US20010039422A1 - Apparatus and method for surgical stereotactic procedures - Google Patents

Apparatus and method for surgical stereotactic procedures Download PDF

Info

Publication number
US20010039422A1
US20010039422A1 US09/905,833 US90583301A US2001039422A1 US 20010039422 A1 US20010039422 A1 US 20010039422A1 US 90583301 A US90583301 A US 90583301A US 2001039422 A1 US2001039422 A1 US 2001039422A1
Authority
US
United States
Prior art keywords
probe
patient
image
displayed
points
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.)
Granted
Application number
US09/905,833
Other versions
US6423077B2 (en
Inventor
Mark Carol
James Day
Erik Miller
Robert Riker
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.)
SCHAERER MEDICAL USA Inc
Original Assignee
Schaerer Mayfield USA Inc
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 Schaerer Mayfield USA Inc filed Critical Schaerer Mayfield USA Inc
Priority to US09/905,833 priority Critical patent/US6423077B2/en
Publication of US20010039422A1 publication Critical patent/US20010039422A1/en
Application granted granted Critical
Publication of US6423077B2 publication Critical patent/US6423077B2/en
Assigned to SCHAERER MAYFIELD USA, INC. reassignment SCHAERER MAYFIELD USA, INC. CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: OHIO MEDICAL INSTRUMENT COMPANY, INC.
Assigned to SCHAERER MEDICAL USA, INC. reassignment SCHAERER MEDICAL USA, INC. CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: SCHAERER MAYFIELD USA, INC.
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/10Instruments, 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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/10Instruments, 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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11Instruments, 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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/50Supports for surgical instruments, e.g. articulated arms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00Operating tables; Auxiliary appliances therefor
    • A61G13/10Parts, details or accessories
    • A61G13/12Rests specially adapted therefor; Arrangements of patient-supporting surfaces
    • A61G13/1205Rests specially adapted therefor; Arrangements of patient-supporting surfaces for specific parts of the body
    • A61G13/121Head or neck
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107Visualisation of planned trajectories or target regions
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046Tracking techniques
    • A61B2034/2059Mechanical position encoders
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2072Reference field transducer attached to an instrument or patient
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/363Use of fiducial points
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364Correlation of different images or relation of image positions in respect to the body
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/10Instruments, 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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/14Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins

Definitions

  • This invention relates to neurosurgical apparatus generally, and more particularly, to stereotactic systems for use in neurosurgery.
  • CAT computer assisted tomography
  • the patient is placed within a gantry, and a radiation source and radiation detectors are positioned opposite one another to be rotated about a portion of the patient's body.
  • the data generated by the radiation detectors are utilized by a computer to generate radiographic images or “slices” of the body position to give a doctor greatly enhanced views through the area of interest.
  • Radiographic imaging systems included magnetic resonance (MRI) and positron emission tomography (PET) imaging which generate images from energy sources that do not use x-rays or the like. These devices are useful because they provide different or additional information about organs or tissues than CAT scan images.
  • scanners refers to imaging devices regardless of the technique utilized to generate the images.
  • Neurosurgery may be performed to investigate, repair, or remove anomalies located within the brain of a patient.
  • the environment of such surgeries is challenging in that the organ of interest, the brain, is surrounded by relatively thick bony structure, the skull.
  • the only presurgery access to the brain available to a surgeon is through images generated by an imaging system.
  • the patient may be removed from the scanner but the reference frame must remain attached to the patient's head.
  • the reference frame remains attached throughout surgery so the surgeon can correlate image information about patient anatomical structures to a position within the patient's skull located with reference to the frame.
  • a stereotactic system using a skull ring which may be mounted to a patient's skull was developed.
  • the ring is a relatively small metallic circle that is attached to a patient's head using cancellous screws.
  • a transfer plate having two openings, one of which has a rotatable ball and socket mechanism mounted therein, is secured within the ring.
  • the transfer plate is also provided with a radiological opaque marker which may be discerned in the radiological images generated by the scanner.
  • the patient is then placed inside a scanner and a member extending from the ball and socket is coupled to the machine. Once the patient has been oriented within the scanner for the collection of image data, the ball and socket is locked in a fixed orientation.
  • the member extending from the ring and patient which was coupled to the scanner is disconnected so the patient may be removed.
  • the ball and socket remains locked in its orientation so the orientation of the transfer ring on the patient's skull may be later duplicated for locating a target.
  • the plate After removing the transfer plate holding the ball and socket from the skull ring attached to the patient's head, the plate is attached to a member extending above a frame table to duplicate its position and orientation on the patient's head.
  • the images generated by the scanner are viewed and the coordinate data of a selected target, such as a lesion or tumor, and the radiological marker of the transfer plate are determined.
  • a target marker is maneuvered on the frame table so it identifies the target position with respect to the radiological marker.
  • a second ball and socket mechanism is placed in the second opening of the transfer plate.
  • an instrument such as a biopsy probe may then be extended through the second ball and socket to the target point to define a distance and path to the target.
  • the second bail and socket is then locked into place to preserve the orientation to the target and the distance to the target is marked on the probe.
  • the transfer plate bearing the second ball and socket mechanism may then be removed from the member above the frame table and reattached to the skull ring on the patient's skull with the second locked ball and socket defining a path to the selected target.
  • a biopsy probe may be used to mark the patient's skull and a craniotomy performed at that point to provide an opening in the patient's skull.
  • the biopsy probe may then be extended through the opening in the second ball and socket to the depth marked on the probe to place the biopsy probe within the lesion or tumor. In this manner, the surgeon is able to accurately place the biopsy probe without unnecessary searching to locate the tumor or lesion prior to performing the biopsy.
  • a further description of the above technique and apparatus is given in U.S. Pat. Nos. 4,805,615 and 4,955,891 to which reference may be had.
  • the above-described manner for performing the biopsy facilitates the collection of image data in a number of ways.
  • the reference structure attached to the patient's skull is small in comparison to the reference frames previously used.
  • the removable plate with the ball and socket openings permit accurate location of a target area within a patient's brain prior to performing a craniotomy.
  • the removable plate with the ball and socket mechanisms ensures correct placement of the plate on the patient's skull and preserves the accuracy of the path to the target identified on the frame table. While this method greatly facilitates locating the target area within a brain, it fails to provide the surgeon with information regarding the intervening tissue area between the craniotomy opening in the skull and the target area, which lies within and possibly deeply within the brain.
  • the image data generated by a scanner is not necessarily oriented transversely to the location of the opening of the ball and socket of the reference ring and thus does not provide image data at various depths between the craniotomy opening and the target area to assist the surgeon in evaluating the path to the target.
  • the surgeon need not search to locate the target, the surgeon does need to carefully retract the brain tissue along the path to reach the target. Otherwise, damage to any sensitive areas that may lie along the pathway is possible.
  • the reference systems discussed above do not assist a surgeon in identifying the exact location of any such sensitive areas prior to performing the craniotomy and traversing the path to the target.
  • Coregistration is a process by which a computer matches fiducials associated with image data to fiducials associated with the patient's body.
  • the image fiducials are typically selected by using a mouse and cursor to identify on a displayed image points that lie on a patient's skin.
  • An articulated arm and probe are coupled to the computer to provide coordinate data for points external to the computer. Using the arm and probe, the user selects points on the patient that correspond to the selected image fiducials and the computer executes a program that matches the corresponding points.
  • the computer may identify the point in the displayed images that corresponds to the position of the probe proximate the patient's head.
  • a sufficient number of points have been selected (usually at least 8 )
  • the computer may identify the point in the displayed images that corresponds to the position of the probe proximate the patient's head.
  • Such a system is made by Radionics of Brookline, Mass. and is identified by its product name The Operating Arm.
  • Such a system provides “navigational” information to a surgeon, that is, the surgeon may bring the probe to a particular location on or within a patient's head and have that location identified on the displayed image. In this way, the surgeon may view areas on the displayed image and determine their proximity to the probe location. In that manner, the surgeon may confirm the surgical approach to a target.
  • This system includes an imaging display system for displaying radiological images, an image fiducial selector coupled to the imaging system for selecting fiducials on an image displayed on the display system, a target selector coupled to the imaging system for selecting a target on an image displayed on the display system, an articulated arm and probe coupled to the imaging system, which provides spatial coordinates for the probe with reference to the imaging system so that a position associated with the probe is displayed on the displayed image.
  • a patient fiducial selector is coupled to the imaging system and to the articulated arm for selecting fiducials on a patient that correspond to the fiducials selected for the displayed image.
  • a coregistration processor coregisters the patient fiducials to the selected image fiducials so that the coordinates provided by the articulated arm may be matched to the displayed image whereby a position of the probe may be displayed on the displayed image.
  • a probe holder holds the probe of the articulated arm in proximity to a patient's head. the holder being selectively lockable to maintain a position proximate the patient's head. By using this system, a surgeon may evaluate the path displayed on said displayed image between said probe position and said selected target.
  • a system in accordance with the principles of the present invention permits a patient to be scanned without any plate or frame reference being affixed to the patient.
  • the system coregisters image fiducials with selected anatomical features of a patient so the position of the probe may be displayed on a radiological image and a path to a selected target projected on the image.
  • a surgeon may evaluate the path to the selected target and lock the probe position in place if the path is deemed acceptable. The surgeon may then mark the appropriate spot on the patient's head for the craniotomy.
  • the paths to other targets may be identified and marked prior to any craniotomy.
  • the system may further include surgical instrument collars adapted to fit within the probe holder so an instrument may be inserted through the collar in the correct orientation and position to follow the evaluated path to the selected target.
  • the probe holder may be used to facilitate a surgeon's path selection and evaluation and then preserve that path as well as guide instruments along that path.
