Method and instrument for surgical navigation

• US 7,912,532 B2
• Filed: 06/11/2003
• Issued: 03/22/2011
• Est. Priority Date: 06/13/2002
• Status: Expired due to Fees

• Current Assignee: Moeller-Wedel GmbH
• Original Assignee: Moeller-Wedel GmbH
• Inventors: Eckert, Lars, Hoell, Thomas, Koetke, Jochen, Oelckers, Stefan, Schalt, Peter, Schmidt, Martin, Grigat, Rolf-Rainer
• Primary Examiner(s): Winakur; Eric F
• Assistant Examiner(s): Laryea; Lawrence N
• Application Number:
  US10/516,297
• Publication Number:
  US 20060122516A1
• Time in Patent Office: 2,841 Days
• Field of Search: 600/407, 600/473, 600/424, 600/436, 600/476, 600/427, 600/130, 600/122, 359/372, 359/368, 606/130, 606/129, 606/10, 606/2, 606/14
• US Class Current: 600/424
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/3937 Visible markers
• 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 90/20 Surgical microscopes characterised by non-optical aspects
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers

Abstract

The invention relates to a method for positional optimization in navigation, in particular neural navigation in surgery with an operation microscope and at least one optoelectronic image detector which may be connected to the microscope and also a computer system. The data obtained from the at least one image detector which lie in the microscope field-of-view for the operator, contain information on the position of an operation instrument, in particular the instrument tip. The actual position of the instrument in the x- and y-direction as well as in the z-direction of a three-dimensional coordinate system is continuously or intermittently determined from the relevant positional data. A separation determination is carried out for the positional determination in the z-direction by means of depth of focus evaluation and/or stereoscopic image analysis. The invention further relates to a navigation instrument, using marking, close to the instrument tip, lying within the field of view of the microscope during use thereof.

Claims

1. A method for optimizing identification of a current position of an operating instrument in surgical navigation, including neuronavigation, with an operating microscope having an optoelectronic image receiver, the method comprising:

obtaining first location data of a location of the operating instrument from an optical or magnetic navigation system;

obtaining second location data of a location of the operating instrument from the optoelectronic image receiver of the operating microscope, said second location data further including data resulting from performing a depth of focus evaluation, a stereoscopic image analysis, or an evaluation of signals obtained by a PMD (Photonic Mixer Device) including the pertinent modulated illumination to supplement a depth component of the second location data; and

determining an actual position of the operating instrument in a three-dimensional coordinate system based on the obtained first and second location data.

2. The method according claim 1, wherein

when valid data records exist in only one of said first and second location data, the data determined as being valid are used for determining the position and location of the instrument or for tracking the instrument.

3. The method according to claim 1, wherein

when redundant data records defined as being valid between said first and second location data exist, said first and second location data are used to increase measuring exactness or to quantify the measuring exactness.

4. The method according to claim 1, further comprising:

detecting a location of the operating microscope in space with a stereo camera pair provided at or on the microscope, which allows a motion tracking relative to fixed markings provided to the patient or in space.

5. The method according to claim 1, further comprising:

providing marking points at or on a tissue surface of a patient, a change of location of which is detected by the image receivers and determined by means of the computer system is used for determining a brain shifting at an open skull of the patient so as to perform a correction of preoperatively obtained data.

6. The method according to claim 1, wherein

the operating microscope comprises two optical channels brought out of center behind a common front lens having a common object plane and a same magnification for both optical channels, wherein a correction function for distortion errors is incorporated in a stereoscopic image analysis, which is dependent on a currently used settings of zoom and focus.

7. The method according to claim 6, further comprising:

calibrating for the correction of errors, wherein parameters of the correction function are empirically determined by calibration measurements at different settings of zoom and focus and different object interspaces and an obtained parameter set is stored.

8. An operating microscope for performing the method according to claim 1, wherein

the microscope comprises a module for detecting space coordinates relative to an operating room or to a patient.

