CA1148433A

CA1148433A - Stereotactic surgery apparatus and method

Info

Publication number: CA1148433A
Application number: CA000349572A
Authority: CA
Inventors: John H. Perry
Original assignee: Pfizer Inc
Current assignee: Pfizer Inc
Priority date: 1979-04-13
Filing date: 1980-04-10
Publication date: 1983-06-21
Also published as: US4341220A; AU518629B2; JPS55141235A; AU5737380A; EP0018166A1; ES490509A0; ES8103962A1

Abstract

P.C. 6157 STEREOTACTIC SURGERY APPARATUS AND METHOD

Abstract A stereotactic surgery frame with x-ray detectable fiducial markers (100, 102, 104) is presented. The frame is fixed with respect to a patient's anatomy and defines a predetermined three-dimensional coordinate system (X, Y, Z) in which surgical devices may be precisely positioned. A desired target area of the anatomy is detected in a cross-sectional CT
scanner depiction of the combined stereotactic frame and patient anatomy. The target's X, Y, Z coordinates with respect to the frame are calculated based on three non-collinear fiducial points (F1, F2, F3) located within the cross-section and having known coordinates both with respect to the frame and with respect to the target. Thus, the surgical device can be precisely applied in the target area.

Description

~ 3~ P.C. 6157 STEREOT~CTIC SURGERY APPAR~TUS AND METHOD
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:This invention generally relates to stereotactic :sur~ical apparatus and method, In particular, the invention pertains to method and apparatus which permits more accurate use of stereotactic frames than has here-5 tofore been possible, In the past, stereotactic surgery has been somewha~
of an art based upon average or other statistical measurements of anatomical structures, Thus, although many varied surgical devices can be precisely positioned within a predetermined three-dimensional coordinates.
system defined by the stereotactic frame, there were no precision procedures for determining the exact location or target area of a specific patient within such a coordinate system, : 15Since computed tomographic (C~) X-ray scanners .~ have come into common usage, attempts have been made by others to utilize in stereotactic surgery the additional, more precise information available in . cross-sectional depictions of anatomy provided by CT
scanners, However, it is believed that these attempts by others have involved the use of data derived from multiple cross-sectional depictions taken at successive increments, The use of data taken from such plural cross-sectional depictions not only increases the necessary X-ray exposure suffered by the patient but also necessarily introduces additional errors in the resuiting procedure caused by such factors as patient movement between scans, imprecise bed movements, etc, .,, ~, ~

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It has now been discovered that, by suitably modifying the stereotactic frame, data required for calculating the stereotactic frame coordinates of an anatomical target can be obtained from onlv a single CT scan of the combined stereotactic frame and patient anatomy. In brief, the stereotactic frame is modified so as to define three fiducial points located within any such cross-sectional depiction. Coordinates are readily determinable or are known for these fiducial points with respect to both the stereotactic frame and with respect to the CT scanner. Since the desired anatomical target area also has known or readily deter-minable coordinates with respect to the CT scanner, a relatively simple mathematical calculation may then be made to transform the target's CT scanner coordinates into corresponding stereotactic frame coordinates which may then be used during a stereotactic surgical procedure.
In the preferred exemplary embodiment, the three fiducial points within any given cross-sectional depiction are defined by three respectively corresponding fiducial plates or diagonal rods detachably mounted on three sides of the stereotactic frame. Each plate has a variable cross-section extending along a first dimension for a predetermined distance with varies with respect to a second dimension, inclined with respect to said first dimension. For example, the plate may comprise a series of parallel grooves or slots having lengths which progressively increase from one slot to the next. The frame coordinates of each slot end-point are known and one can determine which end~point lies within the depicted cross-section by simply counting the number of displayed slots.

