WO2021019369A1 - Fiducial marker - Google Patents

Fiducial marker Download PDF

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Publication number
WO2021019369A1
WO2021019369A1 PCT/IB2020/056893 IB2020056893W WO2021019369A1 WO 2021019369 A1 WO2021019369 A1 WO 2021019369A1 IB 2020056893 W IB2020056893 W IB 2020056893W WO 2021019369 A1 WO2021019369 A1 WO 2021019369A1
Authority
WO
WIPO (PCT)
Prior art keywords
sigmoid
plate
patient
mounting arm
radiotransparent
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/IB2020/056893
Other languages
English (en)
French (fr)
Inventor
Stuart Wolf
Nissan Elimelech
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.)
Augmedics Ltd
Original Assignee
Augmedics Ltd
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 Augmedics Ltd filed Critical Augmedics Ltd
Priority to EP20846886.8A priority Critical patent/EP4003212A4/en
Priority to JP2021577209A priority patent/JP7555601B2/ja
Priority to IL289282A priority patent/IL289282B2/en
Priority to CN202080053080.0A priority patent/CN114144137B/zh
Publication of WO2021019369A1 publication Critical patent/WO2021019369A1/en
Priority to US17/585,629 priority patent/US12178666B2/en
Anticipated expiration legal-status Critical
Priority to US18/949,164 priority patent/US20250114165A1/en
Ceased legal-status Critical Current

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Classifications

    • 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
    • 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
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • 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
    • A61B2034/2055—Optical tracking systems
    • 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
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • 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
    • 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
    • A61B2090/3966—Radiopaque markers visible in an X-ray image
    • 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
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery

Definitions

  • the present invention relates generally to a fiducial marker, and specifically to a marker that can be used for registration of multiple frames of reference present in image guided surgery
  • the system should track objects used in the surgery, and/or elements of the patient undergoing the surgery.
  • the tracking requires registration of different frames of reference operative during the surgery, including a frame of reference of tire patient and a frame of reference of a fluoroscopy facility imaging the patient.
  • the registration typically requires a fiducial marker, and a number of such markers are known. References describing examples of markers are given below.
  • U.S. Patent 6,314,310 to Ben -Haim et al. describes apparatus for X-ray guided surgery.
  • the apparatus includes a reference element which is placed in contact with the body of a subject, and the element includes a plurality of fiducial marks.
  • U.S. Patent 7,107,091 to Jutras et al. describes a surgical device that is adapted for use with an image guided surgical system. The device facilitates monitoring inter- dependent!y mobile bone elements.
  • U.S. Patent 9,179,984 to Teichman et al. describes a navigation system that includes a multi-configuration tracking array.
  • a plurality of tracking devices can be positioned on the multi-configuration tracking array.
  • U.S. Patent 9,844,413 to Doan et al. describes a monitoring system that tracks the non-visible structure of a body in three dimensions.
  • a tracker obtains image information of an object and instruments in its vicinity, ail bearing 3D tracking markers with at least one pattern segment.
  • U.S. Patent 9,872,733 to Shoham et al. describes a system providing a mechanical guide for drilling the holes for distal screw's in intramedullary nailing surgery.
  • the drill guide is automatically positioned by a robot relative to the distal locking nail holes, using data derived from X-ray fluoroscopic images.
  • U.S. Patent 10,034,713 and U.S. Patent Application 2017/0252109 to Yang et al. describe a system for tracking a position and orientation of a handheld implement
  • a support member secures one or more markers relative to a longitudinal portion of the handheld implement, and a marker plane containing the markers is orientated at an angle relative to a longitudinal axis of the longitudinal portion.
  • U.S. Patent 10,080,616 to Wilkinson et al. describes a system that accesses image data of a bone to which a reference marker array is fixed.
  • U.S. Patent 10,085,709 and U.S. Patent Application 2017/0164919 to Lavallee et al. describe projecting a 3D image on at least part of 2D X-ray images and adjusting projective geometry data of the images, the adjustment comprising registration of the images with the projection of an initial 3D image using an image-to-image registration technique.
  • U.S. Patent 10,166,079 to McLachlin et al. describes performing intraoperative image registration during a medical procedure.
