Technique for registering image data of an object

• US 8,483,434 B2
• Filed: 09/21/2010
• Issued: 07/09/2013
• Est. Priority Date: 09/21/2009
• Status: Active Grant

• Current Assignee: Stryker European Operations Holdings, LLC (Stryker Corporation)
• Original Assignee: Stryker Leibinger GmbH & Co. KG (Stryker Corporation)
• Inventors: Buehner, Ulrich, Metz, Lars, Sarvestani, Amir, Schoepp, Hans
• Primary Examiner(s): MARIAM, DANIEL G
• Application Number:
  US12/886,823
• Publication Number:
  US 20110069867A1
• Time in Patent Office: 1,022 Days
• Field of Search: 382/103, 382/128, 382/131, 382/154, 382/294, 378/4, 378163-165, 600424-426
• US Class Current: 382/103
• CPC Class Codes: A61B 2017/00221 with wireless transmission of data, e.g. by infrared radiation or radiowaves
• CPC Class Codes: A61B 2017/00951 adhesive
• 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 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 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/3762 using computed tomography systems [CT]
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 2090/3995 Multi-modality markers
• 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 90/39 Markers, e.g. radio-opaque or breast lesions markers

Abstract

Three-dimensional image data generated for an object is representative of at least a portion of the object and of reference markings associated with the object. The reference markings have a known spatial relationship with a registration tracker tracked by a navigation system. Registration tracking data/object tracking data, each representative of at least one of a spatial location and a spatial orientation of the registration tracker/object tracker respectively, are provided. The object tracker has a fixed spatial relationship with the object. The relative position between the registration tracker and the object tracker is calculated from the registration tracking data and the object tracking data for a given point in time. Registered image data is generated representative of the location or the orientation of the object, taking into account the spatial relationship between the reference markings and the registration tracker, and the relative position between the registration tracker and the object tracker.

Claims

1. A method of registering image data of an object with at least one of a location and an orientation of the object, the method comprising:

providing three-dimensional image data generated for the object, the image data being representative of at least a portion of the object and of reference markings associated with the object, wherein the reference markings have a known spatial relationship with a registration tracker adapted to be tracked by a navigation system;

providing registration tracking data representative of at least one of a spatial location and a spatial orientation of the registration tracker;

providing object tracking data representative of at least one of a spatial location and a spatial orientation of an object tracker adapted to be tracked by the navigation system, wherein the object tracker has a fixed spatial relationship with the object;

calculating from the registration tracking data and the object tracking data for a given point in time the relative position between the registration tracker and the object tracker; and

generating registered image data representative of at least one of the location and the orientation of the object taking into account the spatial relationship between the reference markings and the registration tracker and the relative position between the registration tracker and the object tracker.

2. The method of claim 1, wherein generating the registered image data comprises:

determining at least one of the position and orientation of the object tracker and of the registration tracker from the object tracking data and the registration tracking data, respectively, in relation to a first coordinate system associated with the navigation system;

automatically determining the reference markings in the image data in relation to a second coordinate system associated with the three-dimensional image data; and

performing a coordinate transfer of the coordinates of the object tracker from the first coordinate system into the second coordinate system via the registration tracker and the reference markings.

3. The method of claim 1, wherein the registration tracker has at least one of a loose and arbitrary spatial relationship with the object and/or an arbitrary spatial relationship with the object tracker.

4. The method of claim 1, wherein respective object tracking data for two or more object trackers are provided, with each object tracker having a fixed spatial relationship with different objects or different parts of the object.

5. The method of claim 1, further comprising providing a registration device comprising the reference markings and the registration tracker, wherein the registration device defines the known spatial relationship between the reference markings and the registration tracker.

6. The method of claim 5, wherein the registration device is at least one of loosely and arbitrarily co-located with the object such that at least the reference markings are placed in an image volume of an imaging device upon generation of the image data by the imaging device.

7. The method of claim 5, further comprising positioning the registration device independently from the object tracker prior to generation of the image data.

8. The method of claim 5, wherein the registration device further comprises the object tracker, wherein the registration device defines the spatial relationship between the object tracker and the object.

9. The method of claim 5, wherein the registration device comprises an adhesive layer to attach the registration device to the object, such that at least the reference markings are placed in an image volume of an imaging device upon generation of the image data by the imaging device.