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In accordance with one aspect of this invention, there is provided apparatus for use in performing stereotactic surgery in conjunction with an X-ray CT scanner capable of measuring relative X-ray absorption within elemental volumes of a desired cross-section of the anatomy of a living patient and also defining a first three-dimensional CT-scanner coordinate system :Eor locating specific anatomical positions within said cross-section relative to said first coordinate system, said apparatus comprising: a stereotactic frame defining a second three-dimensional coordinate system which can be fixed with respect to the anatomy of a living patient, said stereotactic frame including mechanism for positioning a desired surgical device within said anatomy at any desired location defined in terms of said second three-dimensional coordinate system, and X-ray detectable fiducial markers associated with said stereotactic frame defining at least three non-collinear points within each of said cross-sections, each point having determinable coordinates in both said first and said second coordinate systems such that the measured CT scan coordinates of a desired portion of the anatomy can be transformed to corresponding coordinates in said second 2Q coordinate system thereby facilitating the use of said stereotactic frame during stereotactic surgery.
In accordance with another aspect of this invention there is provided a method to facilitate stereotactic surgery, said method comprising the steps of: fixing a stereotactic surgical frame, having a predetermined three-dimensional coordinate system, with respect to living tissue, scanning the combination of said frame and living tissue with penetrating radiation to provide a - 2a -cross-sectional depiction thereof in a plane which includes a desired anatomical target within said living tissue, determining the coordinates of said target with respect to a second predeter-mined three-dimensional coordinate system, determining the coordinates of each of at least three non-collinear points locat-ed within said cross-sectional depiction, both with respect to the three-dimensional coordinate system of said frame and with ~ respect to said second three-dimensional coordinate syste~, and using said determined coordinates to calculate the coordinates of said target with respect to the three-dimensional coordinate system of said frame.

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The stereotactic surgery frame may be modified in other ways to define the necessary three non~
collinear fiducial points contained within a sinyle cross-sectional depiction and having known or readily determinable coordinates both with respect to the frame and with respect to another reference system in which the desired anatomical target also has known or readily determinable coordinates. Once those common coordinates are known, the coordinates of the target with respect to the frame may be simply computed.
For example, another simple embodiment comprises a rod csnnected diagonally between spaced vertical frame members. The relative location of the rod and - vertical members as intersected by any given cross-section then provide the necessary geometrical infor-mation from which the frame coordinates of the fiducial points .(defined by the intersection of the rod with the depicted cross-section) can be calculated.
Similarly, diagonal slots, grooves or other X-ray detectable structures can be used to define the required fiducial points in any given cross-section having known frame coordinates.
These as well as other objects and advantages of the invention will be better understood by reading the following detailed description of the presently preferred exemplary embodiment taken in conjunction with the accompanying drawings, of which:

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FIGURE 1 is a diagrammatic and block diagram description of an improved stereotactic surgical head frame according to this invention in use with a conventional ~-ray CT scanner to facilitate a stereotactic surgical procedure;

FIGURE 2 is a perspective view of a conventional : surgical frame except for mounting holes provided to receive special fiducial plates;
FIGURE 3 is a similar perspective view of the frame shown in FIGURE 2 but with three fiducial marker plates attached in accordance with this invention;

FIGURE 4 is a perspective view of the modified stereotactic frame shown in FIGURE 3 after fixation to the living anatomy of a patient;

FIGURE 5 is a diagrammatic representation of a `~ 20 cross-sectional depiction (e.g., a CT scan "slice") : through the combined modified frame and anatomy shown in FIGURE 4, : FIGURE 6 is a perspective view of the conventional stereotactic surgical frame with i~s attached surgical dPvice holder as it is used during surgery after removal of the fiducial market plates shown in FIGURES
3 and 4;

FIGURE 7 is a detailed view of one of the exemplary fiducial marker plates shown in FIGURES 3 and 4; and , '.
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~IGURE 8 is a detailed edge view of the exemplary ; fiducial marker plate shown in FIGURE 7.

Referring to FIGURE 1, a patient 10 is placed on a bed 12 and moved into the patient circle 14 of a CT
scanner 16. There are many CT scanners presently available on the market and the showing in FIGURE 1 is a diagrammatic depiction of a so-called fourth generation scanner having a rotating X-ray fan beam source 18 operating in conjuction with a fixed circular array of detectors 20 to provide the necessary radiation absorp-tion data from a multiplicity of angles through a desired portion of the patient's anatomy. These absorption measurements are then conventionally processed by a CT scanner computer 22 to provide a CRT display 24 depicting the density of elemental volumes within a cross-sectional "slice" of the patient's anatomy located within the patient circle 14. Other types of non-destructive penetrating radiation scanning techniques 2Q might also be used to provide the cross-sectional depiction of such internal anatomical structure ~e.g. NMR).
;~ The X-ray CT scanners presently on the market typically include an operator controlled console 26 from which the operator can control the position of a cursor on the CRT display. Based on the relative location or of tilting bed 12 (or of the scanning gantry relative ,~ to the bed) and of the cursor within any displayed ` "slice", the computer 22 is normally also programmed to provide, at the operator's request, the three-dimensional coordinates of any desired portion of the cross-sectional depiction relative to the geometry of the CT scanner 16.