  • a depth-encoded marker is provided to an object of interest.
  • the marker is imageable by at least two imaging systems, and the marker has asymmetry in at least a depth di mension.
  • U.S. Patent 10,194,993 to Roger et al. describes a system for aiding surgery on a patient.
  • the system includes a display device and a storage device that stores an image of at least a portion of the anatomy of the patient, including one or more surgical navigation markers positioned on the patient, for display on the display device.
  • U.S. Patent Application 2011/0004259 to Stallings et al. describes a device for positioning a fiducial marker on an anatomical structure.
  • the device includes a fiducial base and a fixation member.
  • the fiducial base comprises a turn and an extension configured to position the fiducial marker within the field of view' of a tracking sensor.
  • U.S. Patent Application 2011/0098553 to Robbins et al. describes automatic registration of a magnetic resonance (MR) image is carried out in an image guidance system by placing MR visible markers at known positions relative to markers visible in a camera tracking system.
  • MR magnetic resonance
  • U.S. Patent Application 2015/0150641 to Doan et al. describes a position and orientation tracking system having one or more pattern tags, each tag comprising a plurality of contrasting portions. There is a tracker for obtaining image information about the pattern tags, and a database with geometric information describing patterns on the pattern tags.
  • U.S. Patent Application 2015/0366620 to Cameron et al. describes a guide for use with an access port for port-based surgery.
  • the guide includes a body positionable over a surgical opening and a grip coupled to the body for removably receiving the access port into the surgical opening.
  • U.S. Patent Application 2017/0281283 to Siegler et al. describes tracking marker support structures that include one or more fiducial reference markers, where the tracking marker support structures are configured to be removably and securely atached to a skeletal region of a patient
  • U.S. Patent Application 2018/0318035 to McLachlin et al. describes a reference tie that is to be secured around a portion of a spine during a surgical procedure and that is to be tracked by a surgical navigation system.
  • U.S Patent Application 2019/0015163 to Abhari et al. describes how navigational information relative to a site of a medical procedure is determined. The navigational information is then mapped to a common coordinate space, to determine the navigational information relative to a field of view of saved and live optical images of the surgical site.
  • An embodiment of the present invention provides a medical marking device, including:
  • radiotransparent plate having a first plurality of radiopaque elements embedded therein in a first predefined pattern and a second plurality of optical reflectors positioned on a surface in proximity to the plate in a second predefined pattern;
  • a sigmoid mounting arm having a first end connected to the radiotransparent plate and a second end containing one or more fastening receptacles.
  • the sigmoid mounting arm is radiotransparent.
  • the sigmoid mounting arm consists of a first curved section connected to a second curved section by a straight section.
  • the sigmoid mounting arm consists of a first curved section connected directly to a second curved section.
  • the first and the second predefined patterns have no axes of symmetry and no planes of symmetry.
  • apparatus including:
  • a surgical clamp for attachment to a bone of a patient
  • a spacer having a first surface and a second surface configured to connect fixedly to the surgical clamp
  • a marking device which includes:
  • radiotransparent plate having a plurality of radiopaque elements embedded therein in a predefined pattern
  • a sigmoid mounting arm having a first end fixedly connected to the radiotransparent plate and a second end, configured to mate with the first surface of the spacer, and containing one or more fastening receptacles configured for removable connection of the arm from the spacer.
  • the first surface includes a first plate and the second surface includes a second plate, the apparatus further having an adjustable mechanism connecting the first and the second plate configured to adjust a separation of the plates.
  • apparatus including:
  • a surgical clamp for attachment to a bone of a patient
  • clamp adjustment elements configured to effectuate the attachment
  • a marking device which consists of:
  • radiotransparent plate having a plurality of radiopaque elements embedded therein in a predefined pattern
  • a sigmoid mounting arm having a first end fixedly connected to the radiotransparent plate and a second end containing one or more fastening receptacles configured for removable connection of the arm from the support structure.
  • a method including:
  • a method including:
  • determining a spatial transformation between the patient and the surgical clamp in response to the correction vector and the fluoroscopic scan, determining a spatial transformation between the patient and the surgical clamp so as register a frame of reference of the patient with a frame of reference of the surgical clamp.