  • the system of the present invention may further include an arc carrier rod for defining a predetermined radius to a selected target.
  • a grooved arc may be rotatably mounted to the reference rod, and the probe holder mounted in a probe adapted to slide within the grooved arc.
  • the grooved arc may be rotated in a hemispheric fashion about the patient's head and the probe plate and holder slid along the grooved arc to define numerous entry points for evaluation by the surgeon using the radiological display system.
  • the imaging system is further provided with a processor for interpolating data from the radiological data generated by the scanner to provide a view along the probe from any entry port selected along the hemispheric stereotactic system positioning as long as the probe reaches the holder. Utilizing this system, a surgeon may evaluate a number of entry ports and select the one which presents the least risk to the patient.
  • Another advantage of the present system is that after a target has been selected and the biopsy or surgical procedure performed on the target, the surgeon may select a second target of interest within the patient's brain. After this selection, the probe holder may be unlocked and the probe reinserted to define a second path to the second selected target. The hemispheric stereotactic system may then be attached to provide multiple entry points to the second target for evaluation and, once a suitable path is selected, a procedure may be performed on the second target. Utilizing the system in this manner facilitates a surgery wherein radioactive seeds are implanted in various areas of a tumor with the effect that the radiation is primarily limited to the area of the tumor. This type of use also assists a surgeon in the precise placement of multiple depth electrodes in a patient's brain for monitoring.
  • the present invention may take form in various components and arrangement of components and in various steps and arrangement of steps.
  • the drawings are only for purposes of illustrating a preferred embodiment and alternative embodiments and are not to be construed as limiting the invention.
  • FIG. 1 is a perspective diagrammatic view of the components of one embodiment of a system in accordance with the principles of the present invention
  • FIG. 2 shows a representative screen displaying image information generated by the system of FIG. 1;
  • FIG. 3 is a view of the preferred embodiment of a stereotactic sub-system for use in the system of FIG. 1.
  • FIG. 1 A neurosurgical stereotactic system 10 built in accordance with the principles of the present invention is shown in FIG. 1.
  • the system includes an image display sub-system 12 , an articulated arm and probe 18 , and a stereotactic sub-system 16 .
  • the image display sub-system 12 displays images from image data generated by a scanner or from data interpolated from such data.
  • Sub-system 12 accepts operator input for selection of fiducials, receives coordinate data from the articulated arm and probe, and coregisters selected fiducials on a patient 13 with the selected fiducials for the radiological images for the patient so that the position of the probe and a path to a selected target may be displayed.
  • Sub-system 12 also displays an image of the articulated arm so the operation of the arm and probe may be verified.
  • Articulated arm and probe 18 provides spatial data to display sub-system 12 through an encoder interface 20 .
  • the spatial data is preferably generated by optical encoders 22 , although other spatial coordinate data generating components may be used.
  • probe 24 may also supply rotational data as it is rotated about its longitudinal axis to rotate the displayed image on sub-system 12 , as described in more detail below.
  • Stereotactic sub-system 16 stabilizes the probe 24 as a surgeon guides it across a patient's head.
  • Sub-system 16 further includes components, discussed in more detail below, that permit the probe to be locked into position, and that position utilized to guide surgical instruments to a selected target.
  • Sub-system 16 further includes components, also discussed in more detail below, that may be used to provide multiple entry ports for a surgical path to a target within the patient, all of which are centered on the selected target area. These components provide a surgeon with reasonable confidence that each probe position provided by the system is directed to the selected target.
  • Radiological display subsystem 12 includes a computer 30 to which a high resolution graphics monitor 32 , a mouse 34 , a footpedal 36 , a keyboard 38 and a tape drive 40 are coupled.
  • the computer 12 may additionally include a 3.5 inch diskette drive or the like and a digital audio tape (DAT) drive or the like.
  • the tape drive 40 diskette drive, and DAT drive may be used to provide radiological imaging data to the computer 30 .
  • These tape drives may also be used to archive data generated by the computer 30 or to update the software which executes on the computer 30 .
  • Computer 30 may also be coupled using conventional techniques to a computer network such as an Ethernet. Such a network may be used to supply radiological image data, software, or diagnostic services.
  • monitor 32 is a Multi-ScanHG Trinitron superfine pitch resolution monitor available from Sony Corporation of America.
  • the computer 30 is a Dell 450 DE/2 DGX manufactured by Dell Computers of Houston, Tex.
  • the preferred tape drive 40 for reading image scan data is a 9 track tape drive manufactured by Overland Data of San Diego, Calif.
  • the encoder interface 20 and articulated arm and probe 18 are manufactured by Immersion Human Interface Corp. of San Francisco, Calif.
  • computer 30 executes the Atlas program developed by Nomos of Pittsburgh, Pa.
  • Atlas is a computer program that displays radiological images from radiological scan data supplied by the tapes and interpolates data to provide additional views not present in the radiological scan data.
  • the Atlas program of the preferred embodiment has been modified to accept data from the articulated arm and probe 18 through encoder interface 20 .
  • the program is loaded by using the resident operating system of computer 30 which in the preferred embodiment is the Microsoft Disk Operating System (MS-DOS).
  • MS-DOS Microsoft Disk Operating System
  • the Atlas program includes its own high level I/O routines and other computer resource functions so that the Atlas program uses the primitive level I/O operation of the resident operating system of computer 30 .
  • computer 30 is also provided with a telephone interface so that software and other support functions, such as diagnostics, may be provided via telephone from a remote location.
  • the articulated arm and probe 18 is mounted to a surgical skull clamp 46 which has been mounted to an operating table 48 (which may be of known type).
  • Base support 50 (FIG. 1) is attached to a mounting collar 52 which is mounted to the starburst connector 54 of surgical skull clamp 46 .
  • Base support 50 is preferably mounted to collar 54 by Allen screws or the like.
  • the mating surfaces of collar 52 and support 50 are keyed so there is only one possible orientation of the base support 50 . This feature is important in preserving reference point accuracy when the sterile base support and surgically draped arm are used as discussed in more detail below.
  • Base support 50 also includes a lockable mounting bolt 56 at one end for the articulated arm and a hollow tubular extension 58 at its second end for holding the probe 24 of the articulated arm.
  • Bolt 56 is rotatably mounted about a slot 60 cut in base support 50 for articulated arm and probe 18 .
  • the articulated arm and probe 18 (FIG. 1) further includes a mounting stud 62 , two arm members 64 , and the probe 24 .
  • Joint members 68 join mounting stud 62 , arm members 64 , and probe 24 to form arm and probe 18 .
  • At each joint there is rotation in two perpendicular planes to permit two degrees of freedom for each arm.
  • the position of each arm member relative to its respective joint is preferably provided by optical encoders 22 coupled at each joint to the arm in an orthogonal relationship.
  • Probe 24 is mounted within a collar 70 located at the outermost end of the arm so that it can rotate about its longitudinal axis. This rotational movement is used by computer 30 to rotate the radiographic images presented to the surgeon on the screen of monitor 32 .
  • the encoder interface 20 converts the data from the six optical encoders 22 of the articulating arm 18 into rotated position (angular) data for the computer 30 .
  • Tape drive 40 may be used to provide image scan data to the computer 30 .
  • Most image scanners archive image data generated from a scan by storing it on magnetic media such as a nine track tape 74 . This tape may then be read by a tape drive 40 and supplied to the computer 30 which stores the data on other magnetic media such as a hard disk drive.
  • the image data read from the tape inserted in drive 40 may be used as generated by the scanner.
  • each scanner manufacturer may format the data differently.
  • the image data generated by the various types of scanners is converted to a standard format prior to being stored on the internal magnetic media of the computer 30 . By doing so, the image display program which executes on computer 30 does not require different modules or routines for each format in order to utilize the data from various scanners.
  • data generated by a scanner includes image data and non-image data.
  • Non-image data includes definition of parameters such as patient name, date, patient position, scan orientation, scan parameters, and other imaging details peculiar to each of the various scanner manufacturers.
  • the preferred embodiment of the program executing on computer 30 extracts the basic data items common to all of the scanner manufactures and stores them with image data files in a keyword value file.
  • the keyword value file contains a list of keywords that identify each data field and the value of that field. For example, a data field identifier for patient name is followed by the data representation of the patient's name for a series scan.
  • Image data usually includes numerical data that represents a gray scale value or some other brightness/contrast value, such as Hounsfield units, used to generate images, as is well known. These numeric values may be compressed, or expressed as integer or real number values. The preferred embodiment of the program executing on computer 30 uncompresses any compressed values and converts all of the numeric data to integer data. This data is then stored in image data files. These files are preferably written to disk in a hierarchial structure separating the patient data from one another and the image studies and series for each patient.
  • the footpedal 36 , mouse 34 , and keyboard 38 may be used by an operator to provide input to the computer 30 .
  • mouse 34 may be used to manipulate a cursor on the screen of monitor 32 to select various options as discussed in more detail below.
  • footpedal 36 may be used by the surgeon to activate the selection of fiducials on a patient.
  • the image display program executing in computer 30 includes a graphics user interface (GUI), an input/output (I/O) library, an articulated arm interface program, and a number of application modules.
  • GUI graphics user interface
  • I/O input/output
  • the GUI interface controls the presentation of data and menus on the screen of the monitor 32 .
  • the I/O library routines perform various input and output functions such as reading image data from the tape drive 40 .
  • the articulated arm interface provides the menu and fiducial selection points displayed at the bottom of the screen on the monitor 32 of the preferred embodiment of the sub-system 12 shown in FIG. 1.
  • the application modules execute software to perform transform operations to interpolate data for the images and to coregister the image data with the selected patient fiducials, for example.
