CN1511249A - 器具的校准器及跟踪器系统 - Google Patents

器具的校准器及跟踪器系统 Download PDF

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CN1511249A
CN1511249A CNA02807775XA CN02807775A CN1511249A CN 1511249 A CN1511249 A CN 1511249A CN A02807775X A CNA02807775X A CN A02807775XA CN 02807775 A CN02807775 A CN 02807775A CN 1511249 A CN1511249 A CN 1511249A
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R・潘迪
R·潘迪
塔
L·阿拉塔
蘅
B·拉罗奎
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Abstract

一种标准医用器具或外科器具的轴线是通过将器具(20)连接到具有已知几何关系的多个位置指示元件或标示器上而定位的，并且将器具设置在器具校准器(16)上，校准器以允许不同直径的器具旋转的方式来支撑器具，同时器具的轴线保持在固定的或稳定的方向上。当器具旋转时，标示器定位系统跟踪标示器在器具上的位置，随后相对于夹紧在器具上的标示器推断或确定旋转的轴线。器具校准器具有第二组位置指示元件或标示器，它们彼此之间以及相对于止动件具有固定几何或空间位置关系，而器具的端部或顶端相对于止动件设置。

Description

器具的校准器及跟踪器系统
【技术领域】
本发明通常涉及一种用于医用器具跟踪系统的器具校准器。
【背景技术】
大脑、脊髓和身体其它部位的三维空间诊断图像可以由例如CT扫描仪、磁共振成像仪、三维荧光检查器和类似仪器的诊断成像设备产生出来。这些成像形式通常提供具有毫米或更高分辨率的结构细节。图像导向的介入系统发展到与内科、外科或其它形式介入处理的计划步骤相结合以便利用这些数据来辅助医生、外科医生或其它专科医师，并且在该介入处理期间精确定位患者体内的重要区域。
在介入操作期间，图像导向的介入系统还可以用于显示医用器具相对于患者图像的位置和取向。在医疗或医疗处理期间，患者图像数据的多个视图通常在监视器上显示出来，这对于操作器具的人来说是可见的。这些视图可以包含患者的轴向、径向和冠状视图。有时显示第四个倾斜视图，以展现正交于器具顶端的平面中的图像数据。器具顶端的位置、器具的轨迹、以及器具头部的直径在这些图像中的一个或多个中显示出来。在器具的顶端和所希望位置之间的数学距离也可以在监视器上数字地显示出来。
对于图像导向处理的给定种类，能够具有较高精确度地跟踪器具顶端的位置、器具的轨迹、以及器具头部的直径是必需的，通常需要校准到小于毫米级的精确度。器具的位置和取向是通过使用跟踪系统来跟踪的。跟踪系统通过检测三个或更多标示器的位置来跟踪器具，标示器彼此之间以及相对于器具具有已知的几何位置关系。跟踪系统可以使用任何形式的跟踪技术，例如光学的、磁的、射频的、以及纤维光学的，仅举这几个例子。依赖于系统的形式，标示器可以是无源的或是有源的。跟踪系统的一个公知的例子是使用反射红外线能量的球状标示器。跟踪系统使得该球设置在红外射线中。多个空间分离的照相机用于检测该球的相对位置关系。
位置指示元件或标示器以独特的方式定位在每一个器具上，以允许跟踪系统能够相互区别每一个器具。换句话说，独特的方式可以是用来表示器具的特征。跟踪系统使用关于每一个器具相对于器具的位置指示元件的顶端位置和轨迹的信息以及有关器具头部直径的信息来预编程序。例如，关于具有三个红外线发射器的跟踪探测器，跟踪系统保持有关探测器顶端位置与在由三个红外线发射器确定的平面上的选择点的相关位置关系的信息。在这些信息的基础上，顶端的精确位置可以在一个监视器上计算和显示出来。
