System for monitoring a position of a medical instrument with respect to a patient's body

• US 8,473,026 B2
• Filed: 11/21/2006
• Issued: 06/25/2013
• Est. Priority Date: 09/15/1994
• Status: Expired due to Fees

• Current Assignee: Stryker European Holdings I, LLC (Stryker Corporation)
• Original Assignee: GE Medical Systems Global Technology Company LLC (GE Healthcare Technologies, Inc.)
• Inventors: Ferre, Maurice R., Jakab, Peter D., Tieman, James S.
• Primary Examiner(s): KISH, JAMES M
• Application Number:
  US11/602,640
• Publication Number:
  US 20070083107A1
• Time in Patent Office: 2,408 Days
• Field of Search: 600/407, 600/424, 600/426, 600/427, 600/429, 606/130
• US Class Current: 600/407
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00464 for use with different instruments with hole for different instruments A61B2017/22072
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00482 with a code
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/0818 Redundant systems, e.g. using two independent measuring systems and comparing the signals
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• 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 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 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 6/032 Transmission computed tomography [CT]
• CPC Class Codes: A61B 6/037 Emission tomography
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/14 Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/39 : Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: G01B 7/004 : for measuring coordinates of points
• CPC Class Codes: G06T 3/14 : Transformations for image registration, e.g. adjusting or mapping for alignment of images

Abstract

A system for monitoring a position of a medical instrument with respect to a patient'"'"'s body, including a medical instrument, a reference mount attachable to the patient'"'"'s body for movement with the patient'"'"'s body, and an electromagnetic unit for association with the reference mount and the medical instrument for monitoring movement of the medical instrument relative to the reference mount. The electromagnetic unit includes a first member attachable to the patient'"'"'s body and a second member attachable to the medical instrument. The first and second members communicate by electromagnetic radiation.

Claims

1. A system for monitoring a position of a medical instrument with respect to a patient'"'"'s body, comprising:

a medical instrument;

a reference mount attachable to the patient'"'"'s body, wherein the reference mount comprises a headset;

markers coupled to the headset for providing reference points on computer images of the head, wherein each of the markers comprises a radiopaque metal ball; and

an electromagnetic unit for monitoring movement of the medical instrument relative to the reference mount, the electromagnetic unit including a first electromagnetic member attachable to the patient'"'"'s body by the reference mount, and a second electromagnetic member attachable to the medical instrument.

2. The system of claim 1, wherein the reference mount is attachable to the patient'"'"'s body in a repeatable fashion.

3. The system of claim 1, wherein the headset is configured for attachment to the patient'"'"'s head at three points of contact.

4. The system of claim 1, wherein the headset is configured for use during scanning and surgery to provide registration with a computer image during surgery.

5. The system of claim 1, wherein the medical instrument comprises an aspirator.

6. The system of claim 5, wherein the aspirator defines an instrument mount for receiving the second electromagnetic member.

7. The system of claim 1, further comprising a position detection unit for producing position data responsive to an output signal from the second electromagnetic member.

8. The system of claim 7, further comprising an image storage unit including image data representing a plurality of images of the patient'"'"'s body.

9. The system of claim 8, further comprising a registration unit for relating the position data and the image data to select an image of the patient'"'"'s body.

10. The system of claim 1, wherein the first electromagnetic member comprises an electromagnetic generator, and the second electromagnetic member comprises an electromagnetic receiver.

11. The system of claim 1, wherein the markers are separate and distinct from the first and second electromagnetic members.

12. The system of claim 1, wherein the first and second electromagnetic members are not markers.

13. A system for monitoring a position of an instrument with respect to an object, comprising:

an instrument;

a reference mount attachable to the object;

markers coupled to the reference mount for providing reference points on computer images of the object, wherein each of the markers comprises a radiopaque metal ball; and

an electromagnetic unit for monitoring movement of the instrument relative to the reference mount, the electromagnetic unit including a first electromagnetic member attachable to the object by the reference mount, and a second electromagnetic member attachable to the instrument.

14. The system of claim 13, wherein the object is a patient and the reference mount comprises a headset.

15. The system of claim 14, wherein the headset is configured for use during scanning and surgery to provide registration with a computer image during surgery.

16. The system of claim 13, wherein the first electromagnetic member comprises an electromagnetic generator, and the second member comprises an electromagnetic receiver.

17. The system of claim 13, wherein the reference mount is configured to be registered relative to a computer image.

18. The system of claim 13, wherein the markers are separate and distinct from the first and second electromagnetic members.

