Method and system for registering a medical situation associated with a first coordinate system, in a second coordinate system using an MPS system

• US 7,881,767 B2
• Filed: 08/18/2004
• Issued: 02/01/2011
• Est. Priority Date: 01/13/2003
• Status: Active Grant

• Current Assignee: ST JUDE MEDICAL INTERNATIONAL HOLDING S. R.L.
• Original Assignee: MediGuide Ltd (Abbott Laboratories Incorporated)
• Inventors: Strommer, Gera, Eichler, Uzi
• Primary Examiner(s): Casler; Brian
• Assistant Examiner(s): KISH, JAMES M
• Application Number:
  US10/920,646
• Publication Number:
  US 20050033149A1
• Time in Patent Office: 2,358 Days
• Field of Search: 600/424, 600/426, 600/407, 606/130
• US Class Current: 600/407
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/256 having a database of accessory information, e.g. including context sensitive help or scientific articles
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• 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 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/702 Posture restraints
• CPC Class Codes: A61B 5/704 Tables
• CPC Class Codes: A61N 5/1049 for verifying the position of the patient with respect to the radiation beam
• CPC Class Codes: G06T 2207/10081 Computed x-ray tomography [CT]
• CPC Class Codes: G06T 2207/30021 Catheter; Guide wire
• CPC Class Codes: G06T 2207/30101 Blood vessel; Artery; Vein; Vascular
• CPC Class Codes: G06T 7/33 using feature-based methods

Abstract

System for registering a first image with a second image, the system including a first medical positioning system for detecting a first position and orientation of the body of a patient, a second medical positioning system for detecting a second position and orientation of the body, and a registering module coupled with a second imager and with the second medical positioning system, the first medical positioning system being associated with and coupled with a first imager, the first imager acquiring the first image from the body, the first imager producing the first image by associating the first image with the first position and orientation, the second medical positioning system being associated with and coupled with the second imager, the second imager acquiring the second image and associating the second image with the second position and orientation, the registering module registering the first image with the second image, according to the first position and orientation and the second position and orientation.

Claims

1. System for re-positioning a portion of the body of a patient at the same therapeutic position and orientation as an initial therapeutic position and orientation relative to a therapeutic device for medically retreating a selected tissue of the body automatically, during multiple therapeutic sessions, the system comprising:

a positioning user interface;

a position and orientation detector for detecting a multiple axis electromagnetic field and producing a respective electrical analog signal associated with said multiple axis electromagnetic field, said position and orientation detector being located at a selected fixed location associated with said selected tissue;

an electromagnetic medical positioning system, coupled with a storage unit, with said positioning user interface and with said position and orientation detector, said medical positioning system being predeterminedly calibrated with said therapeutic device, said medical positioning system including;

a plurality of electromagnetic transmitters for transmitting said multiple axis electromagnetic field; and

a position and orientation processor coupled with said transmitters for determining said position and orientation of said position and orientation detector relative to said therapeutic device, according to said respective electrical analog signal;

said medical positioning system determining an initial position and orientation of said position and orientation detector, during a first therapeutic session, while said selected tissue is placed in said initial therapeutic position and orientation, said medical positioning system indicating, during the multiple therapeutic sessions, via said positioning user interface when said position and orientation detector is placed again in said initial position and orientation, thereby establishing that said selected tissue is placed again in said initial therapeutic position and orientation;

at least one moving mechanism coupled with said therapeutic device; and

a controller coupled with said at least one moving mechanism directing said at least one moving mechanism to move said therapeutic device such that said therapeutic device medically treats at least a portion of said selected tissue.

2. The system according to claim 1, further comprising said therapeutic device.

3. The system according to claim 1, further comprising said storage unit for recording said initial position and orientation.

4. The system according to claim 1, wherein said positioning user interface produces at least one indication to determine whether a currently detected position and orientation is substantially the same as said initial position and orientation detector.