在例如钻、探测器、内诊镜等的多种医用器具中，对于医生、外科医生或其它个人来说对器具做出修改通常是有利的，这可以影响顶端的定位以及器具头部的直径。例如，在医疗用的钻上，对外科医生来说能够改变钻头的尺寸和长度以实现不同的医疗操作通常是有帮助的。此外，关于探测器，通常希望在探测器手柄上替换不同长度和直径的轴，以接触到患者体内的不同区域。
不利的是，在传统系统中由于每一个器具顶端相对于器具的位置指示元件的位置以及器具头部直径是预编程序设置的，这将不能容易地做出影响器具的顶端位置和器具头部直径的修改。如果做出修改，操作者需要测量器具顶端和器具的位置指示元件之间新的位置关系，并且将这些信息输入到计算机中。此外，还需要输入有关新的器具头部直径的信息。这些过程需要消耗时间并且是繁琐的。如果不将新的信息输入到跟踪系统中，将不能在监视器上正确地跟踪和显示器具的顶端。
在图像导向的介入系统中允许使用标准外科器具是所希望的。这个特征将有助于降低图像导向的外科器械的成本。在美国专利第5987960号中公开了这样一种器具校准器，这里将引入作为参考。器具校准器包含形成滑动接合并且将器具固定在所希望的位置上的两个可移动块。器具通过在两个可移动块的每一个上的一系列交错的V形槽固定，可移动块相对器具头部的直径具有已知的几何位置关系。器具校准器进一步包含至少一个用于连通器具校准器在操作间或其它区域中位置的位置指示元件。器具顶端的位置和取向是通过对比固定在器具校准器上的器具位置和两个可移动块中的每一个的位置来确定的。此外，在两个可移动块中每一个的位置的基础上，可以计算出器具头部的直径。器具校准器能够立刻校准器具顶端的位置、顶端所指向的方向、以及器具头部的直径。器具顶端所指向的方向是通过对比连接于固定器具的两个可移动块的每一个上的位置指示元件和连接于器具上的位置指示元件之间的位置关系而确定的。器具顶端的位置是通过对比连接于器具校准器上的位置指示元件的位置和连接于器具上的位置指示元件的位置而确定的。器具的直径是借助两个可移动块的V形槽和器具头部的直径之间的已知几何位置关系而确定的。
【发明内容】
为了使得用于在图像导向的介入系统中校准标准医用或外科器具的处理简化和/或更精确，标准医用或外科器具的轴线是这样定位的，即通过将多个具有已知几何位置关系的位置指示元件或标示器连接到器具上，并且将器具设置在器具校准器上进行所述定位，该器具校准器这样的方式支承该器具，即，允许不同直径的器具旋转，同时保持器具轴线沿固定的或稳定的方向。当器具旋转时，标示器定位系统跟踪标示器在器具上的位置，而后推断或确定旋转轴线相对于夹紧到器具上的标示器的位置。器具校准器还可以包含彼此之间以及相对于止动件具有固定几何或空间位置关系的第二组位置指示元件或标示器，器具的端部或顶端设置成抵靠在该止动件上。标示器定位或跟踪系统确定器具顶端相对于连接到器具上的标示器的取向和位置。因此，可以以相当简单的方式精确地校准标准医用器具的位置范围，从而避免需要使用专用结构的器具。
在一个实施例中，构形成用于支撑外科或医用器具或用具的器具校准器的框架，以使得其沿其轴线在至少两个分离的位置接触器具，从而允许支撑具有在一确定范围内直径的任何器具，并使其轴线在稳定的或固定的位置旋转。器具校准器还可以与当器具旋转时相对框架夹持器具的元件合并在一起。
在另一个实施例中，用于图像导向的介入系统的器具校准器形成支撑框架，当器具旋转时，其使用形成在表面上的槽来接收器具，并且保持器具的轴线处于固定位置，该槽优选地为“V”形的或类似的形状。器具校准器进一步包含当器具旋转时可操作地将器具保持在槽中的器具夹持器，以及可操作地将器具的顶端相对校准器保持在固定位置上的器具止动件。器具校准器具有彼此之间以及相对于器具止动件成固定空间位置关系的多个位置指示元件。
【附图说明】
图1是操作间具有代表性实例的透视图，其中可以配置有器具校准器和医用或外科仪器跟踪系统。
图2是器具跟踪器实例的透视图。
图3是器具跟踪器的正视图。
图4是器具校准器的典型实施例的透视图。
图5是器具跟踪器和器具校准器的透视图。
【具体实施方式】
