text:
|N�mero de publicaci�n
|Tipo de publicaci�n
|N�mero de solicitud
|Fecha de publicaci�n
|27 Nov 2012
|Fecha de presentaci�n
|8 Nov 2010
|Fecha de prioridad
|14 Jun 2000
|Tambi�n publicado como
|N�mero de publicaci�n
|Troy Holsing, Gordon Goodchild
|Cesionario original
|Medtronic Navigation, Inc.
|Exportar cita
|BiBTeX, EndNote, RefMan
|Citas de patentes (599), Otras citas (146), Citada por (1), Clasificaciones (14), Eventos legales (2)
|Enlaces externos: USPTO, Cesi�n de USPTO, Espacenet
This application is a continuation of U.S. patent application Ser. No. 11/446,785 filed on Jun. 5, 2006, which is a divisional of U.S. patent application Ser. No. 09/593,495 filed on Jun. 14, 2000, now U.S. Pat. No. 7,085,400 issued on Aug. 1, 2006. The disclosures of the above applications are incorporated herein by reference.
The present invention is directed generally to image guided medical systems, and more particularly, to systems and methods for utilizing data collected from imaging sensors to calibrate a tracking device.
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
Image guided surgical techniques have been used with success in aiding physicians for performing a wide variety of delicate surgical procedures. These systems are typically used when the visualization of a surgical tool could be obscured by a patient's anatomy, or when the surgical tool is visible but the patient's anatomy could be difficult to visualize.
In order for these systems to be effective, points of the patient's anatomy appearing in the image must be accurately correlated to the instrument being tracked by the surgical navigation system. Accomplishing this correlation requires the accurate calibration of the tracking device. Ultimately, the calibration problem involves determining the position and orientation (POSE) of a set of points displayed by the image plane in the space defined by the tracking markers of the tracked instrument. It can be assumed that the structure associated with the tracking markers and image plane is a rigid body, so once the POSE is determined it remains constant. However, it is not possible to physically measure the POSE of the points in the image plane.
In addition to being robust and accurate, a preferred calibration scheme must be an uncomplicated procedure which can be performed quickly in the field by minimally trained personnel.
The present invention is directed generally to image guided medical systems, and, particularly, to systems which correlate tracked instrument positions to image data obtained from a patient. More specifically, the present invention is directed to a device and method for registering tracking device outputs with image data.
To achieve these objects and other advantages and in accordance with the purpose of the invention, as embodied and broadly described herein, the invention is directed to an apparatus and method for determining the calibration of a tracking device using image data collected by a tracked probe.
In one aspect of the invention, a surgical navigation system performs the tracking of a position of a calibration jig and a position of a probe. An imaging system performs the collection of a plurality of images of at least one calibration pattern contained in the calibration jig. After receiving the images from the imaging system, the navigation system locates the centers of intersection points in image space associated with each calibration pattern for each of the plurality of images, and extracts a calibration point therefrom. The navigation system then determines the three-dimensional position for at least one calibration point in probe space for each of the plurality of images. Furthermore, the navigation system then relates the positions of the calibration points in image space and the positions of the calibration points in probe space with a coordinate transform. Using this coordinate transform, the navigation system computes a reference position of the image in probe space and stores this reference position. Once the coordinate transform and image reference position in probe space are obtained, the calibration process is complete.
In another aspect of the invention, a surgical navigation system performs the tracking of a position of a calibration jig and a position of a probe. A three-dimensional imaging system performs the collection of a volumetric image of at least one calibration pattern contained in the calibration jig. After receiving the volumetric image from the imaging system, the navigation system extracts two-dimensional slices from the volumetric image and locates centers of intersection points in slice space associated with each calibration pattern for each of the plurality of slices, and extracts a calibration point therefrom. The navigation system then determines the three-dimensional position for at least one calibration point in probe space for each of the plurality of slices. Furthermore, the navigation system then relates the positions of the calibration points in slice space and the positions of the calibration points in probe space with a coordinate transform. Using this coordinate transform, the navigation system computes and stores a reference position of the volumetric image in probe space. Once the coordinate transform and volumetric image reference position in probe space are obtained, the calibration process is complete.
The invention allows for accurate, free-hand calibration of a tracked instrument which can be performed by minimally trained personnel. The calibration jig may be a sterile object and used within an operating room prior to the performance of a surgical procedure. Furthermore, problems associated with the calibration jig or the imaging system can easily be detected by inspection of the images as the calibration is being performed.
It is to be understood that both the foregoing general description and the following detailed description are exemplary only and are not intended to be restrictive of the invention.
Further areas of applicability will become apparent from the description provided herein. It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.
The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way.
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses.
Reference will now be made in detail to the present preferred embodiments of the invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts.
Tracking markers 125 and 160 can include by way of example only reflectors/emitters operating in the optical, infrared, electromagnetic, and/or acoustic domains and/or other suitable devices known in the art. For example, tracking markers such as those supplied by Northern Digital Incorporated may be used in conjunction with the present invention. It should be noted that the jig calibration markers 125 do not have to be identical to the probe calibration markers 160.
