Registration of human anatomy integrated for electromagnetic localization

• US 7,657,300 B2
• Filed: 03/21/2002
• Issued: 02/02/2010
• Est. Priority Date: 10/28/1999
• Status: Expired due to Term

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Hunter, Mark W, Kessman, Paul
• Primary Examiner(s): Le; Long V
• Assistant Examiner(s): Cheng; Jacqueline
• Application Number:
  US10/103,685
• Publication Number:
  US 20020156363A1
• Time in Patent Office: 2,875 Days
• Field of Search: 600/407, 600/409, 600/415, 600/417, 600/428, 600/429, 600/414, 600/426, 600/424, 606/130, 324/244, 324/301, 324/302
• US Class Current: 600/424
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/3954 magnetic, e.g. NMR or MRI
• CPC Class Codes: A61B 2090/3958 emitting a signal
• 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 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: G06T 3/14 Transformations for image registration, e.g. adjusting or mapping for alignment of images

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.

Claims

1. A device for use in a system for displaying relative positions of two structures during a procedure on a body, the system including a scanning device for scanning the body to generate a scan image, said device comprising:

a base having a top side and a bottom side operable to be attached to the body via the bottom side of said base;

a fiducial marker operable to be removably attached to the top side of said base; and

a sensor formed within and as one structure with said base, wherein the fiducial marker is spaced a predetermined distance from the body when the base is attached to the body, the predetermined distance being greater than a slice thickness used for obtaining the scan image creating a barrier that inhibits the fiducial marker from blending with the body in the scan image.

2. The device as defined in claim 1 wherein attachment of said base to the body is selected from a group consisting of adhesive, implanting, clamping, stapling and screwing.

3. The device as defined in claim 1 wherein said fiducial marker is operable to be represented by at least one data point in an image data set of the body.

4. The device as defined in claim 3 wherein said image data set of the body is formed by use of a device selected from a group consisting of MR, CT, ultrasound, fluoro and PET.

5. The device as defined in claim 1 wherein said fiducial marker has a unique geometrical shape formed by at least three distinct non-collinear points operable to enable a determination of both a location and orientation of said fiducial marker.

6. The device as defined in claim 1 wherein said fiducial marker is spherical in shape to enable at least a determination of a location of said fiducial marker.

7. The device as defined in claim 1 wherein said sensor is selected from a group consisting of an electromagnetic sensor, an acoustic sensor, an optical sensor and an inertial sensor.

8. The device as defined in claim 1 wherein said sensor is an electromagnetic sensor having at least two coils positioned perpendicular to one another to provide both a location and orientation of said sensor.

9. The device as defined in claim 1 wherein said sensor is an electromagnetic sensor having at least one coil operable to identify at least a location of said sensor.

10. The device as defined in claim 1 wherein said sensor is selected from a group consisting of a five degree of freedom sensor and a six degree of freedom sensor.

11. The device as defined in claim 1 wherein communication with said sensor is selected from a group consisting of cable, radio wave, acoustic and optical.

12. The device as defined in claim 1 wherein the two structures includes body elements.

13. The device as defined in claim 1 wherein the two structures include a body element and a medical instrument.

14. The device as defined in claim 1 wherein said sensor is operable to be positioned at both a known location and orientation relative to said fiducial marker.

15. The device of claim 1 wherein the predetermined distance is based upon scan slice thickness.

16. The device of claim 1 wherein the fiducial marker is sized based upon scan slice thickness.

17. A method for using at least a first fiducial marker and a first sensor during a procedure on a body to generate a display representing relative positions of two structures during the procedure, the method comprising:

attaching to the body a first base having a top side and a bottom side, via the bottom side of the base, the base further includes the first sensor integrated therein and the first fiducial marker removable attached to the top side of the base;

imaging at least a portion of the body where the first base and the first fiducial marker are located to create a data set having a plurality of data points in image space, wherein the first fiducial marker is spaced a predetermined distance from the body, the predetermined distance being greater than a slice thickness used for obtaining the image creating a barrier that inhibits the fiducial marker from blending with the body in the image space;

identifying at least one data point in image space representing the first fiducial marker;

removing the first fiducial marker from the first base;

receiving signals from the first sensor positioned at a known location relative to the first fiducial marker to identify at least one reference point in patient space;

auto registering the body by correlating the reference point to the data point; and

generating a display representing relative positions of two structures during the procedure.