图1是操作间10的透视图，其中配置有器具的校准器及跟踪器系统12，并且与图像导向的外科系统14一起使用。器具的校准器及跟踪器系统12包含器具校准器16和器具跟踪器18。器具跟踪器18接附在例如医用的探针、钻或内诊镜的器具20上。器具20可操作地安装在器具校准器16中，以将器具与图像导向系统进行对准。定位系统22安装在相对于其上支撑患者的工作台的公知位置上。定位系统22可以在操作间10中以另一种方式相对于另一个适合的公知位置来安装。在图示实施例中，定位系统包含无源的红外线光学系统，其在红外线辐射源上包含两个照相机24，辐射源使用红外辐射来照射照相机的观察区域。这样的系统是公知的。然而，虽然图示实施例可更有利地使用无源的红外线跟踪系统，但在通常情况下，本发明可以使用任何形式的跟踪系统，其包含光学系统、RF(射频)的、磁性的、声学的或超声波的、以及纤维光学的系统的其它形式。此外，可以使用例如发光二极管的有源的位置指示元件或标示器来代替在图示实施例中示出的无源元件。用于这样元件的能量可以是超声波、RF(射频)、或磁性。
如下面更详细的描述，器具跟踪器18和器具校准器16均包含多个由定位系统22可检测出的位置指示元件，其用于向图像导向的外科系统14提供器具20的定位和定向信息。
参照图2和图3，分别是本发明器具跟踪器18的更详细透视图和正视图。器具跟踪器18提供了可拆卸器具的参考系，其通过图像导向的外科系统14的定位系统定位在空间中。器具跟踪器18包含以固定的和公知的相对关系支撑至少三个位置指示元件的框架。如图所示具有“Y”形结构的框架将减少该框架阻挡定位系统22的位置指示元件的全视角观察的可能。器具跟踪器的框架以通常Y形的结构包含至少两个连接到中心件32上的叉形件30和31。叉形件30和31在长度上可以是彼此不同的，并且在形状和长度上它们从手柄件32的轴线分别延伸的角度可以有所不同。在图2所示的实施例中，叉形件30比叉形件31长。通常连接到叉形件30和31的末端上的分别是彼此间隔设置的位置指示元件34和35。至少另一个位置指示元件36连接到手柄件32上，其与位置指示元件34和35间隔设置，并且和装置34和35位于同一平面内。在图示实施例中的位置指示元件34和35是无源反射器，但是可以被由定位系统22检测到的另一种形式的标示器或位置指示元件(例如有源红外线或声学传感器)来代替。
医用器具通过例如夹具可松释地紧固在器具跟踪器18上。夹具具有这样的优点，即，不用对必需紧固到器具跟踪器上的医用器具进行改变。在图示实施例中，夹具38将典型的医用器具20紧固到器具跟踪器18上。可以使用例如螺钉40和41的紧固件将夹具38连接到手柄件32上。夹具38优选地为具有两个相同部件43和44的C形夹具，它们可以通过例如指旋螺钉42的装置围绕医用器具20紧固。C型夹具38的相同部件43和44包含两个相对的夹爪46和47，当紧固该相同部件43和44时，夹爪稍微地彼此靠近，以确保器具20相对于器具跟踪器18紧固并固定到公知的位置。如图3所示，器具20由夹爪46和47向着夹具38的后表面推进，并且与夹具38的相同部件43和44两者的拐角处接合。这确保了器具跟踪器18和器具20之间可靠的四点接触。
图4是本发明的器具校准器16的更详细透视图。器具校准器16包含基座50和上表面51。上表面51位于相对于由基座50形成的平面成一锐角α的平面内。倾斜的上表面使得使用者在校准期间更好地使器具呈现在照相机24中以改善检测。多个位置指示元件54-57彼此以已知的且间隔开的关系固定在上表面51上。位置指示元件54-57可以是无源的或有源的，并且可由定位系统22的照相机24检测到，以向图像导向的医疗系统14提供定位和定向信息。V形的槽或通道60形成在上表面51上，基本上贯穿器具校准器16的整个长度。止动件62形成在公知的和固定的位置上，以允许器具的顶端(该图中未示出)插入到V形槽60中，以便抵靠在止动件62上。更宽和更深的扩展槽64形成在槽60中，紧靠在器具止动件62的前面。槽64可以容纳比器具主体具有较大的直径、或具有不规则形状的器具的顶端，以便仍然允许器具紧密地抵靠在V形槽60中。V形槽60和止动件62相对于位置指示元件54-57的位置提供到或存储在在校准过程中使用的图像导向的外科系统14中。自促发的器具夹持器66位于V形槽60的上面，以将器具固定地夹持在槽中。自促发的器具夹持器66可以是弹簧偏压的球夹具，其通过杠杆作用以允许器具在球弹簧68下面滑动通过球弹簧68，而不需要使用者用第二只手调节或打开夹具。球弹簧68典型地由具有光滑表面的球轴承构造成，并且由容纳在自调节的器具夹持器66中的圆柱腔中的弹簧偏压。优选地，自促发的器具夹持器66基本上位于止动件62和V形槽60的端部之间的中点位置，从而球弹簧的力可操作地固定地将该器具保持就位。为了减轻器具校准器16的重量，在器具校准器的体上形成多个切去部或空腔68和70，而不影响器具校准器的整体完整性。