9. An operating microscope according to claim 8, wherein

the module includes a stereo camera pair with a computer for stereoscopic image analysis being associated therewith, wherein the stereo camera pair is aligned to marking points on the patient or in space, so that the location and orientation of the microscope relative to the patient or to the space can be determined.

10. An operating microscope according to claim 8, wherein

the module includes a PMD sensor array with a computer for the evaluation of sensor data being associated therewith, wherein the PMD sensor array, with the pertinent optic and modulated illumination, is aligned to marking points on the patient or in space, so that the location and orientation of the microscope relative to the patient or to the space can be determined.

11. An operating microscope according to claim 8, wherein

the module comprises a magnetic navigational system or components of such a system including echo sensors.

12. An operating microscope according to claim 8, wherein

the module comprises one or more transmitters of a time of flight distance measurement system based on sound, ultrasound or on electromagnetic radiation, which operates in the time or frequency domain.

13. An operating microscope according to claim 8, wherein

the module comprises one or more receivers of a time of flight distance measurement system based on sound or ultrasound or on electromagnetic radiation, which operates in the time or frequency domain.

14. An operating microscope according to claim 8, wherein

the module comprises gyroscopes or inclination sensors.

15. An operating microscope according to claim 8, wherein

the module comprises arrangements or facilities for combining different measurement methods.

16. An operating microscope for performing the method according to claim 1, wherein

the measured distance value of a PMD sensor from a predefined area of the image field of the microscope, including a center of the image, is transmitted to the navigational system.

17. An operating microscope for performing the method according to claim 1, wherein

the measured distance value of a PMD sensor from a predefined area of the image field of the microscope, including a center of the image, is provided and used as correcting variable for the focusing unit of the microscope.

18. An operating microscope for performing the method according to claim 1, wherein

a device for projection of light markings is provided, wherein areas of the field of operation marked with said light are subjected to a stereoscopic image analysis by means of two cameras connected to the microscope.

19. An operating microscope according to claim 18, wherein

currently obtained topographic data are transmitted to a navigational system and are used by a same as starting data for correction of a brain shift.

20. An operating microscope according to claim 18, wherein

the measured distance value from a predefined area of the field of view of the microscope, including a center of the image, is transmitted to a navigational system.

21. An operating microscope according to claim 18, wherein

the measured distance value from a predefined area of the field of view of the microscope, including the center of the image, is transmitted to the focusing unit of the microscope as correcting variable.

22. An operating microscope according to claim 18, wherein

one or more supporting points of detected topograms are marked onto said points by a projection of visible light.

23. An operating microscope according to claim 18, wherein

either the optical observation channels of the microscope are used for the cameras, the device for the projection of light markings or the PMD sensor, or additional optical channels are provided and used.

24. An operating microscope for performing the method according to claim 1, the operating microscope comprising:

a device for the projection of light markings connected to the microscope and wherein the areas of the field of operation marked with said light can be evaluated by means of a camera connected to the microscope and stereoscopic image analysis by using the principle of the inverse camera.

25. An operating microscope for performing the method according to claim 1, wherein

the microscope comprises a PMD sensor module connected therewith, on which an image of situs is represented, and wherein an associated modulated illumination device is provided.

26. A system for optimizing identification of a current position of an operating instrument in surgical navigation, including neuronavigation, the system comprising:

an operating microscope including an optoelectronic image receiver;

means for obtaining first location data of a location of the operating instrument from an optical or magnetic navigation system;

means for obtaining second location data of a location of the operating instrument from the optoelectronic image receiver of the operating microscope, said second location data further including data resulting from performing a depth of focus evaluation, a stereoscopic image analysis, or an evaluation of signals obtained by a PMD (Photonic Mixer Device) including the pertinent modulated illumination to supplement a depth component of the second location data; and

means for determining an actual position of the operating instrument in a three-dimensional coordinate system based on the obtained first and second location data.