5. The system according to claim 4, wherein said at least one indication includes a first indication respective of said currently detected position and orientation, and a second indication respective of said initial position and orientation.

6. The system according to claim 4, wherein said system further comprises a comparator coupled with said storage unit, said medical positioning system and with said positioning user interface,

wherein said comparator compares said currently detected position and orientation with said initial position and orientation,

wherein said comparator provides a signal to said positioning user interface, respective of the outcome of said comparison, and

wherein said positioning user interface produces said at least one indication according to said signal.

7. The system according to claim 4, wherein said at least one indication is selected from the list consisting of:

visual;

audio; and

tactile.

8. The system according to claim 1, wherein said system further comprises a therapeutic device user interface coupled with said controller,

wherein said therapeutic device user interface is employed to enter movement data in said controller, said movement data being respective of directions from which said therapeutic device medically treats said selected tissue, and

wherein said controller directs said moving mechanism to move said therapeutic device according to said movement data.

9. The system according to claim 1, wherein said system further comprises a therapeutic device user interface coupled with said controller,

wherein said therapeutic device user interface is employed to enter a set of coordinates in said controller, said set of coordinates being respective of the boundary of said selected tissue, and

wherein said controller directs said moving mechanism to move said therapeutic device according to said set of coordinates.

10. The system according to claim 1, wherein said set of coordinates is selected from the list consisting of:

discrete; and

volumetric.

11. The system according to claim 1, wherein said at least one moving mechanism is a first moving mechanism and wherein said system further comprises:

a second moving mechanism coupled (i) with an operating table on which said patient lies and (ii) with said controller;

wherein said controller directs said second moving mechanism to move said operating table, such that said therapeutic device medically treats at least a portion of said selected tissue.

12. The system according to claim 1, wherein said at least one moving mechanism is further coupled with an operating table on which said patient lies, and

wherein said controller directs said at least one moving mechanism to move said therapeutic device and said operating table, such that said therapeutic device medically treats at least a portion of said selected tissue.

13. The system according to claim 1, wherein said therapeutic device is selected from the list consisting of:

linear accelerator;

local robotic surgical device; and

remote tele-surgical device.

14. The system according to claim 1, further comprising a body intrusion device for placing said position and orientation detector at said selected location.

15. Method for re-positioning a portion of the body of a patient during a multi-session automatic therapeutic procedure, the method comprising the procedures of:

detecting an initial position and orientation of said position and orientation detector that is fixed in the body at a selected location in a spatial relation with selected tissue, during a first therapeutic session, wherein said initial position and orientation is associated with a therapeutic position and orientation, suitable for automatically retreating said selected tissue of said body;

recording said initial position and orientation;

detecting, while said detector remains fixed at said selected location, the current position and orientation of said position and orientation detector, at the beginning of a further therapeutic session after said initial therapeutic session, wherein said detector remains in the body during a treatment period under which the patient is under medical treatment; and

producing a notification when said current position and orientation is substantially the same as said recorded initial position and orientation during subsequent treatment sessions.

16. The method according to claim 15, further comprising a procedure of medically treating said selected tissue, while maintaining said position and orientation detector at said recorded initial position and orientation.

17. The method according to claim 15, further comprising a procedure of directing a therapeutic device to move to an orientation suitable for automatically treating said selected tissue, when said current position and orientation is substantially the same as said recorded initial position and orientation.

18. The method according to claim 15, wherein said procedure of producing a notification comprises a sub procedure of comparing said current position and orientation with said recorded initial position and orientation of.

19. The method according to claim 15, further comprising a procedure of controlling the movement of a therapeutic device relative to said selected tissue, such that said therapeutic device medically treats at least a portion of said selected tissue.