图5是与器具校准器16对准的、保持该器具20的器具跟踪器18的透视图。器具20由器具跟踪器18的夹具38夹持，以将器具20沿着V形槽60插入到器具校准器16中，直到该器具的顶端到达止动件62以抵靠该止动件62。自促发的器具夹持器66抵靠V形槽60的侧部对该器具20进行导向和夹持。
为了对准该器具20的轴线，使用者设置了器具校准器16、器具跟踪器18和器具20，以使得所有位置指示元件34-36和54-57可由照相机24(图1)检测到。然后使用者将一个预先确定的命令输入到图像导向的外科系统14中以启动校准操作。此后使用者首先沿一个方向然后沿另一个方向旋转该器具跟踪器18和器具20。在一个实施例中，器具跟踪器18和器具20首先沿一个方向旋转至少60度，而后沿另一个方向旋转120度。当其旋转时球弹簧68允许器具20在其位置上光滑地滚动同时旋转以便减小潜在的对准误差。当器具朝向图像导向的外科系统14旋转时，器具的旋转使得照相机24捕获和转送该位置指示元件34-36的位置。器具20在空间中的纵向轴线可以从位置信息中进行三角测量并确定。此外，由于位置指示元件54-57位置的捕获和转送使得器具20的顶端的位置成为已知的，从而也可以确定器具顶端相对于器具跟踪器位置指示元件34-36的空间位置关系。在校准之后，器具20可以从器具校准器16上取下来，但通过图像导向系统14的跟踪系统来捕获该器具跟踪器位置指示元件34-36的位置和取向，从而可以连续地跟踪器具20的位置和取向。其结果是，通过跟踪该元件34-36的位置，对于图像导向的系统来说，器具轴线和器具顶端的位置是已知的。
本发明的器具跟踪器和器具校准器系统不同于传统的系统，其可以使用通用尺寸的任何器具，而不受特定尺寸的限制。C形夹具38、自促发的夹持器66和扩展槽64的使用可以接受具有较广不同尺寸和几何形状的器具。本发明不需要使用具有内置的位置标示器的特定医用器具。由于器具对准过程不象传统系统中依赖于确定实际器具的直径，通常可以使用具有对称几何形状的任何器具。本发明的另一个优越性是，外科医生或助手可以在器具校准器16中定位器具，而不使用第二只手以抓住校准器，或操作任何夹具以在校准器中夹持住器具。设置器具只需要用一只手抓住器具和器具跟踪器即可。器具校准器的倾斜上表面进一步提供呈现到照相机上有较宽视线的优越性，以捕捉和对准在器具校准器上的位置指示元件的位置和取向。如这里所述，器具跟踪器和器具校准器具有简单的形状和简单的结构，这使得它们更容易和更经济地制造出来。
如在附加权利要求中列出的，在没有超出本发明范围的情况下，对前面的实例在形式和细节上可以做出各种改变、改造、修改、变化和派生，这对于本领域的技术人员来说是可以理解的。

Claims (26)

1.一种用于校准医用器具或外科器具的轴线取向和顶端位置以便确定固定在器具上的定位元件的位置的系统，该系统包含：
用于确定一器具的标志的系统，该系统包括一器具校准器，其包括：
用于接收医用器具或外科器具的一支撑件，以便当该器具在该支撑件上旋转时，该器具的纵向轴线保持固定；
在操作上保持该器具的顶端的一器具止动件；以及
多个位置指示元件，该位置指示元件彼此之间以及相对于该器具止动件具有固定的和已知的空间位置关系。
2.如权利要求1所述的系统，其特征在于，其还包括：
当器具夹持器旋转时，可操作地将该器具保持在该支撑件上的一器具夹持器。
3.如权利要求2所述的系统，其特征在于，该器具夹持器包含一夹具。
4.如权利要求2所述的系统，其特征在于，该器具夹持器包括一自促发的球弹簧夹具。
5.如权利要求1所述的系统，其特征在于，该多个位置指示元件包括至少三个固定在该器具校准器上的能量反射器。