  • FIG. 1 An alternative embodiment of stereotactic sub-system 16 that couples the articulated arm and probe 18 to the patient to permit surgical path evaluation and selection is shown in FIG. 1.
  • That equipment includes a skull ring 80 , a transfer plate 82 , a swivel socket 84 , and a probe alignment ball 86 .
  • This equipment is utilized by affixing the skull ring 80 to a patient's head by cancellous bone screws after the patient's scalp is shaved, prepped with betadine, and injected with xylocaine.
  • the transfer plate 82 is mounted to the skull ring by means of a post (not shown) extending from the skull ring.
  • a swivel socket 84 is attached to the skull ring by means of Allen screws or the like.
  • the swivel socket 84 includes a base 92 and a upwardly extending collar 94 .
  • a probe alignment ball 86 is inserted within collar 94 .
  • the probe alignment ball 86 is adapted to receive the end of probe 24 .
  • probe 24 may be inserted into the probe alignment ball 86 and the probe and ball moved together with respect to the surface of the patient's scalp.
  • the screws 98 extending outwardly from the collar 94 may be tightened to secure the probe alignment ball 86 in place.
  • a surgical instrument collar of known type (not shown) may then be inserted within the probe alignment ball 86 to permit a drill or other instrument to be inserted through the instrument collar to open the patient's skull.
  • a biopsy instrument may also be inserted through the collar to the target area.
  • the hemispheric stereotactic system used for entry site selection is also shown in FIG. 1.
  • That equipment includes an arc carrier rod 100 , a rotating support arm 102 , an arc 104 , and a variable collar array 106 .
  • the probe may be removed and the arc carrier rod 100 inserted into the probe alignment ball 86 .
  • the rotating support arm 102 is then mounted on the arc carrier rod 100 and secured about the rod by screw 110 .
  • a grooved tongue or key 112 is mounted in lockable relationship on the rotating support arm 102 and is adapted to fit within a track cut within arc 104 .
  • variable collar array 106 is likewise adapted to have a bit that is slidably received in arc 104 and may be locked into place anywhere along the length of arc 104 .
  • Collar 106 also has a receptacle that receives the probe 24 so a surgeon may evaluate a path to the selected target by viewing the path displayed on the monitor 32 of sub-system 12 . Because carrier rod 100 points to the target, the support arm 102 and arc 104 may be rotated about the patient's head in a hemispheric fashion that is centered about the target. Preferably, support arm 102 is locked into position about the arc carrier rod 100 so that a central opening in the variable collar array 106 is located approximately 19 centimeters from the target about which the arc 106 is centered.
  • the components of the hemispheric stereotactic system permit a surgeon to maneuver the probe 24 about a patient's head with a reasonable degree of confidence that the receptacle is directed to the previously selected target.
  • the surgeon is provided with numerous sites for evaluation which may be locked in place as a surgical guide.
  • stereotactic system 16 is shown in FIG. 3. That system includes a probe holder collar 180 and a rigid offset arm 182 which is interposed between sunburst connector 54 and collar 52 . Offset arm 182 terminates in a pivot joint 184 from which an adjustable arm 186 extends. Another adjustable arm 190 extends from a pivot joint 190 at the end of arm 186 . Arm 188 terminates in to a probe holder 192 which is provided with a transfer plate 82 ball and socket mechanism 84 and adjustment ball 86 , as already described in connection with FIG. 1.
  • sub-system 16 provides a rigid, adjustable arm by which the probe holder 192 and attendant components may be maneuvered about a patient's head and then selectively locked into position for path evaluation, surgical instrument guidance, or attachment of the hemispheric system.
  • a patient 13 is scanned in an image scanner to create a series of images.
  • a “series” may be a group of parallel, equally spaced images, sometimes called “slices”, of a volumetric portion of a patient's body.
  • the images comprising the series are contiguous.
  • a group of more than one series of images is commonly referred to as a “study” or “suite” and may also be utilized by the system. Examples of series are axial, coronal, rotating, and sagittal.
  • An axial series is from the top of the patient's head to the base of the skull
  • a coronal series is from the face to the back of the patient's head
  • rotating series is around a patient's head
  • a sagittal series are sideviews of the patient's head to the other side.
  • the series is generated with a gantry angle of 0°, otherwise the data interpolation performed by the preferred embodiment of the Atlas program may be distorted.
  • the series After the series is generated by the scanner, it may be written to magnetic media for transportation to system 10 .
  • the image data is written to a nine track tape 74 which may be read by the nine track magnetic tape reader 40 .
  • the user may activate computer 30 and activate the nine track tape interface program in the I/O library. By using this program, a user may read the image data from the nine track tape 74 into the computer 40 which then stores the data in an appropriate format to a hard drive or the like.
  • Computer 30 may also receive data from an image scanner by means of the DAT reader, diskette drive, a computer network, or the like.
  • the user may execute the program which displays the image radiological data in a display window on the monitor 32 .
  • the user may select a particular view by clicking on the view icon 120 of the screen shown in FIG. 2. That action causes a menu to be displayed for various series or views from which the user may select.
  • the first image or slice of the series is presented in the display window 122 as shown in FIG. 2.
  • the user may view each of the images in the series by manipulating the slider 124 button on the screen with the mouse 34 .
  • the user may select a second series to be displayed in a second display window 126 .
  • the user may select the particular series to be displayed in that window and likewise view the various slices by manipulating the slider button 130 with the mouse 34 .
  • Computer 30 also may generate a second series that was not generated by the scanner. The computer 30 does this by interpolating data from one of the series generated by the scanner to generate the second series. For example, a coronal series may be generated by the scanner and displayed in the first display window of the system. If the user selected a sagittal series, which was not generated by the scanner, for display in the second window, the system interpolates the data at the righthand edge at each of the coronal images and generates a sagittal view from that data. This process is repeated for equally spaced, parallel images from the sagittal perspective to create the second series.
  • a coronal series may be generated by the scanner and displayed in the first display window of the system. If the user selected a sagittal series, which was not generated by the scanner, for display in the second window, the system interpolates the data at the righthand edge at each of the coronal images and generates a sagittal view from that data. This process is repeated for equally spaced, parallel images from the sagittal perspective to
  • the Atlas program reformats the image data to generate data that represents a volumetric representation of the scanned area. This is done by interpolating the image data for the individual slices to generate additional “slices” not acquired by the scanner. Preferably, this is done by generating so-called “voxel” values that represent an image value that is cubic in dimension, although other volumetric shapes may be used. For example, if the series is made of images that represent 3 mm slices and each pixel value represents a 0.5 mm ⁇ 0.5 mm, the interpolated voxels preferably represent a cube which is 1 mm ⁇ 1 mm ⁇ 1 mm.
  • each group of four adjacent pixels forming a square are averaged and the resulting averages comprise the data to form the in plane image of 1 mm ⁇ 1 mm ⁇ 1 mm voxels.
  • the inplane voxel image is preferably combined with the underlying image plane (reference plane) at the next lower 4 mm plane using a linear weighing proportional to the distance from the selected plane to the reference plane.
  • reference plane the underlying image plane
  • Atlas uses the data to generate any series requested by a user.
  • the user may select image fiducial points. This is done by clicking the mouse on the appropriate areas within the image fiducial point identifier menu as shown in FIG. 2.
  • the user may use the mouse 34 to manipulate a cross-hair cursor across the image and after centering it on a particular feature, clicking on the mouse button to cause the program executing in computer 30 to match the point on the image with the selected image point icon.
  • the user may do this for, say, eight points, although fewer or more points may be implemented in a system in accordance with the principles of the present invention. At least three points are needed before coregistration may occur and, most preferably, coregistration is best achieved with approximately eight to ten points.
  • the mounting collar 52 , base support 50 , and articulated arm and probe 18 are mounted to the skull clamp 46 holding the patient's head.
  • the skull clamp 46 is one manufactured by Ohio Medical Instrument Co., Inc. of Cincinnati, Ohio and designated as a modified MAYFIELD® clamp.
  • the clamp includes a ratchet arm 146 mounted within a sleeve arm 148 and further includes a two pin bracket (not shown) mounted to the sleeve arm and a torque screw and pin 150 mounted to the ratchet arm 146 . This clamp is adjusted to fit the patient's head by well known procedures.
  • a starburst connector 54 Located on the sleeve arm is a starburst connector 54 to which the mounting collar 52 is mounted.
  • Base support 50 for the articulated arm and probe 18 is attached to the mounting collar 52 by means of Allen screws or the like.
  • the articulated arm and probe 18 are attached to the base support 50 as discussed above and the probe 24 is placed in the tubular extension 58 of the base support in preparation for probe initialization (shown in phantom in FIG. 1).
  • the user must place the articulated arm so that all the side mounted optical encoders are on the same side of each arm segment. If the arm is placed in an incorrect position, the computer 30 and encoder interface 20 interpret the angular data from the articulated arm as being in a direction opposite that of its actual movement and improperly display the probe's position. Once the arm is the appropriate location, the probe may then be initialized.
  • the user By clicking on the probe initialization icon 154 (FIG. 2), the user permits the computer 30 to begin accepting angular data input from the articulated arm and probe 18 and to initialize the probe's position within extension 58 as a reference point.
  • a display area 156 is shown on the lower left portion of the screen on the monitor 32 which demonstrates the position of each arm segment and the tip of the probe 24 .
  • the user may manipulate the articulated arm and probe tip in space and observe its movement on the screen. In this way, the user can verify that the optical encoders 22 were in the correct position for initialization by noting the upward movement of the probe on the screen when the probe is moved in an upwardly vertical position, for example. If the displayed probe moves in a direction opposite that in which the probe tip is actually moved, then the user knows that the arm was initialized incorrectly and should repeat initialization with the articulated arm in the proper position.
