WO2010012089A1 - X-ray detection device for c-arm tracker and method - Google Patents

X-ray detection device for c-arm tracker and method Download PDF

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Publication number
WO2010012089A1
WO2010012089A1 PCT/CA2009/001061 CA2009001061W WO2010012089A1 WO 2010012089 A1 WO2010012089 A1 WO 2010012089A1 CA 2009001061 W CA2009001061 W CA 2009001061W WO 2010012089 A1 WO2010012089 A1 WO 2010012089A1
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Prior art keywords
ray
detection signal
detection
arm
intensity
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PCT/CA2009/001061
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French (fr)
Inventor
Ahmed Aoude
Louis-David Parenteau
Mélanie CHASSÉ
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Orthosoft Inc.
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Publication date
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Priority to US12/918,020 priority Critical patent/US9545239B2/en
Priority to EP09802315.3A priority patent/EP2303126A4/en
Publication of WO2010012089A1 publication Critical patent/WO2010012089A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/58—Testing, adjusting or calibrating thereof
    • A61B6/582—Calibration
    • A61B6/583—Calibration using calibration phantoms
    • A61B6/584—Calibration using calibration phantoms determining position of components of the apparatus or device using images of the phantom
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
    • A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/42—Arrangements for detecting radiation specially adapted for radiation diagnosis
    • A61B6/4208—Arrangements for detecting radiation specially adapted for radiation diagnosis characterised by using a particular type of detector
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/42—Arrangements for detecting radiation specially adapted for radiation diagnosis
    • A61B6/4208—Arrangements for detecting radiation specially adapted for radiation diagnosis characterised by using a particular type of detector
    • A61B6/4225—Arrangements for detecting radiation specially adapted for radiation diagnosis characterised by using a particular type of detector using image intensifiers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/42—Arrangements for detecting radiation specially adapted for radiation diagnosis
    • A61B6/4208—Arrangements for detecting radiation specially adapted for radiation diagnosis characterised by using a particular type of detector
    • A61B6/4233—Arrangements for detecting radiation specially adapted for radiation diagnosis characterised by using a particular type of detector using matrix detectors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/42—Arrangements for detecting radiation specially adapted for radiation diagnosis
    • A61B6/4266—Arrangements for detecting radiation specially adapted for radiation diagnosis characterised by using a plurality of detector units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/54—Control of apparatus or devices for radiation diagnosis
    • A61B6/542—Control of apparatus or devices for radiation diagnosis involving control of exposure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/54—Control of apparatus or devices for radiation diagnosis
    • A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/56—Details of data transmission or power supply, e.g. use of slip rings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/56—Details of data transmission or power supply, e.g. use of slip rings
    • A61B6/563—Details of data transmission or power supply, e.g. use of slip rings involving image data transmission via a network
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/58—Testing, adjusting or calibrating thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/58—Testing, adjusting or calibrating thereof
    • A61B6/582—Calibration
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/58—Testing, adjusting or calibrating thereof
    • A61B6/582—Calibration
    • A61B6/583—Calibration using calibration phantoms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00221—Electrical control of surgical instruments with wireless transmission of data, e.g. by infrared radiation or radiowaves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2074—Interface software

Definitions

  • the present application relates to computer- assisted surgery, and more particularly to C-arm imaging and tracking.
  • C-arm units are commonly used in order to obtain X-ray images of bodily parts during surgery.
  • C-arm trackers have been integrated in computer-assisted surgery (CAS) , by the addition of a C-arm tracker to a C-arm unit, in order to allow image-based navigation.
  • CAS computer-assisted surgery
  • the C-arm tracker is used to relate the X-ray image to the tracking of the bodily part.
  • the relation between the X-ray image and the tracking of the bodily part is obtained by tracking the C-arm tracker to provide a scale relation between the image and the bodily part. Because of accuracy requirements for CAS surgery, the positional relation between the C-arm tracker and the tracked bodily part must be recorded at the time that the image is taken, for instance to avoid errors due to movement between the patient and the C-arm tracker, from the moment the X-ray is taken and to the moment the X-ray image file is converted to navigation data.
