or more distortions is at least partially correctable based on the determination when the medical procedure using the magnetic tracking device is performed.

2. The method of claim 1, the method further comprising:

characterizing the one or more distortions in the volume of space when a difference between the sampled position and orientation information and the baseline position and orientation information exceeds a predetermined threshold;

creating a correction map, based on the characterizing, that enables adjustment of the magnetic tracking device to correct for the one or more distortions in the volume of space; and

adjusting the magnetic tracking device according to the correction map.

3. The method of claim 2, further comprising:

conducting the medical procedure in the volume of space while the rigid object is in the volume of space; and

monitoring, while the medical procedure is being conducted, the volume of space for distortions by periodically obtaining additional sampled position and orientation information and comparing the additional sampled position and orientation information to the baseline position and orientation information.

4. The method of claim 2, further comprising:

conducting the medical procedure in the volume of space while the rigid object is in the volume of space; and

dynamically referencing at least a portion of a subject of the medical procedure using the one or more position indicating elements.

5. The method of claim 4, wherein a dynamic reference for use during said dynamically referencing is the rigid object.

6. The method of claim 1, further comprising registering the sampled position and orientation information to a frame of reference of the rigid object.

7. The method of claim 1, wherein each of the one or more position indicating elements are connected to a multiplexer, and wherein the sampled position and orientation information is obtained by the magnetic tracking device via cycling through the one or more position indicating elements using the multiplexer.

8. The method of claim 1, wherein the rigid object comprises one or more predefined passageways within the rigid object, the method further comprising:

positioning the magnetic tracking device within the one or more predefined passageways;

causing the magnetic tracking device to traverse the one or more predefined passageways, wherein said obtaining sampled position and orientation information further comprises obtaining sampled position and orientation information as magnetic tracking device traverses the one or more predefined passageways.

30. The method of claim 2, further comprising:

conducting the medical procedure in the volume of space after the rigid object that has been used to characterize the distortion has been removed from the volume of space.

9. A system for detecting and correcting an existence of one or more distortions in an electromagnetic field created using a magnetic tracking device for image guided surgery, wherein the one or more distortions originate from a volume of space where a medical procedure using the magnetic tracking device is to be performed and decrease an accuracy of the magnetic tracking device, the system comprising:

a magnetic tracking device that tracks a position and orientation for each of one or more position indicating elements relative to a frame of reference of the magnetic tracking device; and

a rigid object that includes a plurality of known locations, wherein for each of the plurality of known locations, baseline position and orientation information is known prior to first use of the accuracy device relative to a frame of reference of the rigid object in an undistorted volume, wherein the rigid object is placed, prior to performing a medical procedure on a patient, into the volume of space where the medical procedure is to be performed, and the one or more position indicating elements are positioned at one or more of the plurality of known locations to produce sampled position and orientation information regarding one or more of the position indicating elements in the frame of reference of the magnetic tracking device,

wherein the magnetic tracking device and the rigid object enable determination of the existence of the one or more distortions in the electromagnetic field originating from the volume of space and imposed upon the one or more known points, whereby the decrease in the accuracy of the magnetic tracking device resulting from the one or more distortions is at least partially correctable based on the determination when the medical procedure using the magnetic tracking device is performed.

10. The system of claim 9, further comprising means for comparing the baseline position and orientation information of one or more of the plurality of known locations to the sampled position and orientation information of the one or more position indicating elements to determine the existence of the one or more distortions imposed upon the plurality of known locations.

11. The system of claim 10, further comprising:

means for calculating a correction map, based on the comparison, that characterizes the one or more distortions; and

means for adjusting the magnetic tracking device according to the correction map.

12. The system of claim 9, further comprising means for registering the sampled position and orientation information to the frame of reference of the rigid object.

13. The system of claim 9, wherein the rigid object further comprises one or more predefined passageways within the rigid object, wherein the one or more predefined passageways are configured to receive the one or more position indicating elements and allow traversal of the one or more predefined passageways by the one or more position indicating elements, and to allow sampled position and orientation information to be obtained as the one or more predefined passageways are traversed by the one or more position indicating elements.

14. The system of claim 9, wherein the rigid object further comprises:

one or more predefined passageways within the rigid object, wherein the one or more predefined passageways are configured to receive the magnetic tracking device and allow traversal of the one or more predefined passageways by the magnetic tracking device, and to allow sampled position and orientation information to be obtained as the one or more predefined passageways are traversed by the magnetic tracking device.

