CN1481539A

CN1481539A - Fluoroscopic registration artifact with optical and/or magnetic markers

Info

Publication number: CN1481539A
Application number: CNA018162215A
Authority: CN
Inventors: R・A・阿波维茨; R·A·阿波维茨; 拉罗奎; B·D·拉罗奎; 桑托斯-蒙尼; J·J·桑托斯－蒙尼
Original assignee: Z Kat Inc
Current assignee: Z Kat Inc
Priority date: 2000-09-25
Filing date: 2001-09-25
Publication date: 2004-03-10

Abstract

A registration artifact (10) for use in registering two or more fluoroscopic images includes a plurality of radio opaque spheres (12, 14, 16) and a plurality of trackable markers, such as optical reflectors (20, 22, 24, and 26), mounted to a radio transparent body (11). A tracking system locates the position of registrable artifact using the trackable markers for registering the fluoroscopic images with respect to a known frame of reference.

Description

Fluorescent location thing with optics and/or magnetic mark

Technical field

The present invention relates to image orientation operation and interventional systems.

Background technology

Conventional fluorescent inspection location thing has the X ray transparent body, has radiopaque benchmark in the predetermined of location thing (REGISTRATION ARTIFACT) and place, fixed position on the main body.Benchmark presents dissimilarity on X ray, and is used for determining coordinate, and navigates in the common coordinate system of the radioscopic image of taking from a plurality of different power pins of patient.Because the benchmark place in each image of supposition is in same position, for image is positioned, the location thing is maintained fixed in the position of an image to next image.

Under certain conditions, it is favourable or necessary reapposing the location thing.For example, at particular tissues or the body structure of some occasion, be difficult to locate thing and linked groups and place the interior fluorescent zone of fluorescent map picture owing to patient.This type of problem may appear as adiposis patient.

A kind of solution is in the position of operation indoor tracking fluorescent mirror, and does not use the location thing.Yet, follow the tracks of the method for fluorescent mirror and need pay high expense for revising the fluorescent mirror.

Summary of the invention

According to the present invention, use is thing location, the location fluorescent map picture of set again.A plurality of location things with radiation opaque benchmark of known geometric relationship are installed on it, comprise a plurality of marks that have the known location relation with object.By the position of tracker, thereby also the position of location thing is followed the tracks of mark.The example of this tracker comprises passive and active optics, magnetic and sound system.By the relevant position of the definite location of tracker thing with the known coordinate frame.Therefore, for positioning image, do not need to make the location thing to remain on the fixed position.But removable location thing when needs so that make the location thing place image, also need not the fluorescent mirror is made amendment simultaneously

Description of drawings

For being had more all sidedly, the present invention and purpose thereof and advantage understand, hereinafter statement with reference to the accompanying drawings, and accompanying drawing has:

Fig. 1 is the skeleton view of location thing embodiment;

Fig. 2 is the skeleton view of location thing second embodiment;

The diagrammatic sketch of Fig. 3 represents that the linked groups top of instructing according to the present invention that is positioned at patient has the location thing of drill bit guide;

The diagrammatic sketch of Fig. 4 is represented and can be connected some instruments that use with the location thing that instructs according to the present invention;

The diagrammatic sketch of Fig. 5 is represented the operating room that guidance is set up according to the present invention.

Embodiment

By with reference to figs 1 to 5 pairs of first embodiment of the present invention of accompanying drawing and the deep to some extent understanding of advantage thereof, in different accompanying drawings, have the identical parts and the identical label of corresponding part employing of known geometry site.

With reference to figure 1, location thing 10 comprises radiation transparent body 11, and radiation opaque benchmark 12-16 is installed on it.On the thing 10 of location the mark 20-26 that a plurality of available trackers position and follow the tracks of is installed also.For example, but trace labelling 20-26 can be active IR line emitting diode (IREDs), reflecting sphere, magnetic can follow the tracks of material or other special material of following the tracks of.Location thing 10 also can comprise trafficator 28, is that operating process is to object localization so that help.In an embodiment, direction written instructions device 28 is flutings of the arrowhead form on the main body 11 of location thing 10.

But the optics trace labelling can be in infrared spectrum or visible spectrum by video camera by imaging and tracking.But the position of the Disturbance Detection magnetic trace labelling by measuring magnetic field.Video camera and detecting device look like to have wideer " looking " open country than typical fluorescent map.Using the advantage of magnetic mark is the demand line that does not need between video camera/detecting device and each mark.This operation device, how the distributing of robotic arm, patient and operation technique member that helps to perform the operation provide more flexibility.