20. System for medically retreating at different times a selected tissue within the body of a patient, the system comprising:

a first medical positioning system configured to detect a first position and orientation of a position and orientation detector relative to a first coordinate system when said position and orientation detector is coupled with said first medical positioning system, said first medical positioning system configured to store said first position and orientation in a storage unit, said position and orientation detector being located at a selected fixed location in a spatial relation with said selected tissue, said first medical positioning system being coupled with an imager and said imager configured to produce at least one image by associating said at least one image with said first position and orientation;

a second medical positioning system, said second medical positioning system being separate from said first medical positioning system, said second medical positioning configured to detect a second position and orientation of said position and orientation detector relative to a second coordinate system when said position and orientation detector is coupled with said second medical positioning system, said second medical positioning system being coupled with a therapeutic device, said therapeutic device being different from said imager; and

a registering module coupled with said storage unit, said second medical positioning system and with said therapeutic device, said registering module registering a set of coordinates of said selected tissue in said first coordinate system, with said second coordinate system, said set of coordinates being associated with said first position and orientation, said therapeutic device medically retreating said selected tissue according to said registered set of coordinates.

21. The system according to claim 20, further comprising:

said imager coupled with said first medical positioning system;

said storage unit being coupled with said registering module, said first medical positioning system and with said imager; and

a user interface coupled with said imager, said user interface being employed for storing said set of coordinates in said storage unit;

wherein said imager acquires at least one image from a section of said body, said at least one image including an image of said selected tissue, and

wherein said user interface displays said at least one image.

22. The system according to claim 20, further comprising said imager and said therapeutic device.

23. The system according to claim 20, wherein said imager is selected from the list consisting of:

fluoroscopy;

ultrasound;

thermography;

nuclear magnetic resonance; and

optical imaging.

24. The system according to claim 20, wherein said system further comprises:

a moving mechanism coupled with said therapeutic device; and

a controller coupled with said registering module, said therapeutic device and with said moving mechanism,

wherein said controller receives a signal from said registering module, respective of said registered set of coordinates, and

wherein said controller directs said moving mechanism to move said therapeutic device with respect to said selected tissue, such that said therapeutic device medically treats at least a portion of said selected tissue.

25. The system according to claim 20, wherein said therapeutic device is selected from the list consisting of:

linear accelerator;

local robotic surgical device; and

remote tele-surgical device.

26. Method for medically treating at different times a selected tissue within the body of a patient, the method comprising the procedures of:

detecting a first position and orientation of a detector in a first coordinate system, by a first medical positioning system (MPS) wherein said first MPS is coupled with an imager, said detector being located at a fixed selected location in a spatial relation with said selected tissue;

associating a set of coordinates of said selected tissue in said first coordinate system, with said first position and orientation;

detecting a second position and orientation of said detector in a second coordinate system, by a second medical positioning system (MPS) wherein said second MPS is associated with and coupled with a therapeutic device;

registering said associated set of coordinates with said second coordinate system, according to said second position and orientation;

medically treating said selected tissue with said therapeutic device according to said registered set of coordinates.

27. The method according to claim 26, further comprising a procedure of acquiring at least one image of a section of said body using said imager after performing said procedure of fixing, said at least one image including an image of said selected tissue.

28. The method according to claim 27, further comprising a procedure of displaying said at least one image.

29. The method according to claim 26, further comprising a procedure of providing said registered set of coordinates to said therapeutic device, after performing said procedure of registering.

30. The method according to claim 26, further comprising a procedure of storing said associated set of coordinates in a storage unit, after performing said procedure of associating.

31. The method according to claim 26, wherein said procedure of registering includes transformation of said associated set of coordinates from said first coordinate system to said second coordinate system.

32. The method according to claim 31, wherein said transformation is selected from the list consisting of:

modifying said associated set of coordinates according to a scale factor associated with said first coordinate system and with said second coordinate system; and

modifying said associated set of coordinates according to a transformation matrix associated with said first coordinate system and with said second coordinate system.

33. The method according to claim 26, further comprising a procedure of controlling the movement of said therapeutic device relative to said selected tissue, before performing said procedure of medical treatment, to enable said therapeutic device to medically treat said selected tissue automatically.