15. A system for detecting and correcting an existence of one or more distortions in an electromagnetic field created using a magnetic tracking device for image guided surgery, wherein the one or more distortions originate from a volume of space where a medical procedure using the magnetic tracking device is to be performed and decrease an accuracy of the magnetic tracking device, the system comprising:

a magnetic tracking device that tracks a position and orientation for each of two or more position indicating elements relative to a frame of reference of the magnetic tracking device;

a rigid object that includes a plurality of known locations, wherein for each of the plurality of known locations, baseline position and orientation information is known relative to a frame of reference of the rigid object, wherein the rigid object is placed into the volume of space and the two or more position indicating elements are positioned at one or more of the plurality of known locations to obtain sampled position and orientation information regarding two or more of the position indicating elements in the frame of reference of the magnetic tracking device, wherein the sampled position and orientation information is obtained for the two or more position indicating elements relative to one another; and

one or more computing systems coupled to the magnetic tracking device configured to;

compare the baseline position and orientation information of one or more of the plurality of known locations to the sampled position and orientation information of at least one of the two or more position indicating elements; and

determine the existence of the one or more distortions in the electromagnetic field that originated from the volume of space and that are imposed upon the one or more of the plurality of known locations based on the comparison, whereby the decrease in the accuracy of the magnetic tracking device resulting from the one or more distortions is at least partially correctable based on the determination when the medical procedure using the magnetic tracking device is performed.

16. A method for detecting and correcting an existence of one or more distortions in an electromagnetic field created using a magnetic tracking device for image guided surgery, wherein the one or more distortions originate from a volume of space where a medical procedure using the magnetic tracking device is to be performed and decrease an accuracy of the magnetic tracking device, the method comprising:

placing a rigid object into a known undistorted volume, wherein the rigid object comprises one or more position indicating elements at one or more known locations of the rigid object, and wherein the one or more position indicating elements are associated with baseline position and orientation information that indicates known position and orientation of the one or more known locations prior to first use of the rigid object;

obtaining measured position information of the one or more position indicating elements relative to a frame of reference of the magnetic tracking device in the known undistorted volume;

registering the measured position information to a frame of reference of the rigid object;

comparing the measured position information to the baseline position information;

placing, prior to performing the medical procedure, the rigid object into the volume of space when a difference between the measured position information and the baseline position information does not exceed a predetermined threshold;

obtaining experimental position information of the one or more position indicating elements relative to a frame of reference of the magnetic tracking device in the volume of space;

registering the experimental position information to the frame of reference of the rigid object;

comparing the experimental position information to the baseline position information;

determining the existence of the one or more distortions in the electromagnetic field that originated from the volume of space and that are imposed upon the one or more known locations when a difference between the experimental position information and the baseline position information exceeds a predetermined threshold;

characterizing the one or more distortions based on the comparing;

creating a correction map that enables adjustment of the magnetic tracking device to correct for the one or more distortions originating from the volume of space; and

adjusting the tracking device according to the correction map.

17. A method for detecting and correcting an existence of one or more distortions in an electromagnetic field created using a magnetic tracking device for image guided surgery, wherein the one or more distortions originate from a volume of space where a medical procedure using the magnetic tracking device is to be performed and decrease an accuracy of the magnetic tracking device, the method comprising:

receiving, by one or more computer systems, sampled position and orientation information of one or more position indicating elements positioned at one or more known locations of a rigid object when the rigid object is placed into the volume of space prior to the medical procedure,

wherein the one or more position indicating elements are associated with baseline position and orientation information that indicates known position and orientation of the one or more known locations prior to first use of the rigid object;

comparing, by the one or more computer systems, the sampled position and orientation information to the baseline position and orientation information; and

determining, by the one or more computer systems, the existence of the one or more distortions in the electromagnetic field originating from the volume of space and imposed upon the one or more known locations based on the comparison, whereby the decrease in the accuracy of the magnetic tracking device resulting from the one or more distortions is at least partially correctable based on the determination.

18. The method of claim 17, the method further comprising:

characterizing the one or more distortions in the volume of space when a difference between the sampled position and orientation information and the baseline position and orientation information exceeds a predetermined threshold;

creating a correction map, based on the characterizing, that enables adjustment of the magnetic tracking device to correct for the one or more distortions in the volume of space; and

adjusting the magnetic tracking device according to the correction map.

19. The method of claim 17, further comprising:

registering the sampled position and orientation information to a frame of reference of the rigid object.

20. The method of claim 19, further comprising:

monitoring, while the medical procedure is being conducted, the volume of space for distortions by periodically obtaining additional sampled position and orientation information and comparing the additional sampled position and orientation information to the baseline position and orientation information.