  • the method includes, in response to registration of the frames of reference, presenting to a professional performing surgery on the patient a stored image of tire patient aligned with the patient.
  • FIG. 1 is a schematic diagram illustrating a medical marking device as it is used during a preparatory stage of a medical procedure, according to an embodiment of the present invention
  • Fig. 2 is a schematic view of the device separated from a clamp, according to an embodiment of the present invention
  • Fig. 3 is a schematic exploded view of the device, according to an embodiment of tire present invention.
  • Fig. 4 is a flowchart of steps performed in both a preparatory stage and a subsequent stage of a procedure, according to an embodiment of the present invention
  • Fig. 5 is a schematic illustration of the subsequent stage of the procedure, according to an embodiment of the present invention.
  • Figs. 6, 7, and 8 are schematic views of a medical marking device, according to alternative embodiments of the present invention.
  • An embodiment of the present invention provides a fiducial marker that is used to register different frames of reference that are present in image guided surgery on a patient.
  • the image guided surgery may be performed by a medical professional wearing an augmented reality head-mounted display, and in order for the display to operate correctly, images of the patient presented to the professional should align with the actual patient.
  • the registration provided by the fiducial marker ensures the necessary image alignment.
  • the marker is connected to a clamp which has been attached, in a preparatory stage of a procedure performed on a patient, to one or more spinous processes of the patient.
  • embodiments of the invention provide alternative systems for attaching the fiducial marker to the clamp, the alternative systems including fixed width and variable width spacers connecting the marker to the clamp.
  • the fiducial marker comprises radiopaque elements arranged in a predetermined pattern, so that a computerized tomography (CT) scanned image of the marker and of the patient enables frames of reference of the patient’s anatomy and of the clamp to be registered in the preparatory stage. in a subsequent stage of the procedure the fiducial marker is replaced by a patient marker.
  • CT computerized tomography
  • the fiducial marker also comprises optical reflectors and images of these may be used to accommodate different positions of the patient marker.
  • the registration derived in the preparatory stage is used in the subsequent stage of the procedure so that images of the patient marker are used to track the patient, and to ensure that images presented to the professional are correctly aligned.
  • the CT facility typically comprises an intraoperative CT scanner which has a narrow field of view, so that for the registration to be successful, the radiopaque elements of the fiducial marker and of the vertebral body should be close.
  • Embodiments of the invention achieve this close proximity by having the fiducial marker in the form of a “step,” with one part of the step comprising a plate containing the radiopaque elements, the step-like form of the fiducial marker enabling the plate to be positioned close to the vertebral body.
  • a second part of the step attaches to the clamp, and there is a known mechanical offset between the two parts.
  • the plate is radiotransparent, and has the plurality of radiopaque elements referred to above embedded therein in the predetermined pattern.
  • a first end of a sigmoid mounting arm is fixedly connected to tire radiotransparent plate.
  • the sigmoid mounting arm has a second end containing one or more fastening receptacles that are configured for removable connection of the arm to the clamp that is attached to the spinous processes.
  • tire radiotransparent plate, the sigmoid mounting arm, and the surgical clamp are scanned fluoroscopically so as to form a fluoroscopic scan.
  • a spatial transformation between the patient and the surgical clamp is determined so as to register a frame of reference of the patient with a frame of reference of tire surgical clamp.
  • a professional performing surgery on the patient is presented with a stored image of the patient aligned with the patient.
  • Fig. 1 is a schematic diagram illustrating a medical marking device 10, as it is used during a preparatory stage of a medical procedure on a patient 20, according to an embodiment of the present invention.
  • the procedure referred to herein is assumed to comprise a preparatory stage and a subsequent stage, and, as is described in more detail below, device 10 may be used during the preparatory stage.
  • Device 10 is also herein termed a fiducial marker 10.
  • a medical professional uses an augmented reality system during the subsequent stage of the procedure.
  • the augmented reality system projects virtual images of elements of patient 20 for viewing by the medical professional.
  • the image projection is performed simultaneously with the professional viewing the actual patient, so that the projected images should align with the patient.
  • frames of reference of the patient and of a clamp attached to a bone of the patient are registered during the preparatory stage, using marking device 10.