  • diodes are commonly used to detect X-rays. More specifically, diodes are provided on the C-arm tracker and are wired to the CAS processor system so as to detect and signal the detection of X-rays. With the signaling of the X-ray, the CAS processor system simultaneously records the positional relation between the C-arm tracker and the patient. The positional relation is then used in the conversion of the X-ray image to navigation data, for instance to adjust the orientation of the image.
  • a detection device for detecting X-rays and signaling the detection to a computer-assisted surgery processor system, comprising: an X-ray detector unit having an X-ray detector adapted to be positioned within a radiation field, the X-ray detector emitting a detection signal upon being excited by an X-ray of a given intensity; a transmitter for outputting the detection signal in radio frequency; and a receiver for receiving the detection signal in radio frequency and for forwarding the detection signal to a computer-assisted surgery processor system to signal the detection of the X-ray.
  • the detection device is adapted to detect X-rays from a C-arm, and the X-ray detector unit further comprises a memory for storing a definition file of a C-arm tracker used with the C-arm, the transmitter and the receiver wirelessly transmitting in radio frequency the definition file to the computer-assisted surgery processor system.
  • the detection device is adapted to detect X-rays from a C-arm, and the X-ray detector is mounted directly to a C-arm tracker.
  • the X-ray detector comprises a plurality of scintillator diodes mounted to a rim of the C-arm tracker.
  • X-ray detector comprises at least one scintillator diode emitting the detection signal when excited by an X-ray, the detection signal being proportional to an intensity of the X-ray.
  • the X-ray detector unit has a processor measuring an intensity of the detection signal, the transmitter outputting the detection signal if the measured intensity is above a threshold intensity.
  • the X-ray detector unit has a processor measuring an intensity of the X-ray, the processor emitting the detection signal if the measured intensity is above a threshold intensity.
  • the transmitter outputs the detection signal is in synchronization with a falling edge of a radiation wave of the X-ray detected by the X-ray detector.
  • a method for signaling a detection of an X-ray to a computer-assisted surgery processor system comprising: activating an X-ray detection in a radiation field; producing a detection signal upon detecting an X-ray of a given intensity in the radiation field; and transmitting the detection signal to a computer-assisted surgery processor system using radio frequency.
  • the method is used to detect X-rays from a C-arm, the method further comprising storing a definition file of a C-arm tracker, and transmitting the definition file to the computer-assisted surgery system using radio frequency.
  • producing a detection signal comprises determining whether the intensity of the X-ray is above an intensity threshold, and transmitting the detection signal comprises transmitting the detection signal if the intensity of the X-ray is above the intensity threshold.
  • the method is used to detect X-rays from a
  • activating the X-ray detection comprises mounting an X-ray detector to a
  • transmitting the detection signal comprises synchronizing the transmission with a falling edge of a radiation wave of the detected X-ray.
  • Fig. 1 is a block diagram of a computer- assisted surgery processor system used with a C-arm and with an X-ray detection device in accordance with a preferred embodiment of the present disclosure
  • Fig. 2 is a flow chart illustrating a method for signaling an X-ray to a CAS processor system in accordance with another preferred embodiment of the present disclosure.
  • an X-ray detection device as used with a computer-assisted surgery (CAS) processor system 10 is generally illustrated at 11.
  • the X-ray detection device 11 is used in combination with the CAS processor system 10 to signal the acquisition of an image from a C-arm unit 13.
  • the X-ray detection device 11 has an X-ray detection unit 12 and is used during computer-assisted surgical procedures in which image- based navigation is performed, such as spine surgery (pedical screw placement) and some types of traumatology surgery or any type of surgery using fluoroscopy technology for image-based navigation.
  • the C-arm unit 13 is connected to a C-arm 14 obtaining X-ray images of a bodily part, such as a spine.
  • a C-arm tracker 16 is physically mounted to the C-arm 14 for the subsequent image-based navigation during the surgical procedure.
