Medical marker tracking with marker property determination

• US 7,970,174 B2
• Filed: 06/25/2007
• Issued: 06/28/2011
• Est. Priority Date: 06/27/2006
• Status: Active Grant

• Current Assignee: Brainlab AG
• Original Assignee: Brainlab AG
• Inventors: Goldbach, Günter
• Primary Examiner(s): Tabatabai; Abolfazl
• Application Number:
  US11/767,855
• Publication Number:
  US 20080317281A1
• Time in Patent Office: 1,464 Days
• Field of Search: 382/128, 382/129, 382/130, 382/131, 382/132, 382/133, 382/134, 378/4, 378 21- 27, 378/101, 378/98.4, 378/98.6, 378/901, 600/407, 600/410, 600/420, 600/423, 600/424, 600/425, 600/426, 600/427, 600/429, 128/920, 128/922
• US Class Current: 382/103
• 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 2090/0807 Indication means
• CPC Class Codes: A61B 2090/081 for contamination or dirt
• 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: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: G16H 40/40 for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass

Abstract

A method for tracking at least one medical marker is provided, wherein actual properties of the at least one marker are compared with nominal properties of the at least one marker. A basis for subsequent use of information obtained from the at least one marker is formed based on the comparison.

Claims

1. A method for tracking at least one medical marker, comprising:

comparing, using a processor, actual properties of the at least one marker with nominal properties of the at least one marker; and

forming a basis for subsequent use of information obtained from the at least one marker from the comparison,

wherein comparing includes determining there is a deviation in quality of the at least one marker if the actual properties of the at least one marker do not correspond to the nominal properties of the at least one marker.

2. The method according to claim 1, further comprising assigning a unique identifier to the at least one marker.

3. The method according to claim 1, further comprising storing base properties of the at least one marker as nominal properties of the at least one marker.

4. The method according to claim 1, further comprising continuously or periodically storing actual properties of the at least one marker as nominal properties of the at least one marker.

5. The method according to claim 4, further comprising concluding properties of the at least one marker have changed when newly acquired actual properties of the at least one marker deviate from the nominal properties of the at least one marker.

6. The method according to claim 1, further comprising moving the at least one marker into a detection range of an image detection unit in order to determine properties of the at least one marker.

7. The method according to claim 1, wherein determining includes ascertaining there is a deviation in marker quality if the correspondence between the actual properties and the nominal properties deviates by a threshold value.

8. The method according to claim 7, wherein the threshold value is pre-defined or user settable.

9. The method according to claim 7, wherein the at least one marker is a plurality of markers, further comprising setting the threshold value based on a measuring procedure of the plurality of markers and/or a comparison of different markers of the plurality of markers.

10. The method according to claim 1, wherein the at least one marker is a plurality of markers, and once it is determined that a marker of the plurality of markers deviates in quality, then performing at least one of:

indicating the deviation in marker quality;

removing any marker that deviates in quality from tracking calculations;

requesting replacement of the marker that deviates in quality;

or

arithmetically correcting positional details defined by the marker that deviates in quality.

11. The method according to claim 10, wherein arithmetically correcting includes recalculating the image center of the deviating marker.

12. The method according to claim 11, wherein recalculating the image center includes using a part of the deviating marker'"'"'s outer contour that matches the actual and/or nominal properties of the deviating marker, and disregarding parts deviating marker'"'"'s outer contour that do not match the actual and/or nominal properties.

13. A method for tracking at least one medical marker, comprising:

comparing, using a processor, actual properties of the at least one marker with nominal properties of the at least one marker; and

forming a basis for subsequent use of information obtained from the at least one marker from the comparison, wherein comparing includes comparing properties of at least one of

a brightness or brightness profile in the at least one marker features,

a shape of the at least one marker,

a size of the at least one marker,

a visibility of the at least one marker,

a degree of soiling of the at least one marker,

a correlation of images of the at least one marker from various viewing directions, the line-of-sight deviation or epipolar geometry, or

a position or position relative to a reference of the at least one marker and/or an image of the at least one marker.

14. The method according to claim 13, wherein at least two properties are compared.

15. The method according to claim 13, wherein comparing properties based on shape includes adducing a typical brightness distribution of the at least one marker over a pixel range of the marker image.

16. A computer program embodied on a non-transitory computer readable storage medium for tracking at least one medical marker, comprising:

code that compares actual properties of the at least one marker with nominal properties of the at least one marker; and

code that forms a basis for subsequent use of information obtained from the at least one marker from the comparison,

wherein the code that compares includes code that determines there is a deviation in quality of the at least one marker if the actual properties of the at least one marker do not correspond to the nominal properties of the at least one marker.

17. A medical marker tracking device, comprising:

a medical marker tracking system operable to detect instrument or patient markers;

a data processing unit and memory operatively coupled to said tracking system; and

logic stored in memory and executable by said processor, said logic including

logic that compares actual properties of the markers with nominal properties of the markers and provides the result of the comparison as an output for subsequent use of the information on the detected markers,

wherein the logic that compares includes logic that determines there is a deviation in quality of the at least one marker if the actual properties of the at least one marker do not correspond to the nominal properties of the at least one marker.

18. The device of claim 17, wherein the data processing unit and/or the memory are separate from the medical marker tracking system.

19. The device according to claim 17, wherein the tracking system is a region sensor tracking system or a line scanning tracking system.

20. The device according to claim 19, wherein the region sensor tracking system is a CCD or CMOS sensor system.

21. The device according to claim 17, wherein the tracking system is at least one of an optical tracking system comprising passively reflecting markers, an optical tracking system comprising actively emitting markers, a magnetic tracking system, an ultrasound tracking system, a laser tracking system, or a radar tracking system.