  • the registration of the clamp computed in the preparatory phase is used to correctly align the images produced by the system.
  • the procedure is assumed to comprise an operation on a spine of patient 20, and in order to perform the registration referred to above, prior to the operation, and in the preparatory stage of the procedure, the medical professional inserts a surgical bone clamp 24 into patient 20.
  • a site of insertion 28 of the clamp is close to, but separate from, a site 32 of the patient’s spine to be operated on during the subsequent stage of the procedure.
  • the professional clamps clamp 24 to a section of the spine of the patient, typically to one or more spinous processes of the patient, and the clamp has a support structure 36 to which marker 10 is fastened.
  • a clamp similar to clamp 24 is described in U.S. Patent Application 16/120,480 which is incorporated herein by reference.
  • Fig. 2 is a schematic view ' of device 10 separated from clamp 24, and Fig. 3 is a schematic exploded view' of device 10, according to an embodiment of the present invention.
  • Device 10 comprises a radiotransparent plate 50, typically formed of a biocompatibie plastic such as a poiyimide.
  • a plurality of substantially similar radiopaque elements 54 are embedded within plate 50.
  • Elements 54 are embedded within plate 50 in a predefined pattern, which is herein assumed to comprise points on sides of a rectangle. However, any other convenient predefined pattern may be used. In some embodiments the predefined pattern has no axis or plane of symmetry.
  • plate 50 is protected by a cover 52.
  • a radiotransparent sigmoid mounting arm 58 is connected by a first end 62 of the arm to an edge 66 of the plate.
  • a second end 70 of the arm contains one or more fastening receptacles 74 that enable the arm to be securely and fixedly fastened to support structure 36 in a predefined orientation.
  • support structure 36 encloses adjustment elements 102 for clamp 24, the adjustment elements effectuating attachment of jaws of the clamp to a hone of patient 20.
  • the support structure has differing depths d.
  • Second end 70 has a lower plane surface 78 which connects with an upper surface 82 of support structure 36.
  • receptacles 74 comprise a captive screw 86 and holes 92, the screw and the holes mating respectively with a threaded hole 96 and studs 100 in upper surface 82.
  • the length of arm 58 determines the separation of plate 50 from lower surface 78 of the arm second end.
  • Embodiments of the present invention comprise sets of devices 10, each member of the set being generally as described herein, but having a different known length of arm 58 from the other set members.
  • Arm 58 is formed from two curved sections 112, 116, separated by a straight section 120, and the different lengths of the arm are formed by varying a length of straight section 120.
  • the length of straight section 120 varies from 0 (zero) to up to approximately 7 cm, although values greater than 7 cm are possible. It will be understood that when the length of section 120 is 0 the two curved sections are connected together with no intervening straight section.
  • Each member of the set comprising a respective plate 50 connected to a respective sigmoid mounting arm 58 in a step-like arrangement, may be formed as a single piece, typically by injection molding. It will be understood that each member of the set has known dimensions, so that there is a known mechanical offset between plate 50 and the second end of the arm, including the lower surface 78 of the arm second end.
  • the predefined pattern of radiopaque elements 54 is configured to have a one-to-one correspondence with the known mechanical offset.
  • identification of the pattern provides a unique and unambiguous value for the mechanical offset, and providing the correspondence enables embodiments of the invention to support substantially any offset.
  • the correspondence may be stored in a computer memory, and the memory may be accessed so that the unique value of the mechanical offset for a given set member may be determined from the element pattern of the member.
  • embodiments of the present invention also comprise sets of clamps 24 with differing depths d of support structure 36. It will be understood that for any given arm length 58, the depth d of support structure 26 determines the separation of plate 50 from a given clamp selected from the sets of clamps 24.
  • device 10 is typically selected from the set of devices 10, and clamp 24 is typically selected from the set of clamps 24 so that when the device is attached to upper surface 82 of support structure 36, plate 50 of the device is as close as possible to site 32, i.e., to the site of the operation to be performed in the procedure subsequent stage.
  • CT computerized tomography
  • the scan may be performed by inserting patient 20 into a CT scanning facility, typically an intra-operative CT scanner. The insertion may be implemented by bringing the CT scanning facility to patient 20, or by transporting the patient to the facility.