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In accordance with this invention, a modified stereotactic frame 28 is fixed with respec~ to a desired portion of the patient's anatomy within the patient circle 14. Thereafter, once an operator has obtained a cross-sectional depiction of the combined stereotactic frame 28 and included anatomy which also includes the desired anatomical target area for a surgical device, the operator can precisely determine the target coordinates with respect to the stereotactic ~rame 28.
In particular, three non-collinear fiducial points having readily determinable coordinates with respect to the frame are also depicted in the CRT display thus enabling the operator to obtain coordinates for these lS same fiducial points with respect to the CT scanner.
Since the coordinates of the desired anatomical target area can also be obtained with respect to the CT
scanner, those coordinates can easily be transformed into corresponding stereotactic frame coordinates.
The mathematical transformation may be performed in another properly programmed computer or in the CT scanner computer 22 as controlled by operator inputs via the control console 26. Of course, these calculations could also be performed manually or semi-automatically (e.g., with hand calculators or the like) if desired.
If the CT scanner computer 22 has been programmed to perform the transformation, the stereotactic frame cooxdinates 30 of a desired anatomical target may be directly obtained from the CRT disply 24.

, The stereotactic surgical head frame shown in FIGURES 2 and 6 is, ~ se, well known in the prior art.
One such head frame is known as a "Lexell" type of frame and another is known as the "Trentwell" type of frame. As shown in F~GURES 2 and 6, the frame includes four vertical posts 40, 42, 44 and~46 rigidly inter-connected by horizontal posts 48, 50, 52 and 54. Three skull anchors 56, 58 and 60 are also provided so as to rigidly fix the stereotactic frame with respect to a human skull.
Although stereotactic surgery has normally been performed inside the skull, this invention would be equally useful with stereotactic frames and surgical procedures adapted to other portions of living anatomy as well.
Side bars 62 and 64 are adjustably attachable to : the vertical posts 40-46 as shown in FIGURE 2. A
carrier 66 is also adjustably attach~d to the side bars 62 and 64 (as shown in FIGURE 6) for mounting a probe ; 20 carrier 68. The probe typically comprises a thin rigid cannula 70 through which or on which a surgical device is inserted on a rod-shaped holder into the brain through an opening in the skull. Any desired surgical device can be provided at the end of the probe for insertion into the brain.
Normally, a probe stop 72 is arranged so that the probe's motion along the R axis shown in FIGURE 6 can be accurately controlled to place the end of the probe 74 at the center 76 of a spherical coordinate system ~
defined by the stereotactic frame. The vertical Y~
dimension and the front-to-back X dimension of the origin 76 is detexmined by the adjustable placement of the side bars 62 and 64 and probe carrier 66 with respect indicia carried on these various frame members.

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The side-to-side Z dimension of the origin 76 is determined by sliding the arcuate portion of the probe-carrier with respect to the shafts 78. Thereafter, so long as the probe end 74 is inserted to the center 76 of the thus defined spherical coordinate system, the other spherical coordinates e and ~ (see FIGURE 6) are immaterial except insofar as the surgeon may choose these angles to minimize dama~e when the probe is inserted through other portions of the brain and/or to facilitate access to the desired portion of the brain as is common practice in stereotactic surgery techniques.
As should now be appreciated, the exemplary s~ereo-tactic frame defines both rectilinear X, Y, Z and spherical R, e, ~ three-dimensional coordinate s~stems.
Once the frame X, Y, Z coordinates of a target anatomy are determined, the frame is adjusted in X, Y, Z
coordinates so as to place the target at the origin or the R, e, ~ system.
Referring now to FIGURES 3 and 4, the modified frame in the illustrated exemplary embodiment includes three fiducial plates 100, 102 and 104. These frames are removably attached to the vertical frame posts through mounting pins 106 and mating, precision friction ~5 fit, apertures 108.
In the exemplary embodiment, each fiducial plate has a variable cross-section along a first dimension for a prede~ermined distance which predetermined distance also varies in a second dimension, inclined with respect to the first dimension. For example, as illustrated in FIGURES 7 and 8, each fiducial plate includes a series of parallel grooves or slots having different respective , - : ~

