Fluoroscopic tracking and visualization system

• US 6,856,827 B2
• Filed: 12/02/2002
• Issued: 02/15/2005
• Est. Priority Date: 04/28/2000
• Status: Expired due to Term

• Current Assignee: Stryker European Holdings I, LLC (Stryker Corporation)
• Original Assignee: GE Medical Systems Global Technology Company LLC (GE Healthcare Technologies, Inc.)
• Inventors: Kapur, Tina, Seeley, Teresa, Gregerson, Gene, Lin, Faith
• Primary Examiner(s): Casler, Brian L.
• Assistant Examiner(s): JUNG, WILLIAM C
• Application Number:
  US10/308,340
• Publication Number:
  US 20030088179A1
• Time in Patent Office: 806 Days
• Field of Search: 600/407, 600/426, 600/427, 600/429, 600/431, 606/130, 250362-36304, 250/368, 250370-37004, 378/6, 378/21, 378/42, 378/44, 378/46, 378/62, 378/63, 378/68
• US Class Current: 600/426
• 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 2090/376 using X-rays, e.g. fluoroscopy
• 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 5/062 using magnetic field
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/465 adapted to display user selection data, e.g. graphical user interface, icons or menus
• CPC Class Codes: A61B 6/487 involving fluoroscopy
• CPC Class Codes: A61B 6/5235 combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT
• 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 6/547 involving tracking of position of the device or parts of the device
• CPC Class Codes: A61B 6/583 using calibration phantoms
• CPC Class Codes: A61B 6/584 determining position of components of the apparatus or device using images of the phantom
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A system for surgical imaging and display of tissue structures of a patient, including a display and an image processor for displaying such images in coordination with a tool image to facilitate manipulation of the tool during the surgical procedure. The system is configured for use with a fluoroscope such that at least one image in the display is derived from the fluoroscope at the time of surgery. A fixture is affixed to an imaging side of the fluoroscope for providing patterns of an of array markers that are imaged in each fluoroscope image. A tracking assembly having a plurality of tracking elements is operative to determine positions of said fixture and the patient. One of the tracking elements is secured against motion with respect to the fixture so that determining a position of the tracking element determines a position of all the markers in a single measurement.

Claims

1. A system for surgical imaging and display of tissue structures of a patient, said system including a display and an image processor for displaying such images in coordination with a tool image to facilitate manipulation of the tool during the surgical procedure, the system being configured for use with a fluoroscope such that at least one image in the display is derived from the fluoroscope at the time of surgery, said system comprising:

a fixture affixed to an imaging side of said fluoroscope for providing patterns of an array of markers that are imaged in each fluoroscope image; and

a tracking assembly having a plurality of tracking elements operative to determine positions of said fixture and the patient, one of said plurality of tracking elements being secured against motion with respect to said fixture so that determining a position of said one of said plurality of tracking elements determines a position of all the markers in a single measurement.

2. The system of claim 1, wherein said array of markers are disposed in a plurality of planes having a defined separation therebetween.

3. The system of claim 2, further comprising:

a marker determination unit operative on the fluoroscope image to provide an identification of a subset of said markers in the image; and

a processor operative with said identification to calibrate the system, wherein said processor determines a camera model that includes at least one distortion of said fluoroscope image.

4. The system of claim 2, further comprising a correction unit, and wherein said tracking assembly automatically determines relative position data of array of markers and the tool, wherein said correction unit is responsive to a system calibration and said position data to determine an image transformation such that a representation of the tool is correctly positioned and oriented in the fluoroscope image.

5. The system of claim 1, wherein said fluoroscope includes a C-arm having a source and a detector, wherein a first tracking element is secured to said detector, wherein a second tracking element is secured to a patient being imaged, and wherein a third tracking element is secured the tool.

6. The system of claim 1, wherein individual tracking elements of said plurality of tracking elements are each secured to at least one of said fluoroscope, a patient being imaged, and said tool.

7. A system for use with a fluoroscope that includes a source and an image detector, said system comprising:

a fixture including a three dimensional array of markers disposed over a region in a rigid body, said body being configured for disposition between said source and said detector such that said array of markers is automatically imaged as an image is acquired by said fluoroscope;

a tracking assembly including a first tracking element associated with a tool, a second tracking element associated with a patient, a third tracking element associated with said image detector, and a fourth tracking element associated with said fixture, and said plurality of tracking elements being configured to automatically determine position data each of said tool, patient, image detector and fixture relative to one another.

8. The system of claim 7, further comprising a marker determination unit operative on said image to identify at least a subset of markers in said image and operative with a table of predefined marker positions to determine camera imaging parameters for said image.

9. The system of claim 8, further comprising a correction unit responsive to said camera imaging parameters and to said position data to form a corrected tool navigation fluoroscopic image.

10. The system of claim 7, wherein each of said tool, patient, image detector and said fixture has more than one tracking element associated with it.

11. The system of claim 7, wherein said three dimensional array of markers includes a plurality of arrays of markers disposed in a plurality of planes, wherein said planes have a defined separation therebetween.

12. A medical imaging system that includes a fluoroscope having a source and a detector, said system comprising:

a fixture including a three dimensional array of markers disposed over a region in a rigid body, said body being configured for disposition between said source and said detector such that said array of markers is automatically imaged as an image is acquired by said fluoroscope;

a tracking assembly including at least a first tracking element associated with said fixture and a second tracking element associated with a tool, said tracking assembly configured to automatically determine position data of said fixture with respect to said tool; and

an image processor operative on a fluoroscopic image to identify imaged markers in said fluoroscopic image, and wherein said image processor is operative with a stored table of position of said array of markers to model at least camera data for said fluoroscopic image, wherein said image processor applies said position data together with image positions of said array of markers to model said camera data, and wherein said processor forms a volume image data set of said fluoroscopic image.

13. The medical imaging system of claim 12, further comprising an image display that applies said camera data to display a corrected fluoroscopic image and said volume image data set.

14. The medical imaging system of claim 12, wherein said volume image data set is a three dimensional set of image density values of a tissue volume.

15. The medical imaging system of claim 12, wherein said tracking assembly further includes a third tracking element associated with a patient, and a fourth tracking element associated with said fluoroscope.

16. The medical imaging system of claim 15, wherein said tracking assembly includes a additional tracking elements associated with at least one of said fixture, tool, patient and fluoroscope.

17. The medical imaging system of claim 12, wherein said camera data includes distortion of said fluoroscopic image.

18. The medical imaging system of claim 12, wherein said three dimensional array of markers includes a plurality of arrays of markers disposed in a plurality of planes, wherein said planes have a defined separation therebetween.

19. The medical imaging system of claim 12, wherein one of said tracking elements is secured against motion with respect to said fixture so that determining a position of said one of said tracking elements determines position all the markers in a single measurement.