  • a processing system 104 comprising a computer processor 108 coupled to a memory 114, receives the scan of device 10 and the patient’s spine, and stores the scan as an image 118 in the memory.
  • the one-to-one correspondence referred to above may also be stored in memory 114 as a correspondence 122.
  • the processing system is configured to analyze the stored image so as to identify the pattern formed by radiopaque elements 54, and from the identified pattern to register a frame of reference of device 10, and thus of attached clamp 24, with a frame of reference of the patient’s anatomy.
  • Fig. 4 is a flowchart of steps performed in both the preparatory stage and the subsequent stage of the procedure, according to an embodiment of the present invention.
  • clamp 24 is inserted into patient 20 and clamped, using adjustment elements 102, to one or more spinous processes of the patient, and fiducial marker 10 is attached to support structure 36 of the clamp, as is described above with reference to Fig. 1.
  • a CT scan of marker 10, attached as described above, is performed, and image 11 8 of the scan is stored in memory 1 14.
  • the processing system analyzes the stored image, and from the analysis registers a frame of reference of marker 10, and thus of attached clamp 24, with a frame of reference of the patient’s anatomy.
  • step 156 uses the known mechanical offset of plate 50 with lower surface 78 to provide a location and orientation of upper surface 82 of the clamp with respect to the frame of reference of the patient’s anatomy.
  • the processing system may determine the mechanical offset, in analysis step 156, from the pattern identified by the analysis, using the stored correspondence.
  • Analysis step 156 also determines a spatial transformation between the patient and the surgical clamp, and this is used, together with the mechanical offset, to calculate the registration between the two frames of reference.
  • fiducial marker 10 is removed from clamp 24, leaving upper surface 82 exposed.
  • Fig. 5 is a schematic illustration of the subsequent stage of the procedure, according to an embodiment of the present invention.
  • a patient marker attachment step 160 and an alignment step 162 are performed, and these steps are described further below.
  • a medical professional 180 operates on the patient.
  • Professional 180 wears an augmented reality head-mounted display (HMD) 1 84, which is configured to present stored images that are aligned with the patient, to the professional.
  • HMD 184 is coupled to processor 108 of system 104 and the stored images may be stored in memory 114.
  • HMD 184 has its own dedicated processor which performs similar functions to those performed by processor 108.
  • a head-mounted display similar to HMD 184 is described in U.S. Patent 9,928,629, which is incorporated herein by reference.
  • a patient marker 190 with known, preset, dimensions is attached to upper surface 82 of support structure 36 of clamp 24.
  • Marker 190 comprises fastening receptacles 198, substantially similar to receptacles 74, so that in the disclosed embodiment referred to above receptacles 198 comprise a captive screw 202 and holes 206, the screw and tire holes mating respectively with threaded hole 96 and studs 100 in upper surface 82 of clamp 24.
  • a patient marker similar to marker 190 is described in PCT Patent Application PCT/IB2019/053524, which is incorporated herein by reference.
  • Marker 190 comprises optical reflectors 194 incorporated into the surface of the patient marker, and the reflectors are arranged in a predetermined pattern so that an image of the reflectors can be analyzed so as to provide an unambiguous measure of the location and of the orientation of the marker.
  • the HMD projects visible or invisible light to patient marker 190, and acquires images of reflectors 194 of the marker. From the acquired images, the HMD processor determines the location and orientation of the patient marker. Since the patient marker has known dimensions, and is attached to upper surface 82, the processor applies the registration found in step 156 (between the frames of reference of fiducial marker 10 and the patient’s anatomy) to ensure that the images projected by the HMD align with the anatomy of patient 20.
  • fiducial marker 10 and patient marker 190 may be attached, via clamp 24, as close as possible to site 32, i.e., to the site of the operation performed on patient 20.
  • site 32 i.e., to the site of the operation performed on patient 20.
  • embodiments of the invention which may be used, alternatively or additionally, so that the patient marker and the fiducial marker are as close as possible to the site of the operation.
  • Fig. 6 is a schematic view of a medical marking device 250 separated from clamp 24, according to an alternative embodiment of the present invention. Apart from the differences described below, the operation of device 250 is generally similar to that of device 10 (Figs. 1 - 5), and elements indicated by the same reference numerals in both devices 250 and 10 are generally similar in construction and in operation. Device 250 is herein also termed fiducial marker 250.