The tracking markers can be used to localize probe 130 and calibration jig 110. Localization is the process of determining the position and orientation of an object of interest and tracking movement of the object over some period of observation.
The manner in which sensor 170 tracks the positions of calibration jig 110 and probe 130 is well known in the art and is therefore only described generally. Sensor 170 comprises a detector array 175 which can be used to detect energy from the tracking markers 125 and 160. In the preferred embodiment, the array is a set of CCD cameras which sense infrared energy. However, other sensors may be used which operate at acoustic, electromagnetic, optical, radiological, and/or other frequencies. For example, sensor array 175 is located and suspended by a mount in such a manner as to provide a line of sight between the mount and tracking markers 125 and 160. Signals from sensor 170 are coupled into computer 150 which processes the received data to determine the position of the markers and, consequently the position of the object attached thereto. Based on the relative positions of the markers as sensed in detector array, the positions of objects can be determined and representations of the objects can be displayed on monitor 180. The tracking technology employed in the present invention may be the same as that used in the STEALTH STATION� Treatment Guidance Platform available from Medtronic Sofamor Danek, Inc.
Surgical navigation systems which perform localization functions to assist in medical procedures are well established. Such systems are disclosed, for example, in PCT Application No. PCT/US95/12894 (Publication No. WO 96/11624) to Bucholz, the entire disclosure of which is incorporated by reference.
Referring further to
Furthermore, although
For the preferred embodiment, wires 220 may be constructed of nylon and are submerged in a suitable homogenous imaging medium 210 having a known value for the velocity of propagation of the ultrasound wave emitted by the probe. Such a medium, for example, may be water, ultrasound gel, or some other substance which approximates wave propagation through a biological organism. Images of the "Z" pattern are preferably collected with the imager as perpendicular to the plane formed by the "Z" pattern.
Performing accurate image-based calibration using small point-target like structures, such as a needle tip, can be difficult due to elevation imaging effects.
Another preferable advantage of employing "Z" pattern 220 over other calibration techniques is the elimination of one axis of movement necessary to position images for calibration. Motion of the imager along the long axis of the "Z" results in the middle center moving laterally in the output image. Thus an automated calibration system would preferably only need to move the imager along the long axis and perpendicular to the axis of a "Z" pattern. Since the calibration point is computed based on the image, preferably, there are no predefined positions for placing the imaging plane within the calibration jig.
Referring to
The goal of the calibration process is to be able to relate points described by pixel locations in image space to positions described in three-dimensional probe space. In order to accomplish this, a mathematical transform between the two spaces, or coordinate systems, is preferably determined.
A technique to derive a transform between two coordinate systems given a set of identical points described in each system is provided in "Closed-form Solution of Absolute Orientation using Unit Quaternions," Journal of the Optical Society of America, Vol. 4, No. 4, April 1987 by Horn, which is incorporated by reference.
Referring to
Referring to
Referring to
A computer program used to implement the various steps of the present invention is generally located in memory unit 1300, and the processes of the present invention are carried out through the use of a central processing unit (CPU) 1305. Those skilled in the art will appreciate that the memory unit 1300 is representative of both read-only memory and random access memory. The memory unit also contains a database 1350 that stores data, for example, image data and tables, including information regarding the probe, and geometric transform parameters, used in conjunction with the present invention. CPU 1305, in combination with the computer software comprising operating system 1315, scanning software module 1330, tracking software module 1335, calibration software module 1340, and display software module 1345, controls the operations and processes of computer system 150. The processes implemented by CPU 1305 may be communicated as electrical signals along bus 1360 to an I/O interface 1370 and a video interface 1375.
Scanning software module 1330 performs the processes associated with creating a coordinate reference system and reference images for use in connection with the present invention and are known to those skilled in the art. Tracking software module 1335 performs the processes for tracking objects in an image guided system as described herein and are known to those skilled in the art. Calibration software module 1340 computes the coordinates of the calibration points in jig space and implements Horn's method to determine the transform between image space and probe space.
Display software module 1345 formats the image data for display on monitor 180 and can identify the center positions of the intersection points in displayed images with icons. Typically these icon are represented as cross-hairs. The display software module also works in conjunction with the graphical user interface and allows the user to determine the orientation of the initial image.
Image data 1355 can be fed directly into computer 150 as a video signal through video interface 1375. Alternatively, the data could also be supplied digitally through I/O interface 1370. In addition, items shown as stored in memory can also be stored, at least partially, on hard disk 1380 if memory resources are limited. Furthermore, while not explicitly shown, image data may also be supplied over a network, through a mass storage device such as a hard drive, optical disks, tape drives, or any other type of data transfer and storage devices which are known in the art.
The foregoing description is present for purposes of illustration and explanation. It is not intended to be exhaustive or to limit the invention to the precise form disclosed, and modifications of variations are possible in light of the above teachings or may be acquired from practice of the invention. The principles of the invention and its practical application enable one skilled in the art to utilize the invention in various embodiments and with various modifications as are suited to the particular use contemplated.
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|Patente citante
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|Method for determining an imaging specification and image-assisted navigation as well as device for image-assisted navigation
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