10. The method of claim 1, further comprising at least one of stopping the provision of the registration tracking data and removing at least one of the registration tracker and the reference markings after generation of the registered image data.

11. The method of claim 1, further comprising continuing the provision of the object tracking data after generation of the registered image data.

12. The method of claim 11, further comprising displaying image data representative of at least one of the current location and the current orientation of the object taking into account the current object tracking data.

13. The method of claim 1, wherein the given point in time coincides with or lies shortly before or after generation of the image data.

14. The method of claim 1, wherein the object is at least one of a body part, an implant and a surgical instrument.

15. A computer program product comprising program code portions stored on a non-transitory computer-readable medium for performing the steps of any of the preceding claims when the computer program product is run on a computing device.

16. A device kit for assisting the registration of image data of an object with at least one of a location and an orientation of the object, the kit comprising:

a registration device comprising reference markings for an imaging device and a registration tracker configured to be tracked by a navigation system, wherein the registration device defines a known spatial relationship between the reference markings and the registration tracker and wherein the registration device is configured to assume a stable position when associated with the object; and

an object tracker configured to be tracked by the navigation system, wherein the object tracker has an attachment mechanism to be firmly attached to the object in a fixed spatial relationship with the object.

17. The device kit of claim 16, wherein the registration device has an essentially linear form and is configured to receive the reference markings and the registration tracker at opposite ends thereof.

18. The device kit of claim 16, wherein the registration device is configured to be loosely associated with the object.

19. The device kit of claim 16, wherein the registration device has three or more fingers or tabs extending in different directions, wherein each finger or tab constitutes or carries at least one of the reference markings.

20. The device kit of claim 16, wherein the registration device is configured to be mounted on the object and comprises a flexible substrate and an adhesive layer to attach the substrate to the object.

21. The device kit of claim 20, wherein the registration device comprises emitters which are attached to the flexible substrate at connection points, wherein the emitters or the connection points function as the reference markings for the imaging device.

22. The device kit of claim 21, wherein the registration device comprises at least three emitters at predetermined locations, wherein each emitter is in a fixed relation to its neighbouring emitter.

24. The system of claim 23, further comprising the device kit of claim 16.

23. A system for registering image data of an object with at least one of a location and an orientation of the object, the system comprising:

an interface configured to receive three-dimensional image data generated for the object, the image data being representative of at least a portion of the object and of reference markings associated with the object, wherein the reference markings have a known spatial relationship with a registration tracker for tracking by a navigation system;

a processor providing registration tracking data representative of at least one of a spatial location and a spatial orientation of the registration tracker and object tracking data representative of at least one of a spatial location and a spatial orientation of an object tracker for tracking by the navigation system, wherein the object tracker has a fixed spatial relationship with the object;

wherein the processor calculates from the registration tracking data and the object tracking data for a given point in time the relative position between the registration tracker and the object tracker and generates registered image data representative of at least one of the location and the orientation of the object taking into account the spatial relationship between the reference markings and the registration tracker and the relative position between the registration tracker and the object tracker.

25. The system of claim 23, further comprising a registration device including the reference markings for an imaging device and the registration tracker, wherein the registration device defines a known spatial relationship between the reference markings and the registration tracker, and wherein the registration device includes the object tracker.

26. The system of claim 25, wherein the registration device is configured to be mounted on the object and comprises a flexible substrate and an adhesive layer to attach the substrate to the object.

27. The system of claim 26, wherein the registration device comprises emitters which are attached to the flexible substrate at connection points, wherein the emitters or the connection points function as the reference markings for the imaging device.

28. A registration device for assisting the registration of image data of an object with at least one of a location and an orientation of the object, the registration device comprising:

reference markings for an imaging device and a registration tracker for tracking by a navigation system, wherein the registration device defines a known spatial relationship between the reference markings and the registration tracker;

an object tracker configured to be tracked by the navigation system; and

a flexible substrate configured to be attached to the object,

wherein the registration tracker and the object tracker comprise at least three emitters attached to the substrate at predetermined locations.

29. The registration device of claim 28, wherein the registration tracker is operative during registration and the object tracker is operative after registration, wherein the emitters of the registration tracker and of the object tracker are configured to be illuminated independently.