  • the C-arm tracker 16 provides a plate with a bead pattern for the calibration of the image, in order to ensure its accurate reproduction
  • the CAS processor system 10 tracks a position and orientation of the C-arm tracker 16 so as to relate the images obtained from the C-arm 14 to the tracking of the bodily part.
  • both the C-arm tracker 16 and the bodily part are tracked using passive optical tracking (e.g., a Northern DigitalTM system) .
  • passive optical tracking e.g., active sensors, such as infrared LEDs, magnetic emitters, and any other suitable tracking system, etc.
  • the image-based navigation data is output on an interface 18. For instance, visual representations of tools are provided in real-time with respect to X-ray images of a portion of a spine.
  • the X-ray detection device 11 is a self- powered (e.g., battery operated) device that detects X-rays and signals the X-ray detection to a CAS processor system 10.
  • the X-ray detection unit 12 has an X-ray detector 20 to detect the X-rays. Accordingly, the X-ray detector 20 is positioned in the field of radiation of the C-arm 14. In an embodiment, the X-ray detector 20 is physically mounted to the C-arm tracker 16, so as to avoid any obstruction of the detector 20 in the field of radiation, for instance by the presence of metallic tools or the like.
  • the X-ray detector 20 has scintillator diodes that are excited by the X-ray. Scintillator diodes generate a signal proportional to an X-ray intensity. Other types of diodes excited by the detection of X-rays are also considered. In another embodiment, one or more scintillator diodes are distributed on the circular rim of the C-arm tracker 16, to ensure that at least one of the scintillator diodes detects the X-ray emission.
  • the signal from the X-ray detector 20 may require to be amplified.
  • the X-ray detection unit 12 with the scintillator diodes has a processing circuit 22.
  • the processing circuit 22 also filters out detected light of insufficient intensity. For instance, residual radiation and backscatter should not be detected by the X-ray detector 20, whereby the processing circuit 22 has a threshold value for the radiation intensity. If the intensity of the amplified detected radiation is above the threshold value, the processing circuit 22 produces a detection signal that is transmitted to the CAS processor system 10. Filtering out of detected light of insufficient intensity may be performed by the CAS processor system 10.
  • the X-ray detection device 11 also has a radio-frequency (RF) transmitter 24 that is connected to the processing circuit 22 to produce an RF transmission indicative of the detection signal.
  • RF radio-frequency
  • the X-ray detection device 11 also has an RF receiver 26 is connected to the CAS processor system 10, and is configured to receive the RF transmission from the RF transmitter 24, for wireless transmission of the detection signal.
  • the RF transmitter 24 and the RF receiver 26 may be self-powered and configured to send appropriate signals to the CAS processor system 10.
  • By using RF technology for the transmission of the detection signal there is no need for a line of sight between the sensor unit of the CAS processor system 10 and the X-ray detection device 11.
  • self-powered wireless transmission there are no wires relating the X-ray detection device 11 to the CAS processor system 10, whether it be for the transmission of data or to supply power to the device 11.
  • the X-ray detection device 11 is part of the C-arm tracker 16, and stores C-arm calibration data 28.
  • the C-arm calibration data 28 is used by the CAS processor system 10 to identify the C-arm tracker 16.
  • the CAS processor system 10 must calibrate the C-arm tracker 16, for instance by receiving a definition file for the C-arm tracker 16.
  • the definition file may simply consist of an identification of the C-arm tracker 16 for the CAS processor system 10 to obtain a calibration data from another source, or may comprise additional information (e.g., orientation data).
  • the definition file comprises relational data related to the bead pattern of the plate of the C-arm tracker 16.
  • Step 42 the X-ray detection unit 12 is positioned within the field of radiation of the C-arra 14, whereby emission of radiation by the C-arm 14 is detected by the X-ray detection device 11.
  • Step 44 the X-ray detection unit 12 is activated to a detection mode.
  • Step 45 the X-ray is detected by the X-ray detection unit 12 when the X-ray is performed.
  • the X-ray detection unit 12 compares the intensity of the radiation to a threshold value. If the X-ray detection signal is below the threshold value, the X-ray detection unit 12 is idle.
  • Step 48 if the intensity is above the threshold value, an X-ray detection signal is transmitted to the CAS processor system 10 using RF transmission to indicate that an X-ray is detected.
  • the transmission of the X-ray detection signal by the RF transmitter 24 is synchronized with the falling edge of the radiation wave detected by the X-ray detector 20.
  • the definition file is optionally transmitted to the CAS processor system 10 using RF transmission, to calibrate the C-arm tracker 16 with the
  • Step 50 the positional relation between the C-arm tracker 16 and the tracked bodily part is recorded by the CAS processor system 10 upon reception of the RF transmission from the X-ray detector device 11. Therefore, the image file, the positional relation and optionally the definition file are used to convert the X-ray image to navigation data.

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Abstract

A detection device for detecting X rays and signaling the detection to a computer-assisted surgery processor system comprises an X ray detector unit having an X ray detector adapted to be positioned within a radiation field. The X ray detector emits a detection signal upon being excited by an X ray of a given intensity. A transmitter outputs the detection signal in radio frequency. A receiver receives the detection signal in radio frequency and forwards the detection signal to a computer-assisted surgery processor system to signal the detection of the X ray. A method is provided as well.

Description

X-RAY DETECTION DEVICE FOR C-ARM TRACKER AND METHOD
CROSS-REFERENCE TO RELATED APPLICATION
The present application claims United States Provisional Patent Application No. 61/083,985, filed on July 28, 2008.
FIELD OF THE APPLICATION
The present application relates to computer- assisted surgery, and more particularly to C-arm imaging and tracking.
BACKGROUND OF THE ART
C-arm units are commonly used in order to obtain X-ray images of bodily parts during surgery. C-arm trackers have been integrated in computer-assisted surgery (CAS) , by the addition of a C-arm tracker to a C-arm unit, in order to allow image-based navigation. As the accuracy of the computer-assisted surgery is dependent on the quality of the images, the C-arm tracker is used to relate the X-ray image to the tracking of the bodily part.
The relation between the X-ray image and the tracking of the bodily part is obtained by tracking the C-arm tracker to provide a scale relation between the image and the bodily part. Because of accuracy requirements for CAS surgery, the positional relation between the C-arm tracker and the tracked bodily part must be recorded at the time that the image is taken, for instance to avoid errors due to movement between the patient and the C-arm tracker, from the moment the X-ray is taken and to the moment the X-ray image file is converted to navigation data.
Accordingly, diodes are commonly used to detect X-rays. More specifically, diodes are provided on the C-arm tracker and are wired to the CAS processor system so as to detect and signal the detection of X-rays. With the signaling of the X-ray, the CAS processor system simultaneously records the positional relation between the C-arm tracker and the patient. The positional relation is then used in the conversion of the X-ray image to navigation data, for instance to adjust the orientation of the image.
SUMMARY OF THE APPLICATION It is therefore an aim of the present disclosure to provide a novel X-ray detection device for C-arm tracker, and a method of signaling detection.
It is a further aim of the present disclosure to provide a novel method for the calibration of a C-arm tracker.
Therefore, in accordance with a first embodiment, there is provided a detection device for detecting X-rays and signaling the detection to a computer-assisted surgery processor system, comprising: an X-ray detector unit having an X-ray detector adapted to be positioned within a radiation field, the X-ray detector emitting a detection signal upon being excited by an X-ray of a given intensity; a transmitter for outputting the detection signal in radio frequency; and a receiver for receiving the detection signal in radio frequency and for forwarding the detection signal to a computer-assisted surgery processor system to signal the detection of the X-ray.
Further in accordance with the first embodiment, the detection device is adapted to detect X-rays from a C-arm, and the X-ray detector unit further comprises a memory for storing a definition file of a C-arm tracker used with the C-arm, the transmitter and the receiver wirelessly transmitting in radio frequency the definition file to the computer-assisted surgery processor system. Still further in accordance with the first embodiment, the detection device is adapted to detect X-rays from a C-arm, and the X-ray detector is mounted directly to a C-arm tracker. Still further in accordance with the first embodiment, the X-ray detector comprises a plurality of scintillator diodes mounted to a rim of the C-arm tracker.
Still further in accordance with the first embodiment, X-ray detector comprises at least one scintillator diode emitting the detection signal when excited by an X-ray, the detection signal being proportional to an intensity of the X-ray.
Still further in accordance with the first embodiment, the X-ray detector unit has a processor measuring an intensity of the detection signal, the transmitter outputting the detection signal if the measured intensity is above a threshold intensity.
Still further in accordance with the first embodiment, the X-ray detector unit has a processor measuring an intensity of the X-ray, the processor emitting the detection signal if the measured intensity is above a threshold intensity.
Still further in accordance with the first embodiment, the transmitter outputs the detection signal is in synchronization with a falling edge of a radiation wave of the X-ray detected by the X-ray detector.
In accordance with a second embodiment embodiment, there is provided a method for signaling a detection of an X-ray to a computer-assisted surgery processor system, comprising: activating an X-ray detection in a radiation field; producing a detection signal upon detecting an X-ray of a given intensity in the radiation field; and transmitting the detection signal to a computer-assisted surgery processor system using radio frequency. Further in accordance with the second embodiment, the method is used to detect X-rays from a C-arm, the method further comprising storing a definition file of a C-arm tracker, and transmitting the definition file to the computer-assisted surgery system using radio frequency.
Still further in accordance with the second embodiment, producing a detection signal comprises determining whether the intensity of the X-ray is above an intensity threshold, and transmitting the detection signal comprises transmitting the detection signal if the intensity of the X-ray is above the intensity threshold.
Still further in accordance with the second embodiment, the method is used to detect X-rays from a
C-arm, and further wherein activating the X-ray detection comprises mounting an X-ray detector to a
C-arm tracker.
Still further in accordance with the second embodiment, transmitting the detection signal comprises synchronizing the transmission with a falling edge of a radiation wave of the detected X-ray.
BRIEF DESCRIPTION OF DRAWINGS
Fig. 1 is a block diagram of a computer- assisted surgery processor system used with a C-arm and with an X-ray detection device in accordance with a preferred embodiment of the present disclosure; and
Fig. 2 is a flow chart illustrating a method for signaling an X-ray to a CAS processor system in accordance with another preferred embodiment of the present disclosure.
DESCRIPTION OF PREFERRED EMBODIMENTS
Referring to Fig. 1, an X-ray detection device as used with a computer-assisted surgery (CAS) processor system 10 is generally illustrated at 11. The X-ray detection device 11 is used in combination with the CAS processor system 10 to signal the acquisition of an image from a C-arm unit 13. The X-ray detection device 11 has an X-ray detection unit 12 and is used during computer-assisted surgical procedures in which image- based navigation is performed, such as spine surgery (pedical screw placement) and some types of traumatology surgery or any type of surgery using fluoroscopy technology for image-based navigation.
As known in the art, the C-arm unit 13 is connected to a C-arm 14 obtaining X-ray images of a bodily part, such as a spine. A C-arm tracker 16 is physically mounted to the C-arm 14 for the subsequent image-based navigation during the surgical procedure.
As known in the art, the C-arm tracker 16 provides a plate with a bead pattern for the calibration of the image, in order to ensure its accurate reproduction
(e.g., dewarping) by the CAS processor system 10 in view of the navigation. The CAS processor system 10 tracks a position and orientation of the C-arm tracker 16 so as to relate the images obtained from the C-arm 14 to the tracking of the bodily part. As a known solution for the tracking, both the C-arm tracker 16 and the bodily part are tracked using passive optical tracking (e.g., a Northern Digital™ system) . Alternatives to passive optical tracking are considered and used as well (e.g., active sensors, such as infrared LEDs, magnetic emitters, and any other suitable tracking system, etc) . The image-based navigation data is output on an interface 18. For instance, visual representations of tools are provided in real-time with respect to X-ray images of a portion of a spine.
The X-ray detection device 11 is a self- powered (e.g., battery operated) device that detects X-rays and signals the X-ray detection to a CAS processor system 10. The X-ray detection unit 12 has an X-ray detector 20 to detect the X-rays. Accordingly, the X-ray detector 20 is positioned in the field of radiation of the C-arm 14. In an embodiment, the X-ray detector 20 is physically mounted to the C-arm tracker 16, so as to avoid any obstruction of the detector 20 in the field of radiation, for instance by the presence of metallic tools or the like.
In an embodiment, the X-ray detector 20 has scintillator diodes that are excited by the X-ray. Scintillator diodes generate a signal proportional to an X-ray intensity. Other types of diodes excited by the detection of X-rays are also considered. In another embodiment, one or more scintillator diodes are distributed on the circular rim of the C-arm tracker 16, to ensure that at least one of the scintillator diodes detects the X-ray emission.
According to the type of X-ray detector 20 used, the signal from the X-ray detector 20 may require to be amplified. The X-ray detection unit 12 with the scintillator diodes has a processing circuit 22. The processing circuit 22 also filters out detected light of insufficient intensity. For instance, residual radiation and backscatter should not be detected by the X-ray detector 20, whereby the processing circuit 22 has a threshold value for the radiation intensity. If the intensity of the amplified detected radiation is above the threshold value, the processing circuit 22 produces a detection signal that is transmitted to the CAS processor system 10. Filtering out of detected light of insufficient intensity may be performed by the CAS processor system 10.
The X-ray detection device 11 also has a radio-frequency (RF) transmitter 24 that is connected to the processing circuit 22 to produce an RF transmission indicative of the detection signal. In the embodiment in which the X-ray detectors 20- are mounted to the C-arm tracker 16, the processing circuit 22 and the RF transmitter 24 are also mounted to the C-arm tracker 16.
The X-ray detection device 11 also has an RF receiver 26 is connected to the CAS processor system 10, and is configured to receive the RF transmission from the RF transmitter 24, for wireless transmission of the detection signal. The RF transmitter 24 and the RF receiver 26 may be self-powered and configured to send appropriate signals to the CAS processor system 10. By using RF technology for the transmission of the detection signal, there is no need for a line of sight between the sensor unit of the CAS processor system 10 and the X-ray detection device 11. Moreover, by the use of self-powered wireless transmission, there are no wires relating the X-ray detection device 11 to the CAS processor system 10, whether it be for the transmission of data or to supply power to the device 11. Bluetooth, wi-fi, Zigbee standards are amongst the various standards considered for the RF transmission. According to an embodiment, the X-ray detection device 11 is part of the C-arm tracker 16, and stores C-arm calibration data 28. The C-arm calibration data 28 is used by the CAS processor system 10 to identify the C-arm tracker 16. As each C-arm tracker 16 has individual specifications (e.g., orientation of plate and bead pattern, types of trackers used, position and orientation of trackers on the C-arm tracker 16) , the CAS processor system 10 must calibrate the C-arm tracker 16, for instance by receiving a definition file for the C-arm tracker 16. The definition file may simply consist of an identification of the C-arm tracker 16 for the CAS processor system 10 to obtain a calibration data from another source, or may comprise additional information (e.g., orientation data). In an embodiment, the definition file comprises relational data related to the bead pattern of the plate of the C-arm tracker 16. Referring to Fig. 2, now that the X-ray- detection device 11 has been described, a method 40 of using the X-ray detection device 11 is described.
According to Step 42, the X-ray detection unit 12 is positioned within the field of radiation of the C-arra 14, whereby emission of radiation by the C-arm 14 is detected by the X-ray detection device 11.
According to Step 44, the X-ray detection unit 12 is activated to a detection mode. According to Step 45, the X-ray is detected by the X-ray detection unit 12 when the X-ray is performed.
At Decision 46, upon detecting radiation and treating the resulting radiation signal, the X-ray detection unit 12 compares the intensity of the radiation to a threshold value. If the X-ray detection signal is below the threshold value, the X-ray detection unit 12 is idle.
According to Step 48, if the intensity is above the threshold value, an X-ray detection signal is transmitted to the CAS processor system 10 using RF transmission to indicate that an X-ray is detected. In an embodiment, the transmission of the X-ray detection signal by the RF transmitter 24 is synchronized with the falling edge of the radiation wave detected by the X-ray detector 20. The definition file is optionally transmitted to the CAS processor system 10 using RF transmission, to calibrate the C-arm tracker 16 with the
CAS processor system 10. The definition file may be transmitted at any other time prior to Step 48. According to Step 50, the positional relation between the C-arm tracker 16 and the tracked bodily part is recorded by the CAS processor system 10 upon reception of the RF transmission from the X-ray detector device 11. Therefore, the image file, the positional relation and optionally the definition file are used to convert the X-ray image to navigation data.

Claims

CLAIMS :
1. A detection device for detecting X-rays and signaling the detection to a computer-assisted surgery processor system, comprising: an X-ray detector unit having an X-ray detector adapted to be positioned within a radiation field, the X-ray detector emitting a detection signal upon being excited by an X-ray of a given intensity; a transmitter for outputting the detection signal in radio frequency; and a receiver for receiving the detection signal in radio frequency and for forwarding the detection signal to a computer-assisted surgery processor system to signal the detection of the X-ray.
2. The detection device according to claim 1, wherein the detection device is adapted to detect X-rays from a C-arm, and the X-ray detector unit further comprises a memory for storing a definition file of a C-arm tracker used with the C-arm, the transmitter and the receiver wirelessly transmitting in radio frequency the definition file to the computer-assisted surgery processor system.
3. The detection device according to claim 1, wherein the detection device is adapted to detect X-rays from a C-arm, and the X-ray detector is mounted directly to a C-arm tracker.
4. The detection device according to claim 3, the X-ray detector comprises a plurality of scintillator diodes mounted to a rim of the C-arm tracker.
5. The detection device according to claim 1, the X-ray detector comprises at least one scintillator diode emitting the detection signal when excited by an X-ray, the detection signal being proportional to an intensity of the X-ray.
6. The detection device according to claim 1, wherein the X-ray detector unit has a processor measuring an intensity of the detection signal, the transmitter outputting the detection signal if the measured intensity is above a threshold intensity.
7. The detection device according to claim 1, wherein the X-ray detector unit has a processor measuring an intensity of the X-ray, the processor emitting the detection signal if the measured intensity is above a threshold intensity.
8. The detection device according to claim 1, wherein the transmitter outputs the detection signal is in synchronization with a falling edge of a radiation wave of the X-ray detected by the X-ray detector.
9. A method for signaling a detection of an X-ray to a computer-assisted surgery processor system, comprising: activating an X-ray detection in a radiation field; producing a detection signal upon detecting an X-ray of a given intensity in the radiation field; and transmitting the detection signal to a computer-assisted surgery processor system using radio frequency.
10. The method according to claim 9, wherein the method is used to detect X-rays from a C-arm, the method further comprising: storing a definition file of a C-arm tracker,- and transmitting the definition file to the computer-assisted surgery system using radio frequency.
11. The method according to claim 9, wherein producing a detection signal comprises determining whether the intensity of the X-ray is above an intensity threshold, and transmitting the detection signal comprises transmitting the detection signal if the intensity of the X-ray is above the intensity threshold.
12. The method according to claim 9, wherein the method is used to detect X-rays from a C-arm, and further wherein activating the X-ray detection comprises mounting an X-ray detector to a C-arm tracker.
13. The method according to claim 9, wherein transmitting the detection signal comprises synchronizing the transmission with a falling edge of a radiation wave of the detected X-ray.
PCT/CA2009/001061 2008-07-28 2009-07-28 X-ray detection device for c-arm tracker and method WO2010012089A1 (en)

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