g lengths. The grooves or slots are preferabl~ spaced regularly and of substantially equal dimensions having respective lengths which progressively increase (or decrease depending upon the direction of progression) from one slot to the next. In the exemplary embodiment the fiducial plates are constructed from aluminum.
If a cross-sectional "slice" is taken along a line 150 (FIGURE 7) which intersects this pattern of varia~le cross-section, then the variations will be observable in any depiction of that "slice". Since the plate is fixed with respect to the frame and since the slot end points have known X, Y, Z locations with respect to the frame, a fiducial area or point F with respect to the frame will be defined by the end point included within the cross-section. This particular end point can, in turn, be determined by simply counting the number of slots included in the distance D of variable cross~section within slice 150. Preferably, slice lS0 intersects the fiducial plate at least one slot from each end (e.g., more than one and less than the total number of slots would then be seen in the cross-sectional depiction).
As schematically indicated in FIGURE 3, a "slice"
160 will intersect the variable cross-sectional porticns of each fiducial plate 100, 102 and 104. A typical CT
scan depiction of such a slice through the combined ~
frame and human head is shown in FIGURE 5. As indicated in FIGURE 5, by merely counting the number of slots included in the cross-sectional "slice" for each ~0 fiducial plate, the operator can locate three non-collinear fiducial points Fl, F2~ and F3 within the slice which have know, readily determinable coordinates with respect to the stereotactic frame. At the .
' same time, and using the same CT scan "slice", the operator can position the c~rsor and locate the same fiducial points with respect to a desired anatomical target area 170. Normallyl the coordinates ~or this common three-dimensional coordinate system would be with respect to the CT scan apparatus.
Once this data has been determined, the CT scan computer 22 may be programmed to compute the frame coordinates of the target 170 which can then be used in standard stereotactic surgical procedures. If desired, the data required for this coordinate transfo!mation calculation can be input from the operator Keyboard or, alternatively, the CT scanner computer may be programmed to accept the input coordinate data corrPs-ponding to thè location of a cursor at the time a specialfunction key or the like is operated at the console 26.
In this way, the operator would be relieved rom the necessity of transcribing the coordinate input data onto the keyboard of the console 26 thus eliminating another source of potential error.
: With presently available CT scanners, the elemental scan resolution may cause errors of more than one millimeter. Accordingly, the operator should take care to accurately locate the fudicial points Fl, F2, and F3 and to obtain their CT scan coordinates. Further-more, the "slice" thickness may substantially contribute to errors unless care is taken by the operator to center the target 170 within the thickness of such a "slice".
Similarly, care should be taken to obtain the coordinates 3Q of the target 170 with respect to the center of the target area shown on the cross~sectional depiction of the slice.
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Many other types of X-ray detectable riducial marking systems may be associated with a stereotactic frame. For example, a simple cylindrical (or any other cross-sectionally shaped) rod diagonally connected between the disimilar portions of spaced apart pairs of posts could be used ~o identify three non-collinear riducial points within any given cross-sectional slice.
The relative locations of the cross-section taken through the diagonal rods with respect to the cross-sections taken through the connected pairs of posts culd be used to provide the required frame coordinates of these fiducial points through simple geometrical calculations. Of course a diagonal slot or void in a plate, etc., could be similarly employed as could many other types of frame modifications.
By deriving all of the required transformation input data from only one CT scan slice, possible errors are minimized and hence this mode of the inven~ion is preferred.
The fiducial plates in the illustrated embodiment are designed so that the frame coordinates (X, Y, Z) of the end of each slot are known. By counting the number of slots observed in a given CT slice for a given plate, one can determine which of the various slot ends are located within the plane of the displayed slice.
These slot ends then constitute the three non-collinear fiducial points Fl, F2, and F3 as noted in FIGURE 5.
Since the X, Y, Z frame coordinates of each ~lot end are know, once the fiducial points have been thus identified, their frame coordinates are known.
Since the coordinates of the fiducial points Fl, F2, and F3 as well as the targek area 170 can all be determined with respect to another common coordinate system, it follows that a relatively simply mathematical coordinate transformation may thereafter be used to calculate the X, ~, Z frame coordinates of the target 170.

