Medical laser target marker and its use

• US 8,412,308 B2
• Filed: 01/22/2008
• Issued: 04/02/2013
• Est. Priority Date: 01/31/2007
• Status: Active Grant

• Current Assignee: Brainlab AG
• Original Assignee: Brainlab AG
• Inventors: Goldbach, Gnter
• Primary Examiner(s): Jung, Unsu
• Assistant Examiner(s): HUNTLEY, DANIEL CARROLL
• Application Number:
  US12/017,424
• Publication Number:
  US 20080183065A1
• Time in Patent Office: 1,897 Days
• Field of Search: 600/426, 600/429, 600/407, 600/424, 248/466, 248/467, 356/256, 378/206
• US Class Current: 600/424
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 2090/3958 emitting a signal
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: G02B 5/12 Reflex reflectors

Abstract

A medical laser target marker includes a retro-reflector for receiving and reflecting light, at least one first medical tracking marker, and at least one second medical tracking marker. The at least one first medical tracking marker is arranged on the laser target marker and has a first functional configuration. The at least one second medical tracking marker is arranged on the laser target marker and has a second functional configuration different from the first functional configuration.

Claims

1. A medical laser target marker device, comprising:

a marker body having a surface on which are arranged;

a retro-reflector for receiving and reflecting light;

at least one first medical tracking marker having a first functional configuration; and

at least one second medical tracking marker having a second functional configuration different from the first functional configuration;

wherein the retro-reflector, the first functional configuration and the second functional configuration correlate to three different tracking technologies, respectively.

2. The medical laser target marker device according to claim 1, wherein the at least one first medical tracking marker is an optical tracking marker.

3. The medical laser target marker device according to claim 1, wherein the retro-reflector is an SMR (spherically mounted retro-reflector) target.

4. The medical laser target marker device according to claim 3, wherein the first and second tracking markers are arranged on a surface of the SMR target.

5. The medical laser target marker device according to claim 1, wherein the at least one second medical tracking marker comprises a plurality of tracking markers, and each tracking marker of the plurality of tracking markers has a functional configuration different from other tracking markers of the plurality of tracking markers.

6. The medical laser target marker device according to claim 1, wherein the at least one first and second medical tracking markers comprise groups of markers arranged in a predefined and characteristic way with respect to each other.

7. The medical laser target marker device according to claim 1, wherein the at least one second medical tracking marker comprises:

a) optical reflection tracking markers including a reflective coating;

b) optical, actively emitting tracking markers operative to emit infrared radiation;

or

c) magnetic tracking markers.

8. The medical laser target marker device according to claim 7, wherein the reflective coating reflects infrared radiation.

9. The medical laser target marker device according to claim 7, wherein at least one second medical tracking marker is configured as a circular disc.

10. The medical laser target marker device according to claim 7, wherein the actively emitting tracking markers comprise LED tracking markers.

11. The medical laser target marker device according to claim 7, wherein the magnetic tracking markers comprise magnetic coils or arrangements of magnetic coils.

12. The medical laser target marker device according to claim 1, wherein the at least one first medical tracking marker comprises a plurality of first medical tracking markers having a first arrangement, and the at least one second medical tracking marker comprises a plurality of second medical tracking markers having a second arrangement, and wherein the retro-reflector is located at a center point of the first and second arrangement.

13. A calibration system for a medical tracking system, comprising:

a spatial position detection system;

a laser tracker position determining unit; and

the medical laser target marker device according to claim 1.

14. The calibration device according to claim 13, wherein the spatial position detection system is an optical system comprising a stereoscopic camera system.

15. The calibration device according to claim 13, wherein the spatial position detection system comprises a magnetic localizing system.

16. A method of verifying a calibration of a medical tracking system using a medical laser target marker device including i) a retro-reflector for receiving and reflecting light, and ii) at least one first medical tracking marker arranged on the laser target marker, said at least one first medical tracking marker having a first functional configuration, the method comprising:

using the retro-reflector to determine a spatial location of the medical laser target marker device;

using the at least one first medical tracking marker to determine a spatial location of the medical laser target marker device; and

if the spatial location as determined from the retro-reflector and the spatial location as determined from the at least one medical tracking marker are within a predetermined threshold, concluding that the medical tracking system calibration is within a calibration tolerance.

17. The method according to claim 16, wherein using the retro-reflector to determine the spatial location includes:

measuring a distance from a laser tracker to the retro-reflector;

determining an angular orientation of the laser tracker relative to the retro-reflector; and

determining the spatial location of the medical laser target marker based on the measured distance and the determined angular orientation.

18. The method according to claim 16, wherein the medical laser target marker device includes at least one second medical tracking marker having a second functional configuration different from the first functional configuration, wherein the retro-reflector, the first functional configuration and the second functional configuration correlate to three different tracking technologies, respectively.