21. The method of claim 19, further comprising:

dynamically referencing, while the medical procedure is being conducted, at least a portion of a subject of the medical procedure using the one or more position indicating elements.

22. The method of claim 21, wherein a dynamic reference for use during said dynamically referencing is the rigid object.

23. The method of claim 17, wherein each of the one or more position indicating elements are connected to a multiplexer, and wherein the sampled position and orientation information is obtained by the magnetic tracking device via cycling through the one or more position indicating elements using the multiplexer.

24. The method of claim 17, wherein the rigid object rigid object further comprises one or more predefined passageways within the rigid object, wherein the one or more predefined passageways are configured to receive the one or more position indicating elements and allow traversal of the one or more predefined passageways by the one or more position indicating elements, and to allow sampled position and orientation information to be obtained as the one or more predefined passageways are traversed by the one or more position indicating elements.

25. A rigid object device for detecting and correcting an existence of one or more distortions in an electromagnetic field created using a magnetic tracking device for image guided surgery, wherein the one or more distortions originate from a volume of space where a medical procedure using the magnetic tracking device is to be performed and decrease an accuracy of the magnetic tracking device, the rigid object device comprising:

one or more position indicating elements positioned at one or more known locations of the rigid object, wherein the one or position indicating elements are associated with baseline position and orientation information that indicates known position and orientation of the one or more known locations prior to first use of the rigid object,

wherein the one or more position indicating elements are configured to facilitate obtaining sampled position and orientation information of the one or more position indicating elements when the rigid object is placed into the volume of space prior to the medical procedure, and

wherein a comparison of the sampled position and orientation information with the baseline position and orientation information enables a determination that the one or more distortions in the electromagnetic field originating from the volume of space and imposed upon the one or more known locations based on the comparison exist in the volume of space.

26. The rigid object device of 25, further comprising:

one or more predefined passageways within the rigid object, wherein the one or more predefined passageways are configured to receive a magnetic tracking device and allow traversal of the one or more predefined passageways by the magnetic tracking device, and to allow sampled position and orientation information to be obtained as the one or more predefined passageways are traversed by the magnetic tracking device.

27. The system of claim 26, wherein the one or more predefined passageways are made using a rapid prototyping process chosen from one of selective laser sintering (SLS), stereolithography (SLA), or 3D printing.

28. A method of detecting and correcting an existence of one or more distortions in an electromagnetic field created using a magnetic tracking device for image guided surgery, wherein the one or more distortions originate from a volume of space where a medical procedure using the magnetic tracking device is to be performed and decrease an accuracy of the magnetic tracking device, the method comprising:

detecting, by one or more processors of the magnetic tracking device, sampled position and orientation information of one or more position indicating elements positioned at one or more known locations of a rigid object when the rigid object is placed into the volume of space prior to the medical procedure,

wherein the one or more position indicating elements are associated with baseline position and orientation information that indicates known position and orientation of the one or more known locations prior to first use of the rigid object; and

transmitting to one or more computer systems coupled to the magnetic tracking device the sampled position and orientation information.

29. The method of claim 28, said detecting further comprising:

detecting the sampled position and orientation information as the magnetic tracking device is traversed through one or more predefined passageways within the rigid object.

31. A rigid object device for detecting and correcting an existence of one or more distortions in an electromagnetic field created using a magnetic tracking device for image guided surgery, wherein the one or more distortions originate from a volume of space where a medical procedure using the magnetic tracking device is to be performed and decrease an accuracy of the magnetic tracking device, the rigid object device comprising:

one or more known locations of the rigid object, wherein the one or more known locations are associated with baseline position and orientation information that indicates known position and orientation of the one or more known locations prior to first use of the rigid object,

wherein the one or more known locations are configured to facilitate obtaining sampled position and orientation information of the one or more known locations when the rigid object is placed into the volume of space prior to the medical procedure, and

wherein a comparison of the sampled position and orientation information with the baseline position and orientation information enables a determination that the one or more distortions in the electromagnetic field originating from the volume of space and imposed upon the one or more known locations based on the comparison exist in the volume of space, whereby the decrease in the accuracy of the magnetic tracking device resulting from the one or more distortions is at least partially correctable based on the determination.

32. The rigid object device of 31, further comprising:

one or more predefined passageways within the rigid object, wherein the one or more predefined passageways are configured to receive one or more position indicating elements and allow traversal of the one or more predefined passageways by the one or more position indicating elements, and to allow sampled position and orientation information to be obtained as the one or more predefined passageways are traversed by the one or more position indicating elements.