18. The method as defined in claim 17 wherein scanning the portion of the body includes scanning from a device selected from a group consisting of MR, CT, ultrasound, fluoro, and PET.

19. The method as defined in claim 17 further comprising attaching to the body a second base that includes a second sensor integrated therein and a second fiducial marker removably attached thereto.

20. The method as defined in claim 19 further comprising attaching to the body a third base that includes a third sensor integrated therein and a third fiducial marker removably attached thereto.

21. The method as defined in claim 19 further comprising attaching the first base that includes the first fiducial marker and the first sensor to the first structure and attaching the second base having the second fiducial marker and the second sensor to the second structure.

22. The method as defined in claim 21 further comprising dynamically tracking movement of the first and second sensors associated with the first and second structures.

23. The method as defined in claim 17 wherein the first fiducial marker has the unique geometric shape formed by at least three distinct non-collinear points.

24. The method as defined in claim 17 wherein the first sensor is a six degree of freedom sensor operable to identify both a location and orientation of the first fiducial marker.

25. The method as defined in claim 17 wherein receiving signals from the first sensor further includes receiving signals from the first sensor positioned at both a known location and orientation relative to the first fiducial marker.

26. The method as defined in claim 17 wherein attaching a first base includes attaching the first base with an attachment selected from a group consisting of adhesive, implanting, clamping, stapling and screwing.

27. The method as defined in claim 17 wherein receiving signals from the first sensor further include communicating with the first sensor selected from a group consisting of cable, radio wave, acoustic and optical.

28. The method as defined in claim 17 wherein the data point in image space representing the first fiducial marker is identified by a computer algorithm.

29. The method as defined in claim 17 wherein the data point in image space representing the first fiducial marker is identified by a user selecting the data point.

30. The method as defined in claim 17 wherein the predetermined distance is based upon scan slice thickness.

31. The method as defined in claim 17 wherein the fiducial marker is sized based upon scan slice thickness.

32. A system for displaying relative positions of two structures during a procedure on a body, said system comprising:

a scanning device for scanning the body to generate a scan image; and

a fiducial marker-sensor device comprising;

a base including an exterior wall enclosing a volume, a top and a bottom;

a fiducial marker operable to be attached to the top of said base; and

a sensor enclosed by the exterior wall of the base within the volume to form a one piece structure;

wherein the bottom of the base is connected directly to the body, the fiducial marker is connected to the base, the fiducial marker is spaced a predetermined distance from the body when the base is attached to the body, the predetermined distance being greater than a slice thickness used for obtaining the scan image creating a barrier that inhibits the fiducial marker from blending with the body in the scan image, and the base encloses the sensor;

wherein said fiducial marker is removable attached to said base;

wherein a position of the sensor is operable to be determined with a processor.

33. The system of claim 32, wherein the scanning device comprises at least one of MR, CT, ultrasound, fluoro and PET.

34. The system of claim 32 wherein the sensor includes a coil operable to sense a magnetic field generated relative to the coil.

35. The system as defined in claim 32 wherein said base defines a structure to nestingly receive said removable fiducial marker.

36. The system as defined in claim 35 wherein said fiducial marker has a shape complimentary to said base.

37. The system as defined in claim 32 wherein said base includes an upper wall defining a raised ring portion surrounding a central depression, wherein the raised ring portion extends to a first sidewall;

wherein the fiducial marker includes an exterior wall defining a central raised cylindrical portion and an outer depressed ring portion extending to a second sidewall;

wherein the first sidewall and the second sidewall are substantially coextensive.

