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

• US 8,131,344 B2
• Filed: 02/06/2009
• Issued: 03/06/2012
• 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): Smith, Ruth S
• Application Number:
  US12/366,900
• Publication Number:
  US 20090137901A1
• Time in Patent Office: 1,124 Days
• Field of Search: 600/407, 600/411, 600/427, 600/428, 600/437, 600/439, 600/474, 600/476, 324/207.11, 324/207.13, 324/207.22, 128/920, 128/922, 702150-153
• US Class Current: 600/424
• 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 coordinate system with a second coordinate system, 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 medical intervention device and with the second medical positioning system, the first medical positioning system being associated with and coupled with an imager, the imager acquiring an image of the body, the registering module registering the first coordinate system with the second coordinate system, according to the first position and orientation and the second position and orientation.

Claims

1. System for registering a first coordinate system with a second coordinate system relative to the body of a patient, the system comprising:

a first medical positioning system for detecting a first position and orientation of the body of a patient relative to a first coordinate system, said first medical positioning system being associated with and coupled with an imager, said imager acquiring at least one image from the body, said imager producing an image by associating said at least one image with said first position and orientation;

a second medical positioning system for detecting a second position and orientation of the body of a patient relative to a second coordinate system, said second medical positioning system is separate from said first medical positioning system, said second medical positioning system being associated with and coupled with a medical intervention device, said medical intervention device is different from said first imager, said second medical positioning system associating said device with said second position and orientation; and

a registering module coupled with said medical intervention device and with said second medical positioning system, said registering module registering said first coordinate system with said second coordinate system, according to said first position and orientation and said second position and orientation detected relative to the respective first and second coordinate systems.

2. The system according to claim 1, further comprising an image database coupled with said imager and with said registering module, wherein said imager stores said image in said image database, and wherein said registering module retrieves said image from said image database.

3. The system according to claim 1, further comprising a body position and orientation detector for coupling with the body of the patient, wherein said first medical positioning system detects said first position and orientation, when said body position and orientation detector is coupled with said first medical positioning system, and

wherein said second medical positioning system detects said second position and orientation, when said body position and orientation detector is coupled with said second medical positioning system.

4. The system according to claim 1, further comprising a device position and orientation detector coupled with said medical intervention device, wherein said second medical positioning system detects a device position and orientation of said medical intervention device via said device position and orientation detector,

wherein said registering module produces a representation of said medical intervention device, according to said device position and orientation.

5. The system according to claim 4, wherein said medical intervention device is selected from the group consisting of:

catheter;

drug delivery unit; and

tissue severing unit.

6. The system according to claim 1, wherein said imager is selected from the group consisting of:

fluoroscopy;

ultrasound;

thermography;

nuclear magnetic resonance; and

optical imaging.

7. The system according to claim 1, further comprising a display coupled with said registering module, for displaying at least said image.

8. The system according to claim 1, further comprising:

a processor coupled with said imager and with said registering module;

a first organ timing monitor coupled with said processor, said first organ timing monitor configured to detect a timing signal of an inspected organ of the body of the patient, when a first pulse sensor is coupled with said inspected organ and with said first organ timing monitor; and

a second organ timing monitor coupled with said registering module, said second organ timing monitor configured to detect said timing signal, when a second pulse sensor is coupled with said inspected organ and with said second organ timing monitor,

wherein said processor reconstructs said image by associating said at least one image with a respective one of said first position and orientation and with a respective time point of said timing signal, and

wherein said registering module registers said image with said medical intervention device, according to said respective first position and orientation, a respective one of said second position and orientation and said respective time point.

9. The system according to claim 8, further comprising an image database coupled with said processor and with said registering module, wherein said processor stores said image in said image database, and

wherein said registering module retrieves said image from said image database.

10. The system according to claim 1, further comprising at least two body position and orientation detectors for coupling with the body of the patient and operative to alternately couple with said first medical positioning system and with said second medical positioning system,

wherein said first medical positioning system detects said first position and orientation via said at least two body position and orientation detectors, when said at least two body position and orientation detectors are coupled with said first medical positioning system,

wherein said second medical positioning system detects said second position and orientation via said at least two body position and orientation detectors, when said at least two body position and orientation detectors are coupled with said second medical positioning system, and

wherein said registering module adjusts the scale of said first image and said second image, according to the difference between the distances between said at least two body position and orientation detectors, detected by each of said first medical positioning system and said second medical positioning system.

11. The system according to claim 1, further comprising a plurality of sensing units for coupling with the body of the patient and operative to alternately couple with said first medical positioning system and said second medical positioning system, wherein said first medical positioning system comprises:

a first transceiver to be coupled with said sensing units; and

a first processor coupled with said first transceiver and with said imager, said first processor determining said first position and orientation according to a first signal received from said first transceiver, when said sensing units are coupled with said first transceiver; and

wherein said second medical positioning system comprises;

a second transceiver to be coupled with said sensing units; and

a second processor coupled with said second transceiver, said registering module and with said medical intervention device, said second processor determining said second position and orientation according to a second signal received from said second transceiver, when said sensing units are coupled with said second transceiver.

12. The system according to claim 11, wherein each of said sensing units comprises a location detector and an orientation detector.

13. The system according to claim 12, wherein said location detector is selected from the group consisting of:

electromagnetic coil; and

sonar sensor.

14. The system according to claim 12, wherein said orientation detector is a gyroscope.

15. The system according to claim 11, further comprising:

a first sensing unit coupled with said first transceiver and with said first imager, said first processor determining an imager position and orientation of said imager according to a first signal received from said first transceiver; and

a second sensing unit coupled with said second transceiver and with said medical intervention device, said second processor determining a medical intervention device position and orientation of said medical intervention device according to a second signal received from said second transceiver.

16. The system according to claim 11, wherein said second processor provides a position and orientation signal respective of said device position and orientation to said registering module, and

wherein said registering module produces a representation of said medical intervention device, according to said position and orientation signal.

17. The system according to claim 1, further comprising a plurality of transmitters to be coupled with the body of the patient and operative to alternately couple with said first medical positioning system and said second medical positioning system, wherein said first medical positioning system comprises:

a first processor coupled with said imager;

a plurality of first receivers coupled with said first processor,

wherein said second medical positioning system comprises;

a second processor coupled with said medical intervention device and with said registering module; and

a plurality of second receivers coupled with said second processor,

wherein said first processor determines said first position and orientation, when said first receivers receive wireless signals from said transmitters, and

wherein said second processor determines said second position and orientation, when said second receivers receive wireless signals from said transmitters.

18. The system according to claim 17, wherein said first medical positioning system and said second medical positioning system determine said first position and orientation and said second position and orientation, respectively, by triangulation.

19. The system according to claim 1, wherein said interventional device comprises an image detector.

20. The system according to claim 19, wherein said registering module is further configured to register said first image with a second image produced according to a signal from said image detector.