System for indicating the position of a surgical probe within a head on an image of the head

• US 5,891,034 A
• Filed: 06/07/1995
• Issued: 04/06/1999
• Est. Priority Date: 10/19/1990
• Status: Expired due to Term

• Current Assignee: St. Louis University
• Original Assignee: St. Louis University
• Inventors: Bucholz, Richard D.
• Primary Examiner(s): Smith, Ruth S.
• Application Number:
  US08/477,561
• Time in Patent Office: 1,399 Days
• Field of Search: 128/653.1, 128/653.2, 606/130, 364/413.13, 600/426, 600/427, 600/429, 600/411, 600/414, 600/417
• US Class Current: 600/426
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2063 Acoustic tracking systems, e.g. using ultrasound
• 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 2090/061 for measuring dimensions, e.g. length
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/373 using light, e.g. by using optical scanners
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3925 ultrasonic
• CPC Class Codes: A61B 2090/3929 Active markers
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 2090/3954 magnetic, e.g. NMR or MRI
• CPC Class Codes: A61B 2090/3979 infrared
• 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 5/0064 Body surface scanning
• CPC Class Codes: A61B 5/0073 : by tomography, i.e. reconstruction of 3D images from 2D projections A61B5/0066 takes precedence
• CPC Class Codes: A61B 5/055 : involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 5/061 : Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• CPC Class Codes: A61B 5/1077 : Measuring of profiles
• CPC Class Codes: A61B 5/702 : Posture restraints
• CPC Class Codes: A61B 6/12 : Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/501 : for diagnosis of the head, e.g. neuroimaging or craniography
• CPC Class Codes: A61B 6/5247 : combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
• CPC Class Codes: A61B 8/00 : Diagnosis using ultrasonic, sonic or infrasonic waves imaging of objects using sonar G01S15/00
• CPC Class Codes: A61B 8/0808 : for diagnosis of the brain
• CPC Class Codes: A61B 8/5238 : for combining image data of patient, e.g. merging several images from different acquisition modes into one image for image registration algorithms G06T7/30
• 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 90/39 : Markers, e.g. radio-opaque or breast lesions markers

Abstract

A system for determining a position of a probe relative to an object such as a head of a body of a patient. The head includes a surface such as a forehead having a contour. Cross sectional images of the head are scanned and stored as a function of the forehead contour. If the forehead contour does not appear in the scan images, then the position of the forehead contour relative to the scan images is determined with an optical scanner and a ring. During surgery, the optical scanner also determines the position of the forehead relative to the ring. An array for receiving radiation emitted from the probe and from the ring generates signals indicating the position of the tip of the probe relative to the ring. A stereotactic imaging system generates and displays an image of the head corresponding to the measured position of the tip of the probe. The system may also display scan images from different scanning technologies which scan images correspond to the same position in the head.

Claims

1. A system for indicating a location in surgical space of a probe relative to a body part of a patient, comprising:

a base fixed in relation to the body part;

a memory storing primary scan images of the body part, said primary images including previously scanned images of the body that may be correlated to the base;

an imaging probe configured to scan the body part providing secondary scan images;

an array of sensors outside the patient;

a first set of emitters positioned on the imaging probe, said emitters in communication with the array;

a second set of emitters on the base in communication with the array;

a processor connected to the array,

(i) said processor determining the position of the first set of emitters relative to the array thereby determining the position of the imaging probe relative to the array,

(ii) said processor determining the position of the second set of emitters relative to the array thereby determining the position of the body part relative to the array,

(iii) said processor determining the position of the imaging probe relative to the body part based on the determined position (i) of the imaging probe relative to the array and based on the determined position (ii) of the body part relative to the array,

(iv) said processor translating the determined position of the imaging probe relative to the body part into a corresponding position in the primary images of the body part,

(v) said processor providing an image of the body part which corresponds to the translated position of the imaging probe in the primary images,

(vi) said processor translating the determined position of the imaging probe relative to the body part into a corresponding position in the secondary images of the body part, and

(vii) said processor providing an image of the body part which corresponds to the translated position of the imaging probe in the secondary images; and

a display responsive to the processor for displaying the images provided by the processor.

2. The system of claim 1 further comprising radiopaque markers each having a defined point, said markers adapted to be located in relation to the body part so that the defined points define the base.

3. The system of claim 1 wherein the array comprises sensors having a position remote from and independent of the position of the base and remote from and independent of the position of the imaging probe.

4. The system of claim 1 comprising a three dimensional digitizer for digitizing signals generated by the sensor in response to signals from the first and second set of emitters.

5. The system of claim 1 wherein the processor comprises a computer connected to the array and the memory and a translational software program that utilizes the base for controlling the operation of the computer so that coordinates representing a particular position are converted into corresponding coordinates representing the particular position in the primary and secondary images.

