Methods and systems for registration of surgical navigation data and image data

• US 8,526,688 B2
• Filed: 03/09/2006
• Issued: 09/03/2013
• Est. Priority Date: 03/09/2006
• Status: Active Grant

• Current Assignee: Stryker European Operations Holdings, LLC (Stryker Corporation)
• Original Assignee: General Electric Company
• Inventors: Groszmann, Daniel Eduardo, Jensen, Vernon Thomas, Beauregard, Gerald Lee, Anderson, Peter Traneus
• Primary Examiner(s): Roy, Baisakhi
• Application Number:
  US11/371,739
• Publication Number:
  US 20070211927A1
• Time in Patent Office: 2,735 Days
• Field of Search: 600/407, 600/424, 600/410, 600/423, 600/421, 600/426
• US Class Current: 382/128
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• 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 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

Certain embodiments of the present invention provide a method for correlating data including: receiving from a tracking subsystem a first data set including a tracked position of an object; receiving from an imaging subsystem a second data set including an image of the object; and comparing automatically at least a portion of the first data set with at least a portion of the second data based at least in part on the tracked position of the object and the image of the object. In an embodiment, the comparing automatically the first data set with the second data set is performable in real-time. In an embodiment, the method further includes registering the first data set with the second data set. In an embodiment, the tracking subsystem tracks the object electromagnetically, at least in part. In an embodiment, the imaging subsystem includes an x-ray imaging subsystem. In an embodiment, the first data set is generatable by the tracking subsystem substantially in real-time. In an embodiment, the method further includes determining an offset between at least a portion of the first data set and at least a portion of the second data set. In an embodiment, the method further includes performing an adjustment based at least in part on the offset on at least one of: the tracking subsystem, the imaging subsystem, and a data processing subsystem.

Claims

1. A method for correlating radiological data comprising:

receiving from a radiological tracking subsystem a first data set including a tracked position of an object, wherein the object comprises an antenna pattern;

receiving from a radiological imaging subsystem a second data set including an image of the antenna pattern of the object;

automatically recognizing, by a data processing subsystem, the antenna pattern in the second data set to determine an imaged position of the object in the second data set; and

comparing automatically, by the data processing subsystem, at least a portion of the first data set with at least a portion of the second data based at least in part on the tracked position and the imaged position of the object.

2. The method of claim 1, wherein the comparing automatically the first data set with the second data set is performable in real-time.

3. The method of claim 1 further comprising registering the first data set with the second data set.

4. The method of claim 3, wherein the registering the first data set with the second data set is performable in at least three dimensions.

5. The method of claim 1, wherein the radiological tracking subsystem tracks the object electromagnetically, at least in part.

6. The method of claim 1, wherein the radiological imaging subsystem includes an x-ray imaging subsystem.

7. The method of claim 1, wherein the first data set is generatable by the tracking subsystem substantially in real-time.

8. The method of claim 1 further comprising determining an offset between at least a portion of the first data set and at least a portion of the second data set.

9. The method of claim 8 further comprising performing an adjustment based at least in part on the offset on at least one of the radiological tracking subsystem, the radiological imaging subsystem, or a data processing subsystem.

10. The method of claim 8, wherein the offset comprises information in at least three dimensions.

11. The method of claim 1, wherein the second data set comprises an image of at least a portion of the radiological tracking subsystem, and wherein registration of the first data set with the second data set is based at least in part on the image of at least a portion of the radiological tracking subsystem.

12. The method of claim 1, wherein the antenna pattern comprises an antenna array and center dot arranged to indicate a center reference point of the antenna array.

13. The method of claim 12, wherein the antenna pattern comprises at least one additional dot arranged to define at least one of a reference of the antenna array or a coordinate of the antenna array.

14. The method of claim 1, wherein the antenna pattern comprises at least one additional dot arranged to define at least one of a reference of the antenna array or a coordinate of the antenna array.

15. The method of claim 1, wherein the antenna pattern comprises a first appearance when viewed from a first angle and a second appearance when viewed from a second angle.

16. The method of claim 15 further comprising automatically determining, by the data processing subsystem, an orientation of the object according to at least one of the first appearance or the second appearance.

17. The method of claim 15 further comprising:

collecting misalignment information according to each of the first appearance of the antenna pattern and the second appearance of the antenna pattern; and

registering the first data set with the second data set in three dimensions according to the misalignment information.

18. The method of claim 1, wherein a feature of the antenna pattern corresponds to a type of the object.

19. The method of claim 18 further comprising:

automatically recognizing, by the data processing subsystem, the feature of the antenna pattern; and

automatically identifying, by the data processing subsystem, the type of the object according to the feature of the antenna pattern.

20. The method of claim 18, wherein the object comprises at least one of an implant, a catheter, a guidewire, a first surgical instrument, or a second surgical instrument.

21. The method of claim 1, wherein the antenna pattern comprises at least one of a distinctive:

coil,

shape, and

opacity.