  • the user may then place the probe tip on the external points of the patient's skull that correspond to the image fiducials previously selected. Typically, these points include the bridge of the nose aligned with the center of the eye sockets or the like. This is done by having the user first click on the select button adjacent a patient point icon 158 and then placing the probe 24 at a point on the patient's skull that corresponds to the image fiducial associated with the activated patient point. By depressing the footpedal 36 , the coordinates of the patient fiducial identified by the probe's position are associated with the activated patient point. The reader should note that the selection of the patient fiducials may precede the selection of the image fiducials.
  • computer 30 After the user has selected at least three patient and image fiducial points, computer 30 begins to execute a program to coregister the radiological display data with the selected patient fiducials.
  • the program implements an iterative algorithm for performing the coregistration.
  • An indicator window 160 is provided on the screen of monitor 32 (FIG. 2) to provide the user with information regarding the quality of the coregistration between the radiological data and the selected patient fiducial points.
  • the coregistration improves with the number of selected points and the number of approximately eight to ten points normally provides excellent registration between the patient and the image data.
  • coregistration is preformed by an iterative algorithm implemented in one of the program modules executing on computer 30 .
  • the preferred algorithm selects a set of image fiducial points and the corresponding patient fiducial points.
  • the centroids of the geometric figures defined by each selected set are computed.
  • the coordinates of one of the centroids are then translated to the coordinates of the second centroid and the points associated with the first centroid are likewise translated.
  • the differences in coordinates of the translated and untranslated points for the first set are squared to determine an overall error value or merit figure.
  • the translated points are then changed an incremental amount in one direction only and the difference between the points in the first set and their corresponding points in the second set are calculated and squared. If the error result is less than the merit figure then the incremented value becomes the point values for the first set and the error result becomes the new merit figure.
  • a patient fiducial does not correspond accurately with the point selected in the image data and may degrade the rating of the coregistration.
  • the deactivation of such a point by resetting the corresponding “use” icon, may improve the coregistration rating.
  • Computer 30 permits a user to selectively activate and deactivate points to determine which points provide the best registration between the patient and the image data. The reader should note that coregistration improves with the number of fiducial points, however, so the better action is to reselect one of the image or patient fiducials so it better corresponds to its mate.
  • the user may select a target. This is done by activating the set target icon 162 on the screen of monitor 32 with the mouse 34 and moving cursor cross-hairs with the mouse to an area within the interior of the patient's head displayed within the image.
  • the area of interest may be a tumor, a lesion, a suspected point of activity for which a surgeon wishes to place a depth electrode, or an area for the implantation of a radioactive “seed” for radiosurgery.
  • the target coordinates are established by clicking on the set target icon 162 .
  • the user may the place the probe 24 anywhere on the patient's skull (so long as that area was part of the area scanned in the scanner), and a path 170 is displayed from that point (marked by the arrowhead 172 ) to the target (marked by the cross-hairs 174 ).
  • the path to the target is preferably displayed to indicate whether the path is actually present on the image slice being displayed at that time. For each position, the distance between the probe position and the selected target along the displayed path is shown in the lower right corner of the display window (FIG. 2). For example, a surgeon may place the probe at a point which is shown on an image slice presently being displayed.
  • the surgeon may be holding the probe at an orientation such that the path from the probe 24 to the target would traverse one or more slices prior to arriving at the target.
  • the area actually present on the slice being displayed is preferably shown in yellow and the remainder of the path to the target is preferably shown in red (FIG. 2).
  • the surgeon may view each portion of the target path in the appropriate image slice until the target is reached to evaluate the tissue that the selected path traverses. If the surgeon decides that the path presents risks that are unacceptable, the surgeon may select a different orientation or different point on the patient's skull and reexamine the path.
  • a skull ring 80 may be attached to the patient's head and a transfer plate 82 installed on the skull ring 80 .
  • the transfer plate 82 includes a probe alignment ball 86 in which the probe 24 may be located. After the probe 24 is placed within the ball 86 , it may be moved to again select the path to the target area which is optimal in the surgeon's opinion. While holding the probe 24 at that location, the ball 86 may be locked into position to define a path to target and the probe removed.
  • the apparatus shown in FIG. 3 is used to avoid attaching skull ring 80 to the patient's head.
  • a second support base 50 and probe 24 that may be sterilized replace the support base and probe used for fiducial identification and coregistration.
  • the support base and probe that may be sterilized is preferably made from gray anodized aluminum and the non-sterilized base and probe are made from black anodized aluminum.
  • the sterilizable version of the tubular extension 58 and probe 24 are shorter than the non-sterilizable counter-parts to facilitate sterilization.
  • the mounting collar 70 of probe 24 attaches to the probe mounting stud extending from the outermost joint of the articulated arm at a second location to ensure the reference point used for coregistration is not disturbed.
  • the sterilizable base support is mounted to collar 52 after a sterilized surgical drape with an opening cut therein is placed over the collar 52 .
  • a sterilized tubular drape Prior to mounting articulated arm and probe 18 to the base support 50 , a sterilized tubular drape is placed over the arm and mounting stud 62 .
  • Probe mounting collar 70 is then placed over the tubular drape to affix the sterilizable probe 24 in place.
  • the probe is then returned to the extension 58 and the user clicks on the gray probe icon 176 (FIG. 2) so the Atlas program may adjust for the length of the probe 24 .
  • the thickness of the surgical drapes are compensated in the machinery of the sterilization parts. That is, the opening in the mounting collar is enlarged an appropriate amount to compensate for the surgical drape between the mounting post and collar.
  • This compensation is required to ensure that the screws used to lock the probe to the post do not pull the probe tip off of the center line of the post.
  • the user clicks on the initialization probe icon 154 to verify arm placement. Coregistration is automatic using the previously selected fiducials.
  • the surgeon may use an appropriate drill to open the patient's skull and insert an instrument collar into the transfer plate 82 .
  • the surgeon could then insert, for example, a biopsy needle directly to the target at the indicated depth and be reasonably confident that the biopsy needle is at the target area having passed through only the tissue viewed in the images displayed in the display window.
  • the surgeon may close the opening or further treat the target area.
  • the surgeon may select other targets and treat them as the first one was.
  • the surgeon may decide to mount an arc rod to provide a hemispheric instrument positioning system that is centered about the target area. This is done by attaching the arc rod 100 to the ball 86 , mounting the rotating support arm 102 to the rod 100 and attaching the arc 104 to the support arm 102 .
  • the variable array 106 is then mounted to the arc 104 and a position may be selected anywhere about the hemisphere by rotating the support arm 102 about the rod 100 , sliding the arc 104 with respect to the support arm 102 , or by moving the variable array 106 along the arc 104 . At any of these points, the surgeon may be reasonably confident that he has located a point that is centered about the target area.

Abstract

An apparatus and method are disclosed for displaying a path between a selected target and selected points on a patient's skull and for guiding surgical instruments along any selected path. The system is comprised of an image display system, an articulated arm and probe, and a stereotactic system. The sub-systems are coupled to one another so that the articulated probe may be used to select patient fiducial points that correspond to selected image fiducial points. Using these points, the image display system coregisters the external locations to the displayed images so that the probe condition may be displayed with the displayed images. The system further permits the identification of a selected target within a patient's brain and to project a path from the external position to the target prior to the performance of a craniotomy. After evaluation of the path, a surgeon may lock the stereotactic system in place to preserve a selected surgical path and to guide instruments along that path. A method of utilizing the system to perform such surgical procedures is also described.