  • device 250 In contrast to device 10, wherein second end 70 of the sigmoid arm is configured to connect directly to upper surface 82 of support structure 36, in device 250 there is an intervening spacer 254 between the sigmoid arm second end and surface 82.
  • Spacer 254 is formed to have a pair of opposing parallel surfaces, an upper spacer surface 258 and a lower spacer surface 262, separated by a preset fixed distance h.
  • lower surface 262 fixedly mates with upper surface 82 of support structure 36
  • lower surface 78 of the sigmoid arm removably mates with upper surface 258 of spacer 254.
  • spacer 254 comprises a captive screw 270, residing in a hole 274 of the spacer.
  • the captive screw' is configured so that when it is screwed into threaded hole 96 it fastens the spacer fixedly to support structure 36, while the head of screw 270 is within hole 274 and below upper surface 258 of the spacer.
  • Captive screw 270 and blind holes 266 act as spacer lower surface fastening receptacles 290.
  • sigmoid arm lower surface 78 may be removably mated with the upper surface of the spacer.
  • the spacer upper surface comprises two threaded holes 278 which align with holes 92.
  • a pair of retaining screws 282 pass through holes 92, and are screwed into threaded holes 278. Screws 282 and threaded holes 278 act as spacer upper surface fastening receptacles 294.
  • Spacer 254 is typically part of a set of such spacers.
  • spacers of the set have values of h in a range of 1 cm - 5 cm, but in other embodiments tire set has different ranges of h.
  • Spacer 254 is used to raise plate 50 above clamp 24 while keeping the plate as close as possible to the patient’s spine, and the value of h of a selected spacer may be chosen according to patient characteristics. It will be understood that having a set of spacers 254 with different values of h replaces, or is in addition to, the requirement of different lengths of arm 58 referred to above for a set of devices 10.
  • patient marker 190 may then be attached to the spacer upper surface.
  • the patient marker attachment is implemented by screws 302, substantially similar to screws 282, penetrating holes 206 and being screwed into threaded holes 278. Screws 302 and threaded holes 278 act as fastening receptacles 298 for the patient marker, receptacles 298 being substantially similar to receptacles 294.
  • spacer 254 is first fixedly attached to support structure 36, and then fiducial marker 250 is removably attached to the spacer, as described above.
  • fiducial marker 250 is removed from the spacer, and in step 160 patient marker 190 is attached to the spacer, as described above
  • FIG. 7 is a schematic view of a medical marking device 350 separated from clamp 24, according to an alternative embodiment of the present invention. Apart from the differences described below, the operation of device 350 is generally similar to that of device 250 (Figs. 1 - 6), and elements indicated by the same reference numerals in both devices 250 and 350 are generally similar in construction and in operation. Device 350 is herein also termed fiducial marker 350.
  • device 350 uses a spacer 354, herein also termed adjustable spacer 354, which has adjustable distances between an upper adjustable spacer plate 358 and a lower adjustable spacer plate 362.
  • adjustable spacer 354 has adjustable distances between an upper adjustable spacer plate 358 and a lower adjustable spacer plate 362.
  • Elements in the two plates of adjustable spacer 354 correspond to respective elements in the two surfaces of fixed spacer 254.
  • threaded holes 378 and a hole 374 are substantially similar to holes 278 and 274, so that hole 374 permits passage of captive screw' 270.
  • Screws 282 and threaded holes 378 act as upper adjustable spacer plate fastening receptacles 394.
  • holes 366 are substantially similar in diameter and position to blind holes 266, although holes 366 are not necessarily blind.
  • Lower plate 362 also comprises a hole 374A, which aligns with hole 374 and which is sized to retain screw 270. Captive screw ' 270 and holes 366 act as lower adjustable spacer plate fastening receptacles 390.
  • Adjustable spacer 354 comprises an adjustable mechanism 400, which connects the lower and upper plates of adjustable spacer 354.
  • Mechanism 400 maintains the upper plates substantially parallel to each other, while operation of the mechanism adjusts the separation of the plates.