With reference to figure 2, just as the location thing 30 of second embodiment of the location thing of Fig. 1 comprises a plurality of radiation opaque benchmark of arranging with predetermined geometry site 32, but and a plurality of trace labelling of arranging with known geometry site 34.

With reference to figure 3-Fig. 5, location thing 30 is installed on the carriage 36, and carriage 36 clamps are on the estrade 38 that holds patient's body 40.Carriage can make object place C shape arm fluorescent to check in the visual field of mirror.The location thing can be placed in any other suitable structure.Only as an example, drill bit guide 42 is placed on contiguous with boring the 43 opening porch of inserting patient's body.Drill bit guide comprises that but having a plurality of end points with axle and drill bit guide has the frame of the trace labelling of known geometry site, but is the pattern of infrared reflection sphere 44 at this trace labelling.The position of axle and drill bit guide is positioned in the fluorescent map picture that is obtained with location thing 30 in the visual field.

Only with reference to figure 4, the device of image orientation surgery systems comprises optical tracking system and relevant surgical apparatus.Optical tracking system is well-known.The tracker of other type comprises magnetic, optical fiber and acoustics tracker.But typical optical tracking system comprises the camera system 46 of discovering the trace labelling position in the shooting visual field, and its visual field is emission or reflected infrared or other harmless electromagnetic radiation.The program that use moves in computing machine 48 is handled the signal from optical camera system.But program is oriented the position of trace labelling, and determines the target location with the trace labelling relevant with known coordinate system or known reference frame.For example, this positional information is used so that produce the target image that is used to instruct target localization by computing machine, accurate special relationship is arranged is presented at the tissue with patient in patient's the fluorescent map picture.Computing machine comprises keyboard 50 and tracking ball 52, and both all are input equipments, also comprises the monitor 54 and the back-up source that are used for display image.Operation device comprises the probe 58 and 60 except that drill bit guide 42.But these devices are equipped with trace labelling.But tracker 62 also comprises a plurality of trace labellings with known relation, but it can be installed on other apparatus that does not have the integral installation trace labelling.

With reference to figure 3-5, use C shape arm fluorescent mirror in its visual field, to catch the fluorescent map picture of tissue of patient from least two different angles.As United States Patent (USP) the 5th, 799, described in No. 055, this patent is called " Apparatus and Method for Planning a StereotacticSurgical Procedure Using Coordina ted Fluoroscopy ", license to people such as Peshkin on August 25th, 1998, be incorporated herein by reference, its method is by the object localization in the image is located the fluorescent map picture.Yet, use the method to need object space to remain unchanged.

When using location thing 10, the location thing no longer need remain on identical position in a plurality of fluorescent map pictures.But the position of using tracker mark on track and localization thing between the image according to the type of used trace labelling, wherein tracker is such as in as shown in FIG. optical tracking system, or the tracker of other pattern.When a plurality of fluorescent maps in location as the time, use this information to adjust or compensate for location thing mobile between each image.Therefore, know the position of thing in each image, location.Even the location thing can move on on other object, for example on the operation tool to the robotic arm end, carries out new Position Tracking and calculates position with respect to patient linked groups.

Above-mentioned when at large illustrating and stating when invention is made, know those skilled in the art person and should be understood that in the spirit and scope that do not break away from invention and can make various modification, substitute, revise and derive the form and the details of invention.

Claims

1. the location thing that uses in the fluorescent map picture of location comprises:

A plurality of radiopaque benchmark with the known geometric relationship layout; With

But be furnished with a plurality of trace labellings that have known geometric relationship with benchmark on the object.

2. a method that is used to locate the fluorescent map picture comprises:

The first fluorescent map picture and location thing from first skeleton view is caught patient have a plurality of radiopaque benchmark and the trace labelling of arranging with known geometric relationship a plurality of and that benchmark has known geometric relationship but locate thing;

Use tracker to determine that the position of mark determines to locate in the first fluorescent map picture position of thing with respect to the known coordinate frame; With

Catch patient's the second fluorescent map picture and location thing from second skeleton view;

Use tracker to determine that the position of mark determines to locate in the second fluorescent map picture position of thing with respect to the known coordinate frame;

Use the position of benchmark in each fluorescent map picture and the location positioning first and second fluorescent map pictures of determined location thing;

Locate whole fluorescent map pictures.