Description

    FIELD OF THE INVENTION
  • This invention relates to neurosurgical apparatus generally, and more particularly, to stereotactic systems for use in neurosurgery. [0001]
  • BACKGROUND OF THE INVENTION
  • During the 1970's radiological imaging systems were developed to assist surgeons in ascertaining the internal condition of a patient in greater detail. Specifically, computer assisted tomography (CAT) systems were developed to enhance images generated from data produced during a radiological scan of a patient. The patient is placed within a gantry, and a radiation source and radiation detectors are positioned opposite one another to be rotated about a portion of the patient's body. The data generated by the radiation detectors are utilized by a computer to generate radiographic images or “slices” of the body position to give a doctor greatly enhanced views through the area of interest. [0002]
  • Later radiographic imaging systems included magnetic resonance (MRI) and positron emission tomography (PET) imaging which generate images from energy sources that do not use x-rays or the like. These devices are useful because they provide different or additional information about organs or tissues than CAT scan images. In this application the term scanners refers to imaging devices regardless of the technique utilized to generate the images. [0003]
  • Neurosurgery may be performed to investigate, repair, or remove anomalies located within the brain of a patient. The environment of such surgeries is challenging in that the organ of interest, the brain, is surrounded by relatively thick bony structure, the skull. The only presurgery access to the brain available to a surgeon is through images generated by an imaging system. [0004]
  • Because of the inaccessibility, size, and roughly hemispherical shape of the brain, specifying the locus of a point inside the brain generally requires reference to some fixed external reference system. To provide a surgeon with sufficient information to locate an area of interest on an image, such as a tumor or lesion, a variety of systems have been developed to provide a reference point or points which may be used to match the patient's anatomical structure with the structures displayed in the images. These systems typically require that a frame be rigidly fixed to a patient's head to provide a reference point or points. Once the reference structure is attached to the patient, the image data is generated with the reference frame fixed in relation to the imaging device. That is, there is typically a mechanical coupling between the reference structure and the imaging device. After the data is collected, the patient may be removed from the scanner but the reference frame must remain attached to the patient's head. The reference frame remains attached throughout surgery so the surgeon can correlate image information about patient anatomical structures to a position within the patient's skull located with reference to the frame. [0005]
  • While such systems provide surgeons with a remarkable ability to locate areas of interest within a patient's brain based upon the data acquired by radiological scanners, the required reference frames are cumbersome and complicate the acquisition of radiological data. To preserve the location of the reference frame, it must remain attached to the patient's head throughout the scanning procedure and the surgical procedure. Because the reference frames may weigh several pounds and must be securely fastened to the head, they can be uncomfortable to the patient. The distances the frames extend from the patient's head also present difficulties in maneuvering the patient. Additionally, patients with larger than normal heads often cannot be fitted with stereotactic frames. [0006]
  • In an effort to reduce the awkwardness of the reference structure and the discomfort it causes a patient, a stereotactic system using a skull ring which may be mounted to a patient's skull was developed. The ring is a relatively small metallic circle that is attached to a patient's head using cancellous screws. Once the ring is in place, a transfer plate having two openings, one of which has a rotatable ball and socket mechanism mounted therein, is secured within the ring. The transfer plate is also provided with a radiological opaque marker which may be discerned in the radiological images generated by the scanner. The patient is then placed inside a scanner and a member extending from the ball and socket is coupled to the machine. Once the patient has been oriented within the scanner for the collection of image data, the ball and socket is locked in a fixed orientation. [0007]
  • Following the collection of image data, the member extending from the ring and patient which was coupled to the scanner is disconnected so the patient may be removed. The ball and socket remains locked in its orientation so the orientation of the transfer ring on the patient's skull may be later duplicated for locating a target. [0008]
  • After removing the transfer plate holding the ball and socket from the skull ring attached to the patient's head, the plate is attached to a member extending above a frame table to duplicate its position and orientation on the patient's head. The images generated by the scanner are viewed and the coordinate data of a selected target, such as a lesion or tumor, and the radiological marker of the transfer plate are determined. Using this coordinate data and the indicia marked on the frame table, a target marker is maneuvered on the frame table so it identifies the target position with respect to the radiological marker. A second ball and socket mechanism is placed in the second opening of the transfer plate. Thereafter, an instrument such as a biopsy probe may then be extended through the second ball and socket to the target point to define a distance and path to the target. The second bail and socket is then locked into place to preserve the orientation to the target and the distance to the target is marked on the probe. [0009]
  • The transfer plate bearing the second ball and socket mechanism may then be removed from the member above the frame table and reattached to the skull ring on the patient's skull with the second locked ball and socket defining a path to the selected target. Thereafter, a biopsy probe may be used to mark the patient's skull and a craniotomy performed at that point to provide an opening in the patient's skull. The biopsy probe may then be extended through the opening in the second ball and socket to the depth marked on the probe to place the biopsy probe within the lesion or tumor. In this manner, the surgeon is able to accurately place the biopsy probe without unnecessary searching to locate the tumor or lesion prior to performing the biopsy. A further description of the above technique and apparatus is given in U.S. Pat. Nos. 4,805,615 and 4,955,891 to which reference may be had. [0010]
  • The above-described manner for performing the biopsy facilitates the collection of image data in a number of ways. First, the reference structure attached to the patient's skull is small in comparison to the reference frames previously used. Second, the removable plate with the ball and socket openings permit accurate location of a target area within a patient's brain prior to performing a craniotomy. Third, the removable plate with the ball and socket mechanisms ensures correct placement of the plate on the patient's skull and preserves the accuracy of the path to the target identified on the frame table. While this method greatly facilitates locating the target area within a brain, it fails to provide the surgeon with information regarding the intervening tissue area between the craniotomy opening in the skull and the target area, which lies within and possibly deeply within the brain. Furthermore, the image data generated by a scanner is not necessarily oriented transversely to the location of the opening of the ball and socket of the reference ring and thus does not provide image data at various depths between the craniotomy opening and the target area to assist the surgeon in evaluating the path to the target. Thus, while the surgeon need not search to locate the target, the surgeon does need to carefully retract the brain tissue along the path to reach the target. Otherwise, damage to any sensitive areas that may lie along the pathway is possible. The reference systems discussed above do not assist a surgeon in identifying the exact location of any such sensitive areas prior to performing the craniotomy and traversing the path to the target. [0011]
  • In addition to identifying the locus of the lesion or injury within the brain it is often critical to determine a suitable pathway through the brain to access that locus, in order to minimize damage to the intervening tissue. Thus, identifying the pathway to the site may be almost as critical as identifying the site itself. The above-described system has been inadequate in this respect. [0012]
  • In an effort to provide more automatic matching between image data and the patient as placed in surgery, systems have been developed that perform “coregistration”. Coregistration is a process by which a computer matches fiducials associated with image data to fiducials associated with the patient's body. The image fiducials are typically selected by using a mouse and cursor to identify on a displayed image points that lie on a patient's skin. An articulated arm and probe are coupled to the computer to provide coordinate data for points external to the computer. Using the arm and probe, the user selects points on the patient that correspond to the selected image fiducials and the computer executes a program that matches the corresponding points. After a sufficient number of points have been selected (usually at least [0013] 8), the computer may identify the point in the displayed images that corresponds to the position of the probe proximate the patient's head. Such a system is made by Radionics of Brookline, Mass. and is identified by its product name The Operating Arm.
  • Such a system provides “navigational” information to a surgeon, that is, the surgeon may bring the probe to a particular location on or within a patient's head and have that location identified on the displayed image. In this way, the surgeon may view areas on the displayed image and determine their proximity to the probe location. In that manner, the surgeon may confirm the surgical approach to a target. [0014]
  • While these systems provide confirming navigational information they still do not project a stabilized image of the surgical path on a displayed radiological image prior to a craniotomy being performed. Such systems cannot project a stabilized path because the surgeon cannot consistently orient and stabilize the probe at exactly the same position each time the path needs to be viewed. As a consequence, such systems do not identify or persistently indicate a path to a target because the probe is operated by hand. Moreover, such systems do not ensure that the surgeon is following any path the surgeon may have selected as a result of viewing the displayed radiological images. [0015]
  • What is needed is a system that permits a surgeon to select, evaluate, and lock into position a path to a selected target prior to performing a craniotomy. What is needed is a system that guides a surgeon along the evaluated surgical path to a target during and after the craniotomy. What is needed is a way to select and preserve a plurality of selected paths to multiple targets after the paths have been evaluated. [0016]
  • SUMMARY OF THE INVENTION
  • These and other problems of previously known systems are overcome by a system in accordance with the principles of the present invention. This system includes an imaging display system for displaying radiological images, an image fiducial selector coupled to the imaging system for selecting fiducials on an image displayed on the display system, a target selector coupled to the imaging system for selecting a target on an image displayed on the display system, an articulated arm and probe coupled to the imaging system, which provides spatial coordinates for the probe with reference to the imaging system so that a position associated with the probe is displayed on the displayed image. A patient fiducial selector is coupled to the imaging system and to the articulated arm for selecting fiducials on a patient that correspond to the fiducials selected for the displayed image. A coregistration processor coregisters the patient fiducials to the selected image fiducials so that the coordinates provided by the articulated arm may be matched to the displayed image whereby a position of the probe may be displayed on the displayed image. A probe holder holds the probe of the articulated arm in proximity to a patient's head. the holder being selectively lockable to maintain a position proximate the patient's head. By using this system, a surgeon may evaluate the path displayed on said displayed image between said probe position and said selected target. [0017]
  • A system in accordance with the principles of the present invention permits a patient to be scanned without any plate or frame reference being affixed to the patient. The system coregisters image fiducials with selected anatomical features of a patient so the position of the probe may be displayed on a radiological image and a path to a selected target projected on the image. A surgeon may evaluate the path to the selected target and lock the probe position in place if the path is deemed acceptable. The surgeon may then mark the appropriate spot on the patient's head for the craniotomy. In a similar manner, the paths to other targets may be identified and marked prior to any craniotomy. [0018]
  • The system may further include surgical instrument collars adapted to fit within the probe holder so an instrument may be inserted through the collar in the correct orientation and position to follow the evaluated path to the selected target. Thus, the probe holder may be used to facilitate a surgeon's path selection and evaluation and then preserve that path as well as guide instruments along that path. [0019]
  • The system of the present invention may further include an arc carrier rod for defining a predetermined radius to a selected target. A grooved arc may be rotatably mounted to the reference rod, and the probe holder mounted in a probe adapted to slide within the grooved arc. Thus, the grooved arc may be rotated in a hemispheric fashion about the patient's head and the probe plate and holder slid along the grooved arc to define numerous entry points for evaluation by the surgeon using the radiological display system. The imaging system is further provided with a processor for interpolating data from the radiological data generated by the scanner to provide a view along the probe from any entry port selected along the hemispheric stereotactic system positioning as long as the probe reaches the holder. Utilizing this system, a surgeon may evaluate a number of entry ports and select the one which presents the least risk to the patient. [0020]
  • Another advantage of the present system is that after a target has been selected and the biopsy or surgical procedure performed on the target, the surgeon may select a second target of interest within the patient's brain. After this selection, the probe holder may be unlocked and the probe reinserted to define a second path to the second selected target. The hemispheric stereotactic system may then be attached to provide multiple entry points to the second target for evaluation and, once a suitable path is selected, a procedure may be performed on the second target. Utilizing the system in this manner facilitates a surgery wherein radioactive seeds are implanted in various areas of a tumor with the effect that the radiation is primarily limited to the area of the tumor. This type of use also assists a surgeon in the precise placement of multiple depth electrodes in a patient's brain for monitoring. [0021]
  • These and other advantages of a system in accordance with the principles of the present invention may be ascertained with reference to the attached drawings and enclosed detailed description.[0022]
  • BRIEF DESCRIPTION OF THE DRAWINGS
  • The present invention may take form in various components and arrangement of components and in various steps and arrangement of steps. The drawings are only for purposes of illustrating a preferred embodiment and alternative embodiments and are not to be construed as limiting the invention. [0023]
  • FIG. 1 is a perspective diagrammatic view of the components of one embodiment of a system in accordance with the principles of the present invention; [0024]
  • FIG. 2 shows a representative screen displaying image information generated by the system of FIG. 1; and [0025]
  • FIG. 3 is a view of the preferred embodiment of a stereotactic sub-system for use in the system of FIG. 1.[0026]
  • DETAILED DESCRIPTION OF THE INVENTION
  • A neurosurgical stereotactic system [0027] 10 built in accordance with the principles of the present invention is shown in FIG. 1. The system includes an image display sub-system 12, an articulated arm and probe 18, and a stereotactic sub-system 16. The image display sub-system 12 displays images from image data generated by a scanner or from data interpolated from such data. Sub-system 12 accepts operator input for selection of fiducials, receives coordinate data from the articulated arm and probe, and coregisters selected fiducials on a patient 13 with the selected fiducials for the radiological images for the patient so that the position of the probe and a path to a selected target may be displayed. Sub-system 12 also displays an image of the articulated arm so the operation of the arm and probe may be verified.