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There are several possible ways to perform the required transformation calculation. However, one straightforward approach will now be explained. For example, let capital letters denote frame X, Y, Z
coordinates and lower case letters denote CT scan coordinates (or any othe~ coordinate sys~em for which coordinates of all of the fiducials and the target area can be measured). Using this nomenclature:
1' fl = fiducial 1 (e~uation 1)

2' f2 fiducial 2 (equation 2) F3, f3 = fiducial 3 (equation 3) ~ s T, t = target (equation 4) Define A, B, C, 5a, b, c:

A ~2 Fl; a ~3 fl (equations 5, ~) B - F3 - Fl; b f3 1 (equations 7, 8) ~1; c t - fl (equations 9, 10) The problem is to fînd T, the target frame coordinates.
Since a, b, and c lie in the same plane and a and b are not collinear, by solution of the simultaneous equations, constants and can be found such that:

c - t ~ ~ a ~ ~ b (equation 11) ` 30 Tne equivalent in frame coordinates is:
C - T - Fl = A + B (equation 12) Thus:
T = Fl + ~ A + ~ B (equation 13) ! .
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This calculation may be performed manually or, as is preferred, by a properly programmed computer In ~iew of the simple mathematical calculations involved, it is believed unnecessary to describe a suitable computer program in detail as ~hose skilled in the art of automatic data processing and/or in the art of designing CT scanning apparatus will be capable of readily providing a suitable program.
~s a check on accuracy, one can compare the lengths of vectors between fixea points as represented in the two different coordinate systems. For example, one can compare vectors ~ and a Similarly, one can compare vectors B and b, etc. For improved accuracy, the fiducial plates and hence the measured fiducial points are a~ far removed from one another as practical.
; ~ccuracy on the order of one millimeter in the final calculation of the target frame coordinates can be obtained even though diferences of up to 35 centi-meters are observed between these various vectors with the exemplary illustrated embodiment Larger differ-; ences between vectors ~ and vectors B, etc., indicates that an error has been made In the preferred exemplary embodiment, thefiducial plates are removed from the frame after the cross-sectional slice (FIGURE 5) containing the required data has been obtained Thereafter, the calculated target frame coordinates are utilized for setting up the side bars and probe carrier so as to center the spherical coordinate system of the frame on the target area and permit the desired stereotactic surgery ~` technique to be performed .
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, It may also be prudent to double check the approximate validity of the calculated target coordinates by perform~ng classical stereotaxis pro-cedures.
While only a few exemplary embodiments have been specifically des-cribed in detail above, those skilled in the art will appreciate that many variations and modifications may be made in these exemplary embodiments without materially departing from the novel and advantageous features of this invention.

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Claims

P.C. 6157 The embodiments of the invention in which an exclusive property or privilege is claimed are defined as follows:

1. Apparatus for use in performing stereotactic surgery in conjunction with an X-ray CT scanner capable of measuring relative X-ray absorption within elemental volumes of a desired cross-section of the anatomy of a living patient and also defining a first three-dimensional CT-scanner coordinate system for locating specific anatomical positions within said cross-section relative to said first coordinate system, said apparatus comprising:
A stereotactic frame defining a second three-dimensional coordinate system which can be fixed with respect to the anatomy of a living patient, said stereotactic frame including mechanism for positioning a desired surgical device within said anatomy at any desired location defined in terms of said second three-dimensional coordinate system, and X-ray detectable fiducial markers associated with said stereotactic frame defining at least three non-collinear points within each of said cross-sections, each point having determinable coordinates in both said first and said second coordinate systems such that the measured CT scan coordinates of a desired portion of the anatomy can be transformed to corresponding coordinates in said second coordinate system thereby facilitating the use of said stereotactic frame during stereotactic surgery.

2. Apparatus as in claim 1 wherein said X-ray detectable fiducial markers comprise:
a member having an X-ray detectable feature which intersects any said cross-section at a location which varies depending upon the relative disposition of the cross-section.

3. Apparatus as in claim 2 wherein said X-ray detectable feature comprises a series of parallel grooves or slots regularly spaced and of substantially equal dimensions and wherein their lengths progressively increase or decrease from one slot to the next.

4. Apparatus as in claim 1 or 2 wherein said frame includes spaced-apart posts and said markers comprise a rod extending between disimilar portions of pairs of said spaced-apart posts.

5. A method to facilitate stereotactic surgery, said method comprising the steps of:
fixing a stereotactic surgical frame, having a predetermined three-dimensional coordinate system, with respect to living tissue, scanning the combination of said frame and living tissue with penetrating radiation to provide a cross-sectional depiction thereof in a plane which includes a desired anatomical target within said living tissue, determining the coordinates of said target with respect to a second predetermined three-dimensional coordinate system, determining the coordinates of each of at least three non-collinear points located within said cross-sectional depiction, both with respect to the three-dimensional coordinate system of said frame and with respect to said second three-dimensional coordinate system, and using said determined coordinates to calculate the coordinates of said target with respect to the three-dimensional coordinate system of said frame.

6. A method as in claim 5 wherein said fixing step includes the attachment of X-ray detectable fiducial markers to said frame.