6. The system of claim 1 further comprising means for compensating for temperature changes which affect the determinations by the processor.

7. The system of claim 1 wherein the base comprises radiopaque pins or markers each having a defined point, said pins or markers adapted to be located in relation to the body part and wherein the second set of emitters are located on the pins or markers.

8. The system of claim 1 wherein the base comprises pins each having a defined point and wherein the second set of emitters are located on the pins.

9. The system of claim 1 wherein the system further includes a surgical probe having third set of emitters whereby the processor can determine the position of the surgical probe and can translate the determined position of the surgical probe to the corresponding position in the primary and secondary images.

10. The system of claim 1 wherein the base comprises a ring and wherein the second set of emitters are located on the ring.

11. The system of claim 1 wherein the base comprises a bar and wherein the second set of emitters are located on the bar.

12. A system for indicating a location in surgical space of a probe relative to a body part of a patient, comprising:

reference points located in relation to a contour of the body part;

a memory storing primary images of the body part, said primary images including previously scanned images of the body and the reference points;

an array of sensors outside the patient;

a base for mounting on the body part in relation to the reference points;

a first set of emitters positioned on the base and in communication with the array;

an imaging probe configured to scan the contour reference points and the body part, providing secondary images;

a second set of emitters positioned on the imaging probe and in communication with the array; and

a processor connected to the array,

(i) said processor determining the position of the second set of emitters on the imaging probe relative to the array thereby determining the position of the imaging probe relative to the array,

(ii) said processor determining the position of the first set of emitters relative to the array thereby determining the position of the body part relative to the array,

(iii) said processor determining the position of the imaging probe relative to the body part based on the determined position

(i) of the imaging probe relative to the array and based on the determined position (ii) of the body part relative to the array,

(iv) said processor translating the determined position of the imaging probe relative to the body part into a corresponding position in the primary images of the body part utilizing the reference points,

(v) said processor translating the determined position of the imaging probe relative to the body part into a corresponding position in the secondary images of the body part utilizing the reference points, and

(vi) said processor providing images of the body part which correspond to the translated position of the imaging probe in the primary and secondary images; and

a display responsive to the processor for displaying the images of the body part.

13. The system of claim 12 wherein the processor comprises a computer connected to the array and the memory and a translational software program that utilizes the reference points for controlling the operation of the computer so that coordinates representing a particular position are converted into corresponding coordinates representing the particular position in the primary and secondary images.

14. The system of claim 12 wherein the system further includes a surgical probe having third set of emitters whereby the processor can determine the position of the surgical probe and can translate the determined position of the surgical probe to the corresponding position in the primary and secondary images.

15. The system of claim 12 wherein the base comprises pins each having a defined point and wherein the first set of emitters are located on the pins.

16. The system of claim 12 wherein the base comprises pins or markers each having a defined point, said pins or markers adapted to be located in relation to the body part so that the defined points define the reference points and wherein the first set of emitters are located on the pins or markers.

17. The system of claim 12 wherein the base comprises a ring and the first set of emitters are located on the ring.

18. The system of claim 12 wherein the base comprises a bar and the first set of emitters are located on the bar.

19. A method for indicating the location of a probe relative to the body part of a patient comprising the steps of:

positioning an imaging probe relative to a body part of a patient, the body part having reference points in relation to the body part;

scanning the body part using the imaging probe providing scan images;

reading primary images of the body part from a memory, said images including previously scanned images of the body and the reference points;

emitting radiation, from first emitters positioned on the imaging probe and from second emitters positioned on a base, the base being mounted on the body part in relation to the reference points;

sensing radiation from the emitters using an array of sensors;

processing the sensed radiation using a processor connected to the array for performing the steps of,

(i) determining the position of first emitters on the imaging probe relative to the array of sensors thereby determining the position of the imaging probe relative to the array,

(ii) determining the position of the second emitters relative to the array thereby determining the position of the body part relative to the array,

(iii) determining the position of the imaging probe relative to the body part based on the determined position (i) of the imaging probe relative to the array and based on the determined position (ii) of the body part relative to the array,

(iv) translating, utilizing the reference points, the determined position of the imaging probe relative to the body part into a corresponding position in the primary images of the body part,

(v) translating, utilizing the reference points, the determined position of the imaging probe relative to the body part into a corresponding position in the scan images of the body part, and

(vi) displaying, on a display device, images of the body part which corresponds to the translated position of the imaging probe in the primary and scan images of the body part.

20. The method of claim 19 further comprising the step of locating radiolucent markers having defined points on the body part so that the defined points define the reference points.

21. The method of claim 19 comprising the step of digitizing signals generated by the sensor in response to signals from the first and second set of emitters.

22. The method of claim 19 wherein the translating steps further include converting coordinates representing a particular position of the imaging probe into corresponding coordinates representing the particular position in the primary and scan images.