  • Articulated arm and probe [0028] 18 provides spatial data to display sub-system 12 through an encoder interface 20. The spatial data is preferably generated by optical encoders 22, although other spatial coordinate data generating components may be used. Besides the data supplied by the arm and probe 18 used to locate the probe's position, probe 24 may also supply rotational data as it is rotated about its longitudinal axis to rotate the displayed image on sub-system 12, as described in more detail below.
  • [0029] Stereotactic sub-system 16 stabilizes the probe 24 as a surgeon guides it across a patient's head. Sub-system 16 further includes components, discussed in more detail below, that permit the probe to be locked into position, and that position utilized to guide surgical instruments to a selected target. Sub-system 16 further includes components, also discussed in more detail below, that may be used to provide multiple entry ports for a surgical path to a target within the patient, all of which are centered on the selected target area. These components provide a surgeon with reasonable confidence that each probe position provided by the system is directed to the selected target.
  • [0030] Radiological display subsystem 12 includes a computer 30 to which a high resolution graphics monitor 32, a mouse 34, a footpedal 36, a keyboard 38 and a tape drive 40 are coupled. The computer 12 may additionally include a 3.5 inch diskette drive or the like and a digital audio tape (DAT) drive or the like. The tape drive 40 diskette drive, and DAT drive may be used to provide radiological imaging data to the computer 30. These tape drives may also be used to archive data generated by the computer 30 or to update the software which executes on the computer 30. Computer 30 may also be coupled using conventional techniques to a computer network such as an Ethernet. Such a network may be used to supply radiological image data, software, or diagnostic services.
  • Preferably, monitor [0031] 32 is a Multi-ScanHG Trinitron superfine pitch resolution monitor available from Sony Corporation of America. Preferably, the computer 30 is a Dell 450 DE/2 DGX manufactured by Dell Computers of Houston, Tex. The preferred tape drive 40 for reading image scan data is a 9 track tape drive manufactured by Overland Data of San Diego, Calif. The encoder interface 20 and articulated arm and probe 18 are manufactured by Immersion Human Interface Corp. of San Francisco, Calif.
  • Preferably, computer [0032] 30 executes the Atlas program developed by Nomos of Pittsburgh, Pa. Atlas is a computer program that displays radiological images from radiological scan data supplied by the tapes and interpolates data to provide additional views not present in the radiological scan data. The Atlas program of the preferred embodiment has been modified to accept data from the articulated arm and probe 18 through encoder interface 20. The program is loaded by using the resident operating system of computer 30 which in the preferred embodiment is the Microsoft Disk Operating System (MS-DOS). The Atlas program includes its own high level I/O routines and other computer resource functions so that the Atlas program uses the primitive level I/O operation of the resident operating system of computer 30. In the preferred embodiment, computer 30 is also provided with a telephone interface so that software and other support functions, such as diagnostics, may be provided via telephone from a remote location.
  • The articulated arm and probe [0033] 18 is mounted to a surgical skull clamp 46 which has been mounted to an operating table 48 (which may be of known type). Base support 50 (FIG. 1) is attached to a mounting collar 52 which is mounted to the starburst connector 54 of surgical skull clamp 46. Base support 50 is preferably mounted to collar 54 by Allen screws or the like. Preferably, the mating surfaces of collar 52 and support 50 are keyed so there is only one possible orientation of the base support 50. This feature is important in preserving reference point accuracy when the sterile base support and surgically draped arm are used as discussed in more detail below. Base support 50 also includes a lockable mounting bolt 56 at one end for the articulated arm and a hollow tubular extension 58 at its second end for holding the probe 24 of the articulated arm. Bolt 56 is rotatably mounted about a slot 60 cut in base support 50 for articulated arm and probe 18.
  • The articulated arm and probe [0034] 18 (FIG. 1) further includes a mounting stud 62, two arm members 64, and the probe 24. Joint members 68 join mounting stud 62, arm members 64, and probe 24 to form arm and probe 18. At each joint, there is rotation in two perpendicular planes to permit two degrees of freedom for each arm. The position of each arm member relative to its respective joint is preferably provided by optical encoders 22 coupled at each joint to the arm in an orthogonal relationship. Probe 24 is mounted within a collar 70 located at the outermost end of the arm so that it can rotate about its longitudinal axis. This rotational movement is used by computer 30 to rotate the radiographic images presented to the surgeon on the screen of monitor 32. Extending from one end of the articulating arm 18 is an interface cable 72 which terminates at an encoder interface 20. The encoder interface 20 converts the data from the six optical encoders 22 of the articulating arm 18 into rotated position (angular) data for the computer 30.
  • [0035] Tape drive 40 may be used to provide image scan data to the computer 30. Most image scanners archive image data generated from a scan by storing it on magnetic media such as a nine track tape 74. This tape may then be read by a tape drive 40 and supplied to the computer 30 which stores the data on other magnetic media such as a hard disk drive. The image data read from the tape inserted in drive 40 may be used as generated by the scanner. However, each scanner manufacturer may format the data differently. Preferably, the image data generated by the various types of scanners is converted to a standard format prior to being stored on the internal magnetic media of the computer 30. By doing so, the image display program which executes on computer 30 does not require different modules or routines for each format in order to utilize the data from various scanners.
  • Generally, data generated by a scanner includes image data and non-image data. Non-image data includes definition of parameters such as patient name, date, patient position, scan orientation, scan parameters, and other imaging details peculiar to each of the various scanner manufacturers. The preferred embodiment of the program executing on computer [0036] 30 extracts the basic data items common to all of the scanner manufactures and stores them with image data files in a keyword value file. The keyword value file contains a list of keywords that identify each data field and the value of that field. For example, a data field identifier for patient name is followed by the data representation of the patient's name for a series scan. These files are preferably human readable for system analysis purposes since they are not usually accessed by a user.
  • Image data usually includes numerical data that represents a gray scale value or some other brightness/contrast value, such as Hounsfield units, used to generate images, as is well known. These numeric values may be compressed, or expressed as integer or real number values. The preferred embodiment of the program executing on computer [0037] 30 uncompresses any compressed values and converts all of the numeric data to integer data. This data is then stored in image data files. These files are preferably written to disk in a hierarchial structure separating the patient data from one another and the image studies and series for each patient.
  • The [0038] footpedal 36, mouse 34, and keyboard 38 may be used by an operator to provide input to the computer 30. For example, mouse 34 may be used to manipulate a cursor on the screen of monitor 32 to select various options as discussed in more detail below. As a further example, footpedal 36 may be used by the surgeon to activate the selection of fiducials on a patient.
  • In the preferred embodiment, the image display program executing in computer [0039] 30 includes a graphics user interface (GUI), an input/output (I/O) library, an articulated arm interface program, and a number of application modules. The GUI interface controls the presentation of data and menus on the screen of the monitor 32. The I/O library routines perform various input and output functions such as reading image data from the tape drive 40. The articulated arm interface provides the menu and fiducial selection points displayed at the bottom of the screen on the monitor 32 of the preferred embodiment of the sub-system 12 shown in FIG. 1. Finally, the application modules execute software to perform transform operations to interpolate data for the images and to coregister the image data with the selected patient fiducials, for example.
  • An alternative embodiment of [0040] stereotactic sub-system 16 that couples the articulated arm and probe 18 to the patient to permit surgical path evaluation and selection is shown in FIG. 1. That equipment includes a skull ring 80, a transfer plate 82, a swivel socket 84, and a probe alignment ball 86. This equipment is utilized by affixing the skull ring 80 to a patient's head by cancellous bone screws after the patient's scalp is shaved, prepped with betadine, and injected with xylocaine. After the skull ring is affixed, the transfer plate 82 is mounted to the skull ring by means of a post (not shown) extending from the skull ring. A swivel socket 84 is attached to the skull ring by means of Allen screws or the like. The swivel socket 84 includes a base 92 and a upwardly extending collar 94. A probe alignment ball 86 is inserted within collar 94. The probe alignment ball 86 is adapted to receive the end of probe 24. Thus, probe 24 may be inserted into the probe alignment ball 86 and the probe and ball moved together with respect to the surface of the patient's scalp.