6.如权利要求1所述的系统，其特征在于，其还包括：具有多个彼此间成固定空间位置关系的位置指示元件的一器具位置跟踪器，该器具跟踪器可操作的固定在该器具上。
7.如权利要求1所述的系统，其特征在于，该支撑件包括在一限定在表面内的沟槽。
8.一种用于使医用器具或外科器具对准图像跟踪系统的系统，其包括：
一器具校准器，其包括：
一用于接收该器具的槽，以使得当该器具在该槽内旋转时，该器具的纵向轴线和顶端保持固定；以及
多个第一位置指示元件，该位置指示元件彼此之间以及相对于该槽具有固定的空间位置关系；以及
一器具跟踪器，其包括：
多个第二位置指示元件，该位置指示元件彼此之间具有固定的空间位置关系，该器具跟踪器可操作地固定于该器具上。
9.如权利要求9所述的系统，其特征在于，该槽具有相对于该器具校准器的基座成锐角设置的轴线。
10.如权利要求9所述的系统，其特征在于，该器具校准器还包括可操作地将该器具保持在该槽中的一器具夹持器。
11.如权利要求9所述的系统，其特征在于，该器具校准器包括一器具止动件，其可操作地将器具的顶端相对于多个第一位置指示元件保持在固定的和可获知的位置上。
12.如权利要求9所述的系统，其特征在于，该器具夹持器包括一夹具。
13.如权利要求9所述的系统，其特征在于，该器具夹持器包括一自促发的球弹簧夹具。
14.如权利要求9所述的系统，其特征在于，该槽形成在上表面中。
15.如权利要求14所述的系统，其特征在于，该器具校准器还包括邻接于该器具止动件形成的一扩展槽，其可操作地接收一扩大的器具顶端或不规则形状的器具顶端。
16.如权利要求14所述的系统，其特征在于，该多个位置指示元件包括至少三个固定于该器具校准器的该上表面上的无源的能量反射器。
17.一种使器具对准图像导向的系统的方法，其包括：
将彼此之间具有预定空间位置关系的多个第一位置指示元件连接到该器具上；
将该器具设置在器具校准器的支撑件上，以便可操作地允许该器具相对于已知轴线旋转，该器具校准器具有固定于其上的多个第二位置指示元件；
在支撑件上旋转该器具，导向系统通过使用一跟踪系统来检测多个第二位置指示元件的位置，以便当该器具旋转时检测多个第一和第二位置指示元件；以及
使该器具顶端和器具纵向轴线空间位置相对于多个第一和第二位置指示元件的检测位置对准。
18.如权利要求17所述的方法，其特征在于，插入该器具的步骤包括：沿着该槽以及在自促发的球弹簧夹具作用下滑动该器具，该自促发的球弹簧夹具可操作地将该器具紧密地保持在该槽中。
19.如权利要求17所述的方法，其特征在于，插入该器具的步骤包括：沿着该槽滑动该器具，直到该器具顶端到达止动件并抵靠止动件。
20.一种相对于跟踪系统校准医用器具或外科器具的系统，其包括：
将彼此之间具有预定空间位置关系的多个位置指示元件连接到该器具上；
将该器具设置在器具校准器的支撑框架上，该支撑框架适于允许该器具围绕轴线的旋转运动；
当该器具旋转时，通过使用跟踪系统检测该多个位置指示元件的位置；以及
当该器具旋转时，基于检测该多个位置指示元件位置，确定该轴线相对于多个位置指示元件的位置。
21.如权利要求20所述的方法，其特征在于，该支撑件包括一器具止动件，其中将器具设置到支撑件框架上的步骤包括：将器具顶端设置到邻接该器具止动件的位置上，并且该方法还包括，基于该器具止动件的已知位置，确定该器具顶端相对于该多个位置指示元件的位置。
22.如权利要求21所述的方法，其特征在于，该器具止动件的已知位置是通过使用跟踪系统来确定相对于该器具止动件具有已知空间位置关系的所述多个第二位置指示元件的位置而获得的。
23.如权利要求20所述的方法，其特征在于，该支撑框架包括形成在器具校准器的表面上的一槽。
24.如权利要求20所述的方法，其特征在于，该槽基本上是“V”形的。
25.如权利要求24所述的方法，其特征在于，将器具设置到支撑件框架上的步骤包括沿着该槽并且在自促发的球弹簧夹具作用下滑动该器具，该自促发的球弹簧夹具可操作地将该器具紧密地保持在该槽中。
26.如权利要求20所述的方法，其特征在于，该器具首先沿一个方向旋转，随后沿相反的方向旋转。
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