38. A device for use in a system for displaying relative positions of two structures during a procedure on a body, the system including a scanning device for scanning the body to generate a scan image, said device comprising:

a base removably affixed to the body;

a fiducial marker substantially permanently attached to said base via a fiducial attachment portion that defines an exterior wall, wherein the fiducial marker is spaced a predetermined distance from the body when the base is attached to the body, the predetermined distance being greater than a slice thickness used for obtaining the scan image creating a barrier that inhibits the fiducial marker from blending with the body in the scan image; and

a sensor body formed as an annular member comprising an inner perimeter that defines an opening operable to be removably positioned near said fiducial marker such that at least a portion of the fiducial marker or the fiducial attachment portion extends into the sensor body or the opening in the annular member wherein the fiducial marker and the sensor body are in known relation to each other.

39. The device of claim 38 wherein the predetermined distance is based upon scan slice thickness.

40. The device of claim 38 wherein the fiducial marker is sized based upon scan slice thickness.

41. A method for using at least a first fiducial marker and a first sensor during a procedure on a body to generate a display representing relative positions of two structures during the procedure, the method comprising:

providing a first base having a top side and a bottom side enclosing the first sensor;

attaching the first base with the enclosed first sensor to the body via the bottom side of the base;

removably attaching the first fiducial marker to the top side of the first base with a fiducial holding portion;

acquiring image data of the body where the first base and the first fiducial marker are located to create a data set having a plurality of data points in image space including at least one fiducial data point formed by the first fiducial marker, wherein the first fiducial marker is spaced a predetermined distance from the body, the predetermined distance being greater than a slice thickness used for obtaining the image creating a barrier that inhibits the fiducial marker from blending with the body in the image space;

identifying at least one fiducial data point in image space representing the first fiducial marker;

receiving signals from the first sensor enclosed in the first base to identify at least one reference point in patient space; and

auto-registering the body in patient space to the image data by correlating the at least one reference point to the at least one fiducial data point.

42. The method as defined in claim 41 further comprising removing the first fiducial marker prior to receiving signals from the first sensor.

43. A system for displaying relative positions of two structures during a procedure on a body, said system comprising:

a scanning device for scanning the body to generate a scan image; and

a fiducial marker-sensor device comprising;

a base having a top side and a bottom side operable to be removably affixed to the body via the bottom side of said base;

a fiducial marker operable to be removably attached to the top side of the base; and

a sensor formed within and as one structure with the base wherein the fiducial marker is spaced a predetermined distance from the body when the base is attached to the body, the predetermined distance being greater than a slice thickness used for obtaining the scan image creating a barrier that inhibits the fiducial marker from blending with the body in the scan image.

44. The system of claim 43, wherein the scanning device comprises at least one of MR, CT, ultrasound, fluoro and PET.

45. The system of claim 43 wherein the predetermined distance is based upon scan slice thickness.

46. The system of claim 43 wherein the fiducial marker is sized based upon scan slice thickness.

47. A device for use in a system for displaying relative positions of two structures during a procedure on a body, the system including a scanning device for scanning the body to generate a scan image, said device comprising:

a base having a top side and a bottom side operable to be attached to the body via the bottom side of said base, the base having an integrated sensor formed as one with the base and a raised ring portion, the raised ring portion defining a central circular depression; and

a fiducial marker operable to be removably attached to the top side of the base, the fiducial marker shaped to mate with the ring portion and central circular depression when removably attached to the base, wherein the fiducial marker is spaced a predetermined distance from the body when the base is attached to the body, the predetermined distance being greater than a slice thickness used for obtaining the scan image creating a barrier that inhibits the fiducial marker from blending with the body in the scan image.

48. The device of claim 47 wherein the predetermined distance is based upon scan slice thickness.

49. The device of claim 47 wherein the fiducial marker is sized based upon scan slice thickness.

50. A device for use in a system for displaying relative positions of two structures during a procedure on a body, the system including a scanning device for scanning the body to generate a scan image, said device comprising:

a base operable to be removably attached to the body;

a fiducial marker substantially permanently attached to the base; and

a sensor operable to be removably attached to the base, wherein the fiducial marker is configured to be spaced a predetermined distance from the body when the base is attached to the body, the predetermined distance being greater than a slice thickness used for obtaining the scan image creating a barrier that inhibits the fiducial marker from blending with the body in the scan image.

51. The device of claim 50 wherein the predetermined distance is based upon scan slice thickness.

52. The device of claim 50 wherein the fiducial marker is sized based upon scan slice thickness.