Registration of human anatomy integrated for electromagnetic localization
First Claim
1. A system for displaying relative positions of two structures during a procedure on a body, the system comprising:
- a memory for storing an image data set representing the position of the body based on scans of the body, the image data set having a plurality of data points in known relation to a plurality of reference points for the body;
a magnetic field generator for generating a magnetic field;
a plurality of magnetic field sensors placed in known relation to at least one of the plurality of reference points for the body, the plurality of magnetic field sensors operable to sense the magnetic field and to generate a position signal in response to the sensed magnetic field;
a processor configured to execute instructions to,receive the position signal for ascertaining a location of at least a first sub-plurality of the plurality of magnetic field sensors based upon the position signal,register the ascertained location of at least the first sub-plurality of the plurality of magnetic field sensors and the image data set based on the known relation of at least the first sub-plurality of the plurality of magnetic field sensors relative to the at least one of the plurality of reference points and the received position signal from at least the first sub-plurality of the plurality of magnetic field sensors,generate a displaced image data set representing relative positions of the plurality of reference points for the body during the procedure based on the registered image data set; and
learn a geometry of relative locations of at least a second sub-plurality of the plurality of magnetic field sensors placed on the body at a first time to perform an accuracy geometry check at a second time to ensure accuracy after the registration, wherein the second sub-plurality of the plurality of magnetic field sensors placed on the body are configured to remain substantially fixed in the learned geometry between the first time and the second time; and
a display to display the displaced image data set generated by the processor to display the relative position of the plurality of reference points for the body during the procedure.
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Accused Products
Abstract
A method for use during a procedure on a body. The method generates a display representing relative positions of two structures during the procedure. The method comprises the steps of storing an image data set in memory, the image data set representing the position of the body based on scans taken of the body prior to the procedure; reading the image data set stored in the memory, the image data set having a plurality of data points in known relation to a plurality of reference points for at least one of the two structures; placing one or more magnetic field sensors in known relation to the reference points of the two structures; generating a magnetic field; detecting the magnetic field with the magnetic field sensors; ascertaining the locations of the sensors based upon the magnetic field detected by the sensors and processing the locations of the sensors to generate a displaced image data set representing the relative position of the two structures during the procedure; and generating a display based on the displaced image data set illustrating the relative position of the two structures during the procedure.
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Citations
20 Claims
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1. A system for displaying relative positions of two structures during a procedure on a body, the system comprising:
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a memory for storing an image data set representing the position of the body based on scans of the body, the image data set having a plurality of data points in known relation to a plurality of reference points for the body; a magnetic field generator for generating a magnetic field; a plurality of magnetic field sensors placed in known relation to at least one of the plurality of reference points for the body, the plurality of magnetic field sensors operable to sense the magnetic field and to generate a position signal in response to the sensed magnetic field; a processor configured to execute instructions to, receive the position signal for ascertaining a location of at least a first sub-plurality of the plurality of magnetic field sensors based upon the position signal, register the ascertained location of at least the first sub-plurality of the plurality of magnetic field sensors and the image data set based on the known relation of at least the first sub-plurality of the plurality of magnetic field sensors relative to the at least one of the plurality of reference points and the received position signal from at least the first sub-plurality of the plurality of magnetic field sensors, generate a displaced image data set representing relative positions of the plurality of reference points for the body during the procedure based on the registered image data set; and learn a geometry of relative locations of at least a second sub-plurality of the plurality of magnetic field sensors placed on the body at a first time to perform an accuracy geometry check at a second time to ensure accuracy after the registration, wherein the second sub-plurality of the plurality of magnetic field sensors placed on the body are configured to remain substantially fixed in the learned geometry between the first time and the second time; and a display to display the displaced image data set generated by the processor to display the relative position of the plurality of reference points for the body during the procedure. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system for displaying relative positions of two structures during a procedure on a body, the system comprising:
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a first fiducial marker that defines at least a first reference point and a second fiducial marker that defines at least a second reference point, both operable to be connected to the body during an acquisition of an image data set representing the body; a memory for storing the image data set representing the body, the image data set having a plurality of body data points in known relation to the first reference point and the second reference point; a magnetic field generator for generating a magnetic field; a first magnetic field sensor placed in known relation to the first reference point on a first body portion of the body and a second magnetic field sensor placed in known relation to the second reference point on a second body portion of the body, the first magnetic field sensor operable to sense the magnetic field and to generate a first position signal in response to the sensed magnetic field and the second magnetic field sensor operable to sense the magnetic field and to generate a second position signal in response to the sensed magnetic field; a processor Configured to, receive the first position signal and the second position signal, ascertain a location of both the first Magnetic field sensor and the second magnetic field sensor based upon the received first position signal and the second position signal, register the first magnetic field sensor and the second magnetic field sensor and the image data set based on both the known relation of the first magnetic field sensor relative to the first reference point and the ascertained location of the first magnetic field sensor and the known relation of the second magnetic field sensor relative to the second reference point and the ascertained location of the second magnetic field sensor, and generate a displaced image data set representing relative positions of the first reference point and the second reference point for the body during the procedure based on the registered image data set; determine a fixed geometry between the first magnetic field sensor and the second magnetic field sensor, wherein the first magnetic field sensor is positioned at the fixed geometry relative to the second magnetic field sensor; and increase accuracy of the registered image data set by performing an accuracy check based on the determined fixed geometry and tracking the determined fixed geometry during the procedure; and a display to display the displaced image data set generated by the processor to display the relative position of the first reference point and the second reference point for the body during the procedure. - View Dependent Claims (9, 10, 11, 12, 13)
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14. A method for displaying relative positions of two structures during a procedure on a body, the method comprising:
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accessing an image data set representing the position of the body based on scans of the body, the image data set having a plurality of data points in known relation to a plurality of reference points for the body; generating a magnetic field with a magnetic field generator; generating a first position signal with a first magnetic field sensor placed in known relation to at least one of the plurality of reference points for the body on a first body portion, wherein the first position signal from the first magnetic field sensor is in response to the sensed magnetic field; generating a second position signal with a second magnetic field sensor placed in known relation to at least one of the plurality of reference points for the body on a second body portion, wherein the second position signal from the second magnetic field sensor is in response to the sensed magnetic field; receiving the first position signal and the second position signal with a processor to ascertain a location of both the first magnetic field sensor and the second magnetic field sensor based upon the received first position signal and the second position signal; registering, with the processor configured to register, the first magnetic field sensor and the second magnetic field sensor and the image data set based on the known relation of the first magnetic field sensor relative to the at least one of the plurality of reference points for the body on a first body portion and the second magnetic field sensor relative to the at least one of the plurality of reference points on the second body portion and the ascertained location of both the first magnetic field sensor and the second magnetic field sensor based upon the received first position signal and the received second position signal; generating a displaced image data set with the processor representing relative positions of the plurality of reference points for the body during the procedure based on the registered image data set; displaying the displaced image data set generated by the processor to display the relative position of the plurality of reference points for the body during the procedure; determining a fixed geometry between the first magnetic field sensor and the second magnetic field sensor, wherein the first magnetic field sensor is positioned at the fixed geometry relative to the second magnetic field sensor; and performing an accuracy check with the determined fixed geometry and tracking the geometry during the procedure to increase accuracy of the registered image data set. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification