WO2012177470A1 - Ultrasound ct registration for positioning - Google Patents

Ultrasound ct registration for positioning Download PDF

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Publication number
WO2012177470A1
WO2012177470A1 PCT/US2012/042382 US2012042382W WO2012177470A1 WO 2012177470 A1 WO2012177470 A1 WO 2012177470A1 US 2012042382 W US2012042382 W US 2012042382W WO 2012177470 A1 WO2012177470 A1 WO 2012177470A1
Authority
WO
WIPO (PCT)
Prior art keywords
data
marker
bone
location
relative
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2012/042382
Other languages
English (en)
French (fr)
Inventor
Adrian Baumgartner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Synthes GmbH
Synthes USA LLC
Original Assignee
Synthes GmbH
Synthes USA LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Synthes GmbH, Synthes USA LLC filed Critical Synthes GmbH
Priority to EP12737371.0A priority Critical patent/EP2723268B1/en
Priority to CA2840189A priority patent/CA2840189C/en
Priority to JP2014517028A priority patent/JP6104902B2/ja
Priority to KR1020147001342A priority patent/KR101682891B1/ko
Priority to BR112013033358A priority patent/BR112013033358A2/pt
Priority to CN201280030752.1A priority patent/CN103607972B/zh
Publication of WO2012177470A1 publication Critical patent/WO2012177470A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • A61B17/8866—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices for gripping or pushing bones, e.g. approximators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws or setting implements
    • A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
    • 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
    • A61B6/12—Arrangements for detecting or locating foreign bodies
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • 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
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • 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
    • A61B2034/2046—Tracking techniques
    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/363—Use of fiducial points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3904—Markers, e.g. radio-opaque or breast lesions markers specially adapted for marking specified tissue
    • A61B2090/3916—Bone tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A61B2090/3945—Active visible markers, e.g. light emitting diodes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3954—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/397—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10072—Tomographic images
    • G06T2207/10081—Computed x-ray tomography [CT]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10132—Ultrasound image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30008—Bone
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker

Definitions

  • the locations of the first and second markers 106, 132 on the bone may be registered prior to a manipulation of the fragments. Such registration may result in the first and second markers 106, 132 being used to track movement of the first and second portions of the bone relative to one another by manipulating the CT data 122 to display the motion by moving relative to one another portions of the image represented by the CT data 122 corresponding to the first and second portions of the bone 108.
  • the CT data 122 may be manipulated to show relative movement between the first and second portions of bone 108 on the display 1 18 based on the movement of the first and second markers 106, 132.
  • Fig. 2 depicts a use of the system 100 for registering the location of first and second markers 106, 132 on a bone 108 with a CT image of the bone 108.
  • the electromagnetic sensor 112 provides device data 126, which includes a position and/or orientation of the handheld device 102 relative to the field generator 200.
  • the electromagnetic signal emitter 114 of the field generator 200 communicates with the first electromagnetic sensor 124 and the tracking station 104 to provide marker data 128, which includes a position and/or orientation of the first marker 106 relative to the signal emitter 114.
  • the signal emitter 1 14 emits a signal to the first marker electromagnetic sensor 124, which senses the position and/or orientation of the first marker 106 in 6 dimensions relative to the field generator 200.
  • the 6 dimensions include 3 dimensions relating to a distance of the signal emitter 114 from the first marker electromagnetic sensor 124 along X, Y and Z axes and three dimensions relating to the angular rotation (i.e., Roll-Pitch- Yaw) of the signal emitter 114 relative to the first marker electromagnetic sensor 124.
  • This marker data 128 is then transmitted to the tracking station 104.
  • the handheld device 102 the ultrasound scanner may include a Siemens XI 50 for ultrasound scanning and a VF 10-5 vector transducer.
  • the processor 1 16 may utilize the live MMGIFusion software developed by Princeton SCR for data acquisition and visualization and the IVUS (Interventional Ultrasound) software prototype developed at CAMP, Technical University of Kunststoff and SCR, Princeton for automatic CT-Ultrasound registration. It will be understood by those of skill in the art, however, that this an exemplary embodiment only and that other systems may be utilized so long as they facilitate use of the system 100, as described above.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Biophysics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Surgical Instruments (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
PCT/US2012/042382 2011-06-22 2012-06-14 Ultrasound ct registration for positioning Ceased WO2012177470A1 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
EP12737371.0A EP2723268B1 (en) 2011-06-22 2012-06-14 Ultrasound ct registration for positioning
CA2840189A CA2840189C (en) 2011-06-22 2012-06-14 Ultrasound ct registration for positioning
JP2014517028A JP6104902B2 (ja) 2011-06-22 2012-06-14 位置決定用超音波ｃｔ位置合わせ
KR1020147001342A KR101682891B1 (ko) 2011-06-22 2012-06-14 위치설정을 위한 초음파 ct 등록
BR112013033358A BR112013033358A2 (pt) 2011-06-22 2012-06-14 registro de tc ultrassom para posicionamento
CN201280030752.1A CN103607972B (zh) 2011-06-22 2012-06-14 用于定位的超声ct配准

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201161499838P 2011-06-22 2011-06-22
US201161499849P 2011-06-22 2011-06-22
US61/499,838 2011-06-22
US61/499,849 2011-06-22

Publications (1)

Publication Number Publication Date
WO2012177470A1 true WO2012177470A1 (en) 2012-12-27

Family

ID=46466839

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/US2012/042382 Ceased WO2012177470A1 (en) 2011-06-22 2012-06-14 Ultrasound ct registration for positioning
PCT/US2012/042398 Ceased WO2012177475A1 (en) 2011-06-22 2012-06-14 Assembly for manipulating a bone comprising a position tracking system

Family Applications After (1)

Application Number Title Priority Date Filing Date
PCT/US2012/042398 Ceased WO2012177475A1 (en) 2011-06-22 2012-06-14 Assembly for manipulating a bone comprising a position tracking system

Country Status (9)

Country Link
US (2) US9173715B2 (enExample)
EP (2) EP2723262B1 (enExample)
JP (2) JP6073875B2 (enExample)
KR (2) KR101682891B1 (enExample)
CN (2) CN103607972B (enExample)
BR (2) BR112013033364A2 (enExample)
CA (2) CA2840193C (enExample)
TW (2) TWI574672B (enExample)
WO (2) WO2012177470A1 (enExample)

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US11172895B2 (en) 2015-12-07 2021-11-16 Covidien Lp Visualization, navigation, and planning with electromagnetic navigation bronchoscopy and cone beam computed tomography integrated

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