19. The system of claim 13, wherein the first and second electromagnetic members are not markers.

20. A system for monitoring a position of a medical instrument with respect to a patient'"'"'s body, comprising:

a medical instrument;

a reference mount attachable to the patient'"'"'s body, wherein the reference mount comprises a headset;

markers coupled to the headset for providing reference points on computer images of the head; and

an electromagnetic unit for monitoring movement of the medical instrument relative to the reference mount, the electromagnetic unit including a first electromagnetic member attachable to the patient'"'"'s body by the reference mount, and a second electromagnetic member attachable to the medical instrument,

wherein the markers are separate and distinct from the first and second electromagnetic members.

21. The system of claim 20, wherein the reference mount is attachable to the patient'"'"'s body in a repeatable fashion.

22. The system of claim 20, wherein the headset is configured for attachment to the patient'"'"'s head at three points of contact.

23. The system of claim 20, wherein the headset is configured for use during scanning and surgery to provide registration with a computer image during surgery.

24. The system of claim 20, wherein the medical instrument comprises an aspirator.

25. The system of claim 24, wherein the aspirator defines an instrument mount for receiving the second electromagnetic member.

26. The system of claim 20, further comprising a position detection unit for producing position data responsive to an output signal from the second electromagnetic member.

27. The system of claim 26, further comprising an image storage unit including image data representing a plurality of images of the patient'"'"'s body.

28. The system of claim 27, further comprising a registration unit for relating the position data and the image data to select an image of the patient'"'"'s body.

29. The system of claim 20, wherein the first electromagnetic member comprises an electromagnetic generator, and the second electromagnetic member comprises an electromagnetic receiver.

30. The system of claim 20, wherein the first and second electromagnetic members are not markers.

31. A system for monitoring a position of an instrument with respect to an object, comprising:

an instrument;

a reference mount attachable to the object;

markers coupled to the reference mount for providing reference points on computer images of the object; and

an electromagnetic unit for monitoring movement of the instrument relative to the reference mount, the electromagnetic unit including a first electromagnetic member attachable to the object by the reference mount, and a second electromagnetic member attachable to the instrument,

wherein the markers are separate and distinct from the first and second electromagnetic members.

32. The system of claim 31, wherein the object is a patient and the reference mount comprises a headset.

33. The system of claim 32, wherein the headset is configured for use during scanning and surgery to provide registration with a computer image during surgery.

34. The system of claim 31, wherein the first electromagnetic member comprises an electromagnetic generator, and the second member comprises an electromagnetic receiver.

35. The system of claim 31, wherein the reference mount is configured to be registered relative to a computer image.

36. The system of claim 31, wherein the first and second electromagnetic members are not markers.

37. A system for monitoring a position of a medical instrument with respect to a patient'"'"'s body, comprising:

a medical instrument;

a reference mount attachable to the patient'"'"'s body, wherein the reference mount comprises a headset;

markers coupled to the headset for providing reference points on computer images of the head; and

an electromagnetic unit for monitoring movement of the medical instrument relative to the reference mount, the electromagnetic unit including a first electromagnetic member attachable to the patient'"'"'s body by the reference mount, and a second electromagnetic member attachable to the medical instrument,

wherein the first and second electromagnetic members are not markers.

38. The system of claim 37, wherein the reference mount is attachable to the patient'"'"'s body in a repeatable fashion.

39. The system of claim 37, wherein the headset is configured for attachment to the patient'"'"'s head at three points of contact.

40. The system of claim 37, wherein the headset is configured for use during scanning and surgery to provide registration with a computer image during surgery.

41. The system of claim 37, wherein the medical instrument comprises an aspirator.

42. The system of claim 41, wherein the aspirator defines an instrument mount for receiving the second electromagnetic member.

43. The system of claim 37, further comprising a position detection unit for producing position data responsive to an output signal from the second electromagnetic member.

44. The system of claim 43, further comprising an image storage unit including image data representing a plurality of images of the patient'"'"'s body.

45. The system of claim 44, further comprising a registration unit for relating the position data and the image data to select an image of the patient'"'"'s body.

46. The system of claim 37, wherein the first electromagnetic member comprises an electromagnetic generator, and the second electromagnetic member comprises an electromagnetic receiver.

47. A system for monitoring a position of an instrument with respect to an object, comprising:

an instrument;

a reference mount attachable to the object;

markers coupled to the reference mount for providing reference points on computer images of the object; and

an electromagnetic unit for monitoring movement of the instrument relative to the reference mount, the electromagnetic unit including a first electromagnetic member attachable to the object by the reference mount, and a second electromagnetic member attachable to the instrument,

wherein the first and second electromagnetic members are not markers.

48. The system of claim 47, wherein the object is a patient and the reference mount comprises a headset.

49. The system of claim 48, wherein the headset is configured for use during scanning and surgery to provide registration with a computer image during surgery.

50. The system of claim 47, wherein the first electromagnetic member comprises an electromagnetic generator, and the second member comprises an electromagnetic receiver.

51. The system of claim 47, wherein the reference mount is configured to be registered relative to a computer image.