  • mechanism 400 comprises a rod 404 having clockwise and counterclockwise threads, and the threads are configured to mate with respective nuts 308, 412 slidingly attached to upper plate 358.
  • Mechanism 400 further comprises two levers 416, 420, having their fulcra coupled to lower plate 362, and their endpoints attached to the respective nuts. Rotation of rod 404 of mechanism 400 increases or decrease the nut separation, and correspondingly decreases or increases the separation between the upper and lower plates of adjustable spacer 354.
  • step 152 lower plate 362 is first fixedly attached to support structure 36, and then fiducial marker 350 is removably attached to upper plate 358, as described above.
  • fiducial marker 350 is removed from the spacer upper plate 358, and in step 160 patient marker 190 is attached to the spacer upper plate, as described above.
  • fiducial marker 350 and patient marker 190 are attached to the same location, the upper surface of the spacer upper plate, the registration found in step 156 can be used in alignment step 162.
  • Fig. 8 is a schematic view of a medical marking device 450 separated from clamp 24, according to an alternative embodiment of the present invention. Apart from the differences described below, the operation of device 450 is generally similar to that of device 250 (Figs. 1 - 6), and elements indicated by the same reference numerals in both devices 250 and 450 are generally similar in construction and in operation. Device 450 is herein also termed fiducial marker 450.
  • a plurality of optical reflectors 454 are positioned on a surface 458 of cover 52 of plate 50.
  • reflectors 454 are arranged on the surface in a predetermined pattern, typically with no rotational axis of symmetry (other than a trivial axis of symmetry for rotating by 360°) and no mirror plane of symmetry.
  • the predetermined pattern is configured so that an image of the reflectors can be analyzed so as to provide an unambiguous measure of the location and of the orientation of plate 50.
  • the imaging of reflectors 454, and the analysis of the image is substanti ally as described above for reflectors 194 of patient marker 190.
  • Device 450 is typically used with spacer 254 and/or spacer 354, described above with reference to Figs. 6 and 7.
  • patient marker 190 may be positioned with respect to the spacer as described above.
  • patient marker 190 may instead be positioned in any other convenient location, as is explained below with reference to changes in the flowchart of Fig. 4.
  • step 152 of the flowchart spacer 254 is first attached to support structure 36 using screw 270, and then fiducial marker 450 is attached to the spacer using screws 282, as described above.
  • Steps 154 and 156 are performed as described above with reference to Fig. 4, so as to register a frame of reference of marker 450, and thus of attached clamp 24, with a frame of reference of the patient’s anatomy.
  • step 158 prior to removal of fiducial marker 450 from the spacer, reflectors 454 of the marker are optically scanned and are imaged using HMD 184.
  • the processor associated with HMD 184 analyzes the image to find the location and orientation of the reflectors, and thus of plate 50, in the frame of reference of the HMD.
  • Marker 450 may then be removed from spacer 254, and the spacer may be removed from support structure 36.
  • Steps 160 and 162 are implemented generally as described above, so that in step 160 patient marker 190 is attached to upper surface 82 of support structure 36.
  • step 162 patient marker 190 is optically scanned and is tracked, and the processor of the HMD is able to use the location and orientation of plate 50 found in step 158 to generate a correction vector, between the positions of the plate and the positions of the patient marker.
  • the correction vector corrects for tire fact that the fiducial marker and the patient marker are attached to different locations (i.e., the spacer and the support structure).
  • the HMD processor applies this correction vector to ensure that the images projected by the HMD align with the anatomy of patient 20.

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EP20846886.8A EP4003212A4 (en) 2019-07-29 2020-07-22 Fiducial marker
JP2021577209A JP7555601B2 (ja) 2019-07-29 2020-07-22 基準マーカー
IL289282A IL289282B2 (en) 2019-07-29 2020-07-22 Trust mark
CN202080053080.0A CN114144137B (zh) 2019-07-29 2020-07-22 基准标记物
US17/585,629 US12178666B2 (en) 2019-07-29 2022-01-27 Fiducial marker
US18/949,164 US20250114165A1 (en) 2019-07-29 2024-11-15 Fiducial marker

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US16/524,258 US11980506B2 (en) 2019-07-29 2019-07-29 Fiducial marker

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