  • Once a particular orientation has been selected by the surgeon based upon information provided by the radiological image displayed on [0041] monitor 32, the screws 98 extending outwardly from the collar 94 may be tightened to secure the probe alignment ball 86 in place. A surgical instrument collar of known type (not shown) may then be inserted within the probe alignment ball 86 to permit a drill or other instrument to be inserted through the instrument collar to open the patient's skull. A biopsy instrument may also be inserted through the collar to the target area. Thus, use of the ring 80, transfer plate 82, socket 84, and ball 86 provide a surgeon with a stable platform for orienting probe 24 and securely locks an evaluated orientation in place to provide a guide for the surgical procedure.
  • The hemispheric stereotactic system used for entry site selection is also shown in FIG. 1. That equipment includes an [0042] arc carrier rod 100, a rotating support arm 102, an arc 104, and a variable collar array 106. After the probe alignment ball 86 has been oriented so probe 24 points to the target, the probe may be removed and the arc carrier rod 100 inserted into the probe alignment ball 86. The rotating support arm 102 is then mounted on the arc carrier rod 100 and secured about the rod by screw 110. A grooved tongue or key 112 is mounted in lockable relationship on the rotating support arm 102 and is adapted to fit within a track cut within arc 104. By tightening screw 118 of the rotating supporting arm 102, the arc 104 may be secured to arm 102 anywhere along the length of arc 104. Variable collar array 106 is likewise adapted to have a bit that is slidably received in arc 104 and may be locked into place anywhere along the length of arc 104. Collar 106 also has a receptacle that receives the probe 24 so a surgeon may evaluate a path to the selected target by viewing the path displayed on the monitor 32 of sub-system 12. Because carrier rod 100 points to the target, the support arm 102 and arc 104 may be rotated about the patient's head in a hemispheric fashion that is centered about the target. Preferably, support arm 102 is locked into position about the arc carrier rod 100 so that a central opening in the variable collar array 106 is located approximately 19 centimeters from the target about which the arc 106 is centered.
  • The components of the hemispheric stereotactic system permit a surgeon to maneuver the [0043] probe 24 about a patient's head with a reasonable degree of confidence that the receptacle is directed to the previously selected target. By simply swinging the arc 104 around rod 100 and sliding the collar 106 within arc 104, the surgeon is provided with numerous sites for evaluation which may be locked in place as a surgical guide.
  • The preferred embodiment of [0044] stereotactic system 16 is shown in FIG. 3. That system includes a probe holder collar 180 and a rigid offset arm 182 which is interposed between sunburst connector 54 and collar 52. Offset arm 182 terminates in a pivot joint 184 from which an adjustable arm 186 extends. Another adjustable arm 190 extends from a pivot joint 190 at the end of arm 186. Arm 188 terminates in to a probe holder 192 which is provided with a transfer plate 82 ball and socket mechanism 84 and adjustment ball 86, as already described in connection with FIG. 1. Thus, sub-system 16 provides a rigid, adjustable arm by which the probe holder 192 and attendant components may be maneuvered about a patient's head and then selectively locked into position for path evaluation, surgical instrument guidance, or attachment of the hemispheric system.
  • To use the system [0045] 10 for a neurosurgery, a patient 13 is scanned in an image scanner to create a series of images. A “series” may be a group of parallel, equally spaced images, sometimes called “slices”, of a volumetric portion of a patient's body. Preferably, the images comprising the series are contiguous. A group of more than one series of images is commonly referred to as a “study” or “suite” and may also be utilized by the system. Examples of series are axial, coronal, rotating, and sagittal. An axial series is from the top of the patient's head to the base of the skull, a coronal series is from the face to the back of the patient's head, rotating series is around a patient's head, and a sagittal series are sideviews of the patient's head to the other side. Preferably, the series is generated with a gantry angle of 0°, otherwise the data interpolation performed by the preferred embodiment of the Atlas program may be distorted.
  • After the series is generated by the scanner, it may be written to magnetic media for transportation to system [0046] 10. Typically, the image data is written to a nine track tape 74 which may be read by the nine track magnetic tape reader 40. The user may activate computer 30 and activate the nine track tape interface program in the I/O library. By using this program, a user may read the image data from the nine track tape 74 into the computer 40 which then stores the data in an appropriate format to a hard drive or the like. Computer 30 may also receive data from an image scanner by means of the DAT reader, diskette drive, a computer network, or the like.
  • After the image data is read into the computer's memory, the user may execute the program which displays the image radiological data in a display window on the [0047] monitor 32. The user may select a particular view by clicking on the view icon 120 of the screen shown in FIG. 2. That action causes a menu to be displayed for various series or views from which the user may select. After a series has been selected, the first image or slice of the series is presented in the display window 122 as shown in FIG. 2. The user may view each of the images in the series by manipulating the slider 124 button on the screen with the mouse 34.
  • The user may select a second series to be displayed in a second display window [0048] 126. After creating the second display window by clicking on the view icon 128 for the second window, the user may select the particular series to be displayed in that window and likewise view the various slices by manipulating the slider button 130 with the mouse 34.
  • Computer [0049] 30 also may generate a second series that was not generated by the scanner. The computer 30 does this by interpolating data from one of the series generated by the scanner to generate the second series. For example, a coronal series may be generated by the scanner and displayed in the first display window of the system. If the user selected a sagittal series, which was not generated by the scanner, for display in the second window, the system interpolates the data at the righthand edge at each of the coronal images and generates a sagittal view from that data. This process is repeated for equally spaced, parallel images from the sagittal perspective to create the second series.
  • In the preferred embodiment, the Atlas program reformats the image data to generate data that represents a volumetric representation of the scanned area. This is done by interpolating the image data for the individual slices to generate additional “slices” not acquired by the scanner. Preferably, this is done by generating so-called “voxel” values that represent an image value that is cubic in dimension, although other volumetric shapes may be used. For example, if the series is made of images that represent 3 mm slices and each pixel value represents a 0.5 mm×0.5 mm, the interpolated voxels preferably represent a cube which is 1 mm×1 mm×1 mm. To interpolate the voxel values for the voxels in the plane of the image, each group of four adjacent pixels forming a square are averaged and the resulting averages comprise the data to form the in plane image of 1 mm×1 mm×1 mm voxels. For the voxels that represent the planes at the 2 mm and 3 mm depths, the inplane voxel image is preferably combined with the underlying image plane (reference plane) at the next lower 4 mm plane using a linear weighing proportional to the distance from the selected plane to the reference plane. Of course, other interpolation schemes may be used as are well known in the art. After the interpolated data is generated, Atlas uses the data to generate any series requested by a user. [0050]
  • Once the display window or windows are created and an appropriate image series displayed within those windows, the user may select image fiducial points. This is done by clicking the mouse on the appropriate areas within the image fiducial point identifier menu as shown in FIG. 2. After activating one of the image point icons, the user may use the [0051] mouse 34 to manipulate a cross-hair cursor across the image and after centering it on a particular feature, clicking on the mouse button to cause the program executing in computer 30 to match the point on the image with the selected image point icon. The user may do this for, say, eight points, although fewer or more points may be implemented in a system in accordance with the principles of the present invention. At least three points are needed before coregistration may occur and, most preferably, coregistration is best achieved with approximately eight to ten points.
  • The mounting [0052] collar 52, base support 50, and articulated arm and probe 18 are mounted to the skull clamp 46 holding the patient's head. Preferably, the skull clamp 46 is one manufactured by Ohio Medical Instrument Co., Inc. of Cincinnati, Ohio and designated as a modified MAYFIELD® clamp. The clamp includes a ratchet arm 146 mounted within a sleeve arm 148 and further includes a two pin bracket (not shown) mounted to the sleeve arm and a torque screw and pin 150 mounted to the ratchet arm 146. This clamp is adjusted to fit the patient's head by well known procedures.
  • Located on the sleeve arm is a [0053] starburst connector 54 to which the mounting collar 52 is mounted. Base support 50 for the articulated arm and probe 18 is attached to the mounting collar 52 by means of Allen screws or the like. The articulated arm and probe 18 are attached to the base support 50 as discussed above and the probe 24 is placed in the tubular extension 58 of the base support in preparation for probe initialization (shown in phantom in FIG. 1).
  • In the preferred embodiment, the user must place the articulated arm so that all the side mounted optical encoders are on the same side of each arm segment. If the arm is placed in an incorrect position, the computer [0054] 30 and encoder interface 20 interpret the angular data from the articulated arm as being in a direction opposite that of its actual movement and improperly display the probe's position. Once the arm is the appropriate location, the probe may then be initialized.
  • By clicking on the probe initialization icon [0055] 154 (FIG. 2), the user permits the computer 30 to begin accepting angular data input from the articulated arm and probe 18 and to initialize the probe's position within extension 58 as a reference point. A display area 156 is shown on the lower left portion of the screen on the monitor 32 which demonstrates the position of each arm segment and the tip of the probe 24. By retracting the probe 24 from the tubular extension 58, the user may manipulate the articulated arm and probe tip in space and observe its movement on the screen. In this way, the user can verify that the optical encoders 22 were in the correct position for initialization by noting the upward movement of the probe on the screen when the probe is moved in an upwardly vertical position, for example. If the displayed probe moves in a direction opposite that in which the probe tip is actually moved, then the user knows that the arm was initialized incorrectly and should repeat initialization with the articulated arm in the proper position.
  • After confirming that the probe was properly initialized, the user may then place the probe tip on the external points of the patient's skull that correspond to the image fiducials previously selected. Typically, these points include the bridge of the nose aligned with the center of the eye sockets or the like. This is done by having the user first click on the select button adjacent a patient point icon [0056] 158 and then placing the probe 24 at a point on the patient's skull that corresponds to the image fiducial associated with the activated patient point. By depressing the footpedal 36, the coordinates of the patient fiducial identified by the probe's position are associated with the activated patient point. The reader should note that the selection of the patient fiducials may precede the selection of the image fiducials.
