System for translation of electromagnetic and optical localization systems

• US 6,402,762 B2
• Filed: 03/13/2001
• Issued: 06/11/2002
• Est. Priority Date: 10/28/1999
• Status: Expired due to Term

• Current Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Original Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Inventors: Hunter, Mark W., Kessman, Paul
• Primary Examiner(s): Philogene, Pedro
• Application Number:
  US09/803,977
• Publication Number:
  US 20010011175A1
• Time in Patent Office: 455 Days
• Field of Search: 606/130, 606/108, 606/79, 606/80, 606/96, 606/104, 600/407, 600/429, 600/473, 600/476, 600/417, 600/411, 600/414
• US Class Current: 606/130
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• 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 2090/364 Correlation of different images or relation of image positions in respect to the body
• 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 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A system for utilizing and registering at least two surgical navigation systems during stereotactic surgery. The system comprises a first surgical navigation system defining a first patient space, a second surgical navigation system defining a second patient space, and a translation device to register the coordinates of the first patient space to the coordinates of the second patient space. The translation device comprises a rigid body, at least one component for a first navigation system placed in or on the rigid body, and at least one component for a second navigation system placed in or on the rigid body, in known relation to the at least one component for the first navigation system. The translation device is positioned in a working volume of each of the at least two navigation systems.

Claims

1. A system for utilizing and registering at least two surgical navigation systems during stereotactic surgery, the system comprising:

a first surgical navigation system defining a first patient space;

at least one additional surgical navigation system defining at least one additional patient space; and

at least one translation device to develop a translation matrix for correlating a set of coordinates associated with the first patient space to at least one set of coordinates associated with the at least one additional patient space.

2. The system of claim 1, wherein one of the first surgical navigation system and the at least one additional surgical navigation system is a line-of-sight navigation system.

3. The system of claim 1, wherein the at least one translation device is a dynamic translation device that is mounted to the patient.

4. The system of claim 1, wherein the at least one translation device is a guide tube.

5. The system of claim 1, wherein the at least one translation device is configured to be provided on an operating table.

6. The system of claim 1, wherein the at least one translation device is incorporated into an operating table.

7. The system of claim 2, wherein the line-of-sight navigation system is an optical navigation system.

8. The system of claim 1, wherein one of the first surgical navigation system and the at least one additional surgical navigation system is a non-line-of-sight navigation system.

9. The system of claim 8, wherein the non-line-of-sight surgical navigation system is an electromagnetic navigation system.

10. The system of claim 1, wherein the at least one translation device includes at least one component associated with the first surgical navigation system and at least one component associated with the at least one additional surgical navigation system.

11. The system of claim 1, wherein the at least one translation device includes at least one component for developing the translation matrix for registering the first surgical navigation system and the at least one additional surgical navigation system.

12. The system of claim 10, wherein the translation matrix is predetermined.

13. The system of claim 10, wherein a relationship between the at least one component associated with the first surgical navigational system and the at least one component associated with the at least one additional surgical navigational system is determined by locating points on the at least one component associated with the first navigation system and the at least one component associated with the at least one additional surgical navigational system.

14. The system of claim 10, wherein a relationship between the at least one component associated with the first navigation system and the at least one component associated with the at least one additional surgical navigational system is determined by a method comprising:

locating points on the at least one component associated with the first surgical navigation system or locating points on the at least one component associated with the at least one additional surgical navigational system; and

utilizing predetermined points on the at least one component associated with the first surgical navigation system or utilizing predetermined points on the at least one component associated with the at least one additional surgical navigation system wherein at least some of the predetermined points differ from the located points.

15. The system of claim 10, wherein the first surgical navigation system and the at least one additional surgical navigation system are automatically registered based on the translation matrix.

16. The system of claim 10, wherein the first surgical navigation system and the at least one additional surgical navigation system are optical navigation systems, and the at least one component associated with the first surgical navigation system and the at least one component associated with the at least one additional surgical navigation system are optical elements.

17. The system of claim 10, wherein the first surgical navigation system and the at least one additional navigation system are electromagnetic navigation systems and the at least one component associated with the first navigation system and the at least one component associated with the at least one additional surgical navigation system are electromagnetic elements.

18. The system of claim 17, wherein the at least one electromagnetic elements are sensors.

19. A method for utilizing and registering surgical navigation systems, comprising:

generating a preoperative image data set;

tracking movement of a patient and a medical instrument in a patient space with a first surgical navigation system, and registering the preoperative image data set to the first surgical navigation system'"'"'s patient space; and

generating a translation matrix from the registration to register at least one additional surgical navigation system.

20. The method of claim 19, wherein the tracking includes tracking movement of the patient or the medical instrument in the patient space.

21. The method of claim 19, further comprising:

registering the first surgical navigation system;

introducing a translation device into the patient space of the first surgical navigation system;

registering the at least one additional surgical navigation system using the introduced translation device; and

removing the first surgical navigation system from the patient space after registration of the at least one additional surgical navigation system.

22. The method of claim 19, wherein the generating of the translation matrix includes determining a relationship between at least one component associated with the first surgical navigational system and at least one component associated with the at least one additional surgical navigational system.

23. The method of claim 19, wherein the generating of the translation matrix includes determining the translation matrix from at least one component associated with the first surgical navigation system or at least one component associated with the at least one additional surgical navigational system.

24. The method of claim 22, wherein the determining of a relationship between the at least one component associated with the first navigation system and the at least one component associated with the at least one additional surgical navigational system includes locating points on the at least one component associated with the first surgical navigation system and locating points on the at least one component associated with the at least one additional surgical navigational system.

25. The method of claim 22, wherein the determining of a relationship between the at least one component associated with the first navigation system and the at least one component associated with the at least one additional surgical navigational system comprises:

locating points on the at least one component associated with the first surgical navigation system or the at least one component associated with the at least one additional surgical navigational system; and

utilizing predetermined points on the at least one component associated with the first surgical navigation system or utilizing predetermined points on the at least one component associated with the at least one additional surgical navigation system where at least some of the predetermined points differ from the located points.

26. The method of claim 19, wherein the registering comprises registering the first surgical navigation system and the at least one additional surgical navigational systems based on the generated translation matrix.

27. A system for utilizing and registering surgical navigation systems, comprising:

means for generating a preoperative image data set;

means for tracking movement of a patient and a medical instrument in the patient space, and registering the image data set to a first surgical navigation system'"'"'s patient space; and

means for generating a translation matrix from the registration to register at least one additional surgical navigation system.

28. The system of claim 27, further comprising means for tracking movement of the patient or the medical instrument in the patient space.

29. The system of claim 27, further comprising:

means for registering the first surgical navigation system;

means for introducing a translation device into the patient space of the first surgical navigation system;

means for registering the at least one additional surgical navigation system using the introduced translation device; and

means for removing the first surgical navigation system from the patient space after registration of the at least one additional surgical navigation system.

30. The system of claim 27, wherein the means for generating the translation matrix is provided with a relationship between at least one component associated with the first surgical navigational system and at least one component associated with the at least one additional surgical navigational system.

31. The system of claim 27, wherein the means for generating the translation matrix determines the translation matrix from at least one component associated with the first surgical navigation system or at least one component associated with the at least one additional surgical navigational system.

32. The system of claim 30, further comprising means for locating points on the at least one component associated with the first surgical navigation system and locating points on the at least one component associated with the at least one additional surgical navigational system.

33. The system of claim 30, wherein the generating means further comprises:

means for locating points on the at least one component associated with the first surgical navigation system or the at least one component associated with the at least one additional surgical navigational system; and

means for predetermining points on the at least one component associated with the first surgical navigation system or predetermining points on the at least one component associated with the at least one additional surgical navigation system wherein at least some of the predetermined points differ from the located points.

34. The system of claim 30, wherein the generating means registers the first surgical navigation system and the at least one additional surgical navigational system based on the generated translation matrix.