Robotic fluoroscopic navigation

• US 10,799,298 B2
• Filed: 09/16/2016
• Issued: 10/13/2020
• Est. Priority Date: 06/21/2012
• Status: Active Grant

• Current Assignee: Globus Medical, Inc.
• Original Assignee: Globus Medical, Inc.
• Inventors: Crawford, Neil, Johnson, Norbert, Weber, Wes, Krull, Alexander
• Primary Examiner(s): Jacob, Oommen
• Application Number:
  US15/267,950
• Publication Number:
  US 20170007334A1
• Time in Patent Office: 1,488 Days
• Field of Search: 600424, 600407
• CPC Class Codes: A61B 17/17 Guides or aligning means for drills , mills, pins or wires
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/034 abutting on parts of the device itself
• CPC Class Codes: A61B 2090/0811 for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• 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 2090/3966 Radiopaque markers visible in an X-ray image
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 6/485 involving fluorescence X-ray imaging
• CPC Class Codes: A61B 6/547 involving tracking of position of the device or parts of the device
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: A61B 90/96 : using barcodes
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders

Abstract

A registration fixture for use with a surgical navigation system for registration of a medical image or images to a three-dimensional tracking space that includes a first ring having at least one tracking marker, a second ring coupled to the first ring having at least one tracking marker and wherein the first ring and the second ring are spaced apart from one another and further include optical markers.

Claims

1. A registration fixture for use with a surgical navigation system for registration of a medical image or images to a three-dimensional tracking space comprising:

a first ring having at least one tracking marker;

a second ring coupled to the first ring having at least one tracking marker;

wherein the first ring and the second ring are spaced apart from one another and include optical markers, and

wherein the registration fixture is removably coupled to a source of an imaging system,

wherein the surgical navigation system includes a robot system, the robot system configured to move based on registration data received from the registration fixture,

wherein the surgical navigation system is configured to use the registration fixture to map points in the three-dimensional tracking space to a two-dimensional space associated with the medical image or images by determining vectors through a known points in the first ring and the second ring that are created to form a conic pattern, wherein the conical pattern is used by the surgical navigation system to interpolate the vectors through regions of interest in the two-dimensional space associated with the medical image or images.

2. The registration fixture of claim 1, wherein the first and second rings are positioned concentrically in parallel planes.

3. The registration fixture of claim 1, wherein the first and second rings are spaced apart by 50 to 300 mm.

4. The registration fixture of claim 1, wherein the first and second rings include crosshairs formed of wire that extend the diameter of the first and second rings.

5. The registration fixture of claim 1, wherein the first and second rings have unequal diameters.

6. The registration fixture of claim 1, wherein the registration fixture is formed of radio-opaque materials.

7. The registration fixture of claim 4, wherein the crosshairs of the first and second rings pass through the exact center of the first and second rings.

8. The registration fixture of claim 4, wherein the registration fixture is coupled to an imaging device.

9. The registration fixture of claim 8, wherein the imaging device is a fluoroscope.

10. The registration fixture of claim 1, wherein a third ring is coupled to the first or second ring.

11. A registration fixture for registration of a medical image or images to a three-dimensional tracking space comprising:

a surgical navigation system including a robot system configured to be coupled to a imaging device, the registration fixture coupled to the imaging device;

a first structure positioned on a first plane;

a second structure positioned on a second plane, the first structure and the second structure coupled to one another;

a plurality of radio-opaque markers positioned on the first and second structures providing a pattern on an image;

wherein a first set of the plurality of radio-opaque markers are positioned along a plurality of radii on the first structure;

wherein a second set of the plurality of radio-opaque markers are positioned along a plurality of radii on the second structure wherein the robot system configured to move based on registration data received from the registration fixture, wherein the surgical navigation system is configured to use the registration fixture to map points in the three-dimensional tracking space to a two-dimensional space associated with the medical image or images by determining vectors through the pattern, wherein the pattern is used by the surgical navigation system to interpolate the vectors through regions of interest in the two-dimensional space associated with the medical image or images.

12. The registration fixture of claim 11, wherein the pattern is unique for calibration of the registration fixture.

13. The registration fixture of claim 11, wherein the plurality of markers are spaced apart.

14. The registration fixture of claim 11, wherein the first set of the plurality of radio-opaque markers are sized to provide accurate mapping of 2D-3D and image correction.

15. The registration fixture of claim 11, wherein the second set of the plurality of radio-opaque markers are sized to detect rotation and flip position of an image.

16. The registration fixture of claim 11, wherein the plurality of radio-opaque markers are spaced around the perimeter of first and second structures.

17. The registration fixture of claim 11, wherein the registration fixture is coupled to a fluoroscope.

18. The registration fixture of claim 11, wherein a first diameter of the first structure and a second diameter of the second structure are not equal.

19. A surgical navigation system comprising:

a surgical robot coupled to an imaging system;

a registration fixture for use with the surgical navigation system for registration of a medical image or images to a three-dimensional tracking space, the registration fixture comprising;

a first ring having at least one tracking marker;

a second ring coupled to the first ring having at least one tracking marker;

wherein the first ring and the second ring are spaced apart from one another and include optical markers, and

wherein the registration fixture is removably coupled to a source of an imaging system

wherein the robot system configured to move based on registration data received from the registration fixture,

wherein the surgical navigation system is configured to use the registration fixture to map points in the three-dimensional tracking space to a two-dimensional space associated with the medical image or images by determining vectors through a known points in the first ring and the second ring that are created to form a conic pattern, wherein the conical pattern is used by the surgical navigation system to interpolate the vectors through regions of interest in the two-dimensional space associated with the medical image or images.