  • After the user has selected at least three patient and image fiducial points, computer [0057] 30 begins to execute a program to coregister the radiological display data with the selected patient fiducials. Preferably, the program implements an iterative algorithm for performing the coregistration. An indicator window 160 is provided on the screen of monitor 32 (FIG. 2) to provide the user with information regarding the quality of the coregistration between the radiological data and the selected patient fiducial points. Typically, the coregistration improves with the number of selected points and the number of approximately eight to ten points normally provides excellent registration between the patient and the image data.
  • Preferably, coregistration is preformed by an iterative algorithm implemented in one of the program modules executing on computer [0058] 30. The preferred algorithm selects a set of image fiducial points and the corresponding patient fiducial points. The centroids of the geometric figures defined by each selected set are computed. The coordinates of one of the centroids are then translated to the coordinates of the second centroid and the points associated with the first centroid are likewise translated. The differences in coordinates of the translated and untranslated points for the first set are squared to determine an overall error value or merit figure. The translated points are then changed an incremental amount in one direction only and the difference between the points in the first set and their corresponding points in the second set are calculated and squared. If the error result is less than the merit figure then the incremented value becomes the point values for the first set and the error result becomes the new merit figure.
  • The incremental change is again performed in the same direction and a new error result calculated. When the error result is greater than the current merit figure, the translated points are deemed the best fit. [0059]
  • The incremental change now is computed and evaluated for another direction. Incremental changes in the second direction continue until the error result is greater than the merit figure and the previously translated point deemed the best fit. The incremental changes then continue in the previous direction until the error result is greater than the current merit figure. The incremental changes again are tested for the second direction. This process continues until no translation in either direction generates an error result less than the current merit figure. When this occurs, the third direction is incrementally changed and tested using the error result and merit figure computed as described above. When no incremental change in any direction produces an error result greater than the current merit figure, the coregistration is complete and translation of all points in one set to corresponding coordinates in the second set may be performed. [0060]
  • Sometimes a patient fiducial does not correspond accurately with the point selected in the image data and may degrade the rating of the coregistration. The deactivation of such a point, by resetting the corresponding “use” icon, may improve the coregistration rating. Computer [0061] 30 permits a user to selectively activate and deactivate points to determine which points provide the best registration between the patient and the image data. The reader should note that coregistration improves with the number of fiducial points, however, so the better action is to reselect one of the image or patient fiducials so it better corresponds to its mate.
  • Either prior to the coregistration or following it, the user may select a target. This is done by activating the set target icon [0062] 162 on the screen of monitor 32 with the mouse 34 and moving cursor cross-hairs with the mouse to an area within the interior of the patient's head displayed within the image. Typically, the area of interest may be a tumor, a lesion, a suspected point of activity for which a surgeon wishes to place a depth electrode, or an area for the implantation of a radioactive “seed” for radiosurgery. The target coordinates are established by clicking on the set target icon 162.
  • After coregistration and target selection have been performed, the user may the place the [0063] probe 24 anywhere on the patient's skull (so long as that area was part of the area scanned in the scanner), and a path 170 is displayed from that point (marked by the arrowhead 172) to the target (marked by the cross-hairs 174). The path to the target is preferably displayed to indicate whether the path is actually present on the image slice being displayed at that time. For each position, the distance between the probe position and the selected target along the displayed path is shown in the lower right corner of the display window (FIG. 2). For example, a surgeon may place the probe at a point which is shown on an image slice presently being displayed. However, the surgeon may be holding the probe at an orientation such that the path from the probe 24 to the target would traverse one or more slices prior to arriving at the target. In that case, the area actually present on the slice being displayed is preferably shown in yellow and the remainder of the path to the target is preferably shown in red (FIG. 2). By manipulating the slider button 130 with the mouse 34, the surgeon may view each portion of the target path in the appropriate image slice until the target is reached to evaluate the tissue that the selected path traverses. If the surgeon decides that the path presents risks that are unacceptable, the surgeon may select a different orientation or different point on the patient's skull and reexamine the path.
  • By selecting the view “across the probe”, a series is shown in the second display window which may be manipulated by using the [0064] mouse 34 to move the slider button 130 for that display window. In this manner, the images of the planes transverse to the probe 24 are shown from the probe 24 to the target area. In this way, the surgeon may evaluate the path through the patient's brain tissue to get to the target.
  • Once the surgeon has selected a particular path to the selected target, a [0065] skull ring 80 may be attached to the patient's head and a transfer plate 82 installed on the skull ring 80. The transfer plate 82 includes a probe alignment ball 86 in which the probe 24 may be located. After the probe 24 is placed within the ball 86, it may be moved to again select the path to the target area which is optimal in the surgeon's opinion. While holding the probe 24 at that location, the ball 86 may be locked into position to define a path to target and the probe removed. Preferably, the apparatus shown in FIG. 3 is used to avoid attaching skull ring 80 to the patient's head.
  • Preferably, a [0066] second support base 50 and probe 24 that may be sterilized replace the support base and probe used for fiducial identification and coregistration. The support base and probe that may be sterilized is preferably made from gray anodized aluminum and the non-sterilized base and probe are made from black anodized aluminum. Preferably, the sterilizable version of the tubular extension 58 and probe 24 are shorter than the non-sterilizable counter-parts to facilitate sterilization. However, the mounting collar 70 of probe 24 attaches to the probe mounting stud extending from the outermost joint of the articulated arm at a second location to ensure the reference point used for coregistration is not disturbed.
  • The sterilizable base support is mounted to [0067] collar 52 after a sterilized surgical drape with an opening cut therein is placed over the collar 52. Prior to mounting articulated arm and probe 18 to the base support 50, a sterilized tubular drape is placed over the arm and mounting stud 62. Probe mounting collar 70 is then placed over the tubular drape to affix the sterilizable probe 24 in place. The probe is then returned to the extension 58 and the user clicks on the gray probe icon 176 (FIG. 2) so the Atlas program may adjust for the length of the probe 24. The thickness of the surgical drapes are compensated in the machinery of the sterilization parts. That is, the opening in the mounting collar is enlarged an appropriate amount to compensate for the surgical drape between the mounting post and collar. This compensation is required to ensure that the screws used to lock the probe to the post do not pull the probe tip off of the center line of the post. The user then clicks on the initialization probe icon 154 to verify arm placement. Coregistration is automatic using the previously selected fiducials.
  • At this point, the surgeon may use an appropriate drill to open the patient's skull and insert an instrument collar into the [0068] transfer plate 82. The surgeon could then insert, for example, a biopsy needle directly to the target at the indicated depth and be reasonably confident that the biopsy needle is at the target area having passed through only the tissue viewed in the images displayed in the display window. Following the procedure, the surgeon may close the opening or further treat the target area. Likewise, the surgeon may select other targets and treat them as the first one was.
  • After mounting the [0069] skull plate 80 and locking the ball 86 of plate 82 into position, the surgeon may decide to mount an arc rod to provide a hemispheric instrument positioning system that is centered about the target area. This is done by attaching the arc rod 100 to the ball 86, mounting the rotating support arm 102 to the rod 100 and attaching the arc 104 to the support arm 102. The variable array 106 is then mounted to the arc 104 and a position may be selected anywhere about the hemisphere by rotating the support arm 102 about the rod 100, sliding the arc 104 with respect to the support arm 102, or by moving the variable array 106 along the arc 104. At any of these points, the surgeon may be reasonably confident that he has located a point that is centered about the target area.
  • While the present invention has been illustrated by the description of an alternative embodiment, and while the embodiments have been described in considerable detail, it is not the intention of the applicant to restrict or in anyway limit the scope of the appended claims to such detail. Additional advantages and modifications will readily appear to those skilled in the art. For example, both MRI and CT images may be loaded into computer [0070] 30 and coregistration between them may be achieved prior to coregistration with the patient. This provides the surgeon with the organ details from the NMR scan and the coordinate accuracy of the CT scan. The invention in its broadest aspects is therefore not limited to the specific details, representative image system and illustrative examples shown and described. Accordingly, departures may be made from such details without departing from the spirit or scope of applicant's general inventive concept.

Claims (16)

What is claimed is:
1. A neurosurgical stereotactic system comprising:
an imaging display system for displaying images;
an image fiducial selector coupled to said imaging system for selecting fiducials on an image displayed on said display system;
a target selector coupled to said imaging system for selecting a target on an image displayed on said display system;
an articulated arm and probe coupled to said imaging system, said articulated arm providing spatial coordinates for said probe with reference to said imaging system so that a position associated with said probe is displayed on said displayed image;
a patient fiducial selector coupled to said imaging system and said articulated arm for selecting fiducials on a patient that correspond to said fiducials selected by said image fiducial selector;
a coregistration processor for coregistering said selected patient fiducials to said selected image fiducials so that said coordinates provided by said articulated arm may be matched to said displayed images whereby a path from said displayed probe position to said selected target may be displayed on said displayed image; and
a probe holder for holding said probe of said articulated arm in proximity to a patient's head, said probe holder being selectively lockable to maintain a position proximate to said patient's skull whereby a surgeon may evaluate said path displayed on said displayed image between said probe position and said selected target and secure an instrument holder so that any instrument inserted in said instrument holder follows said displayed path.
2. The system of
claim 1
, said image fiducial selector providing operator selection of said fiducials on said displayed image.
3. The system of
claim 2
, said image fiducial selector further comprising:
a menu presenting a predetermined number of image fiducial point identifiers; and
an activation icon for selectively activating a selected image fiducial point.
4. The system of
claim 1
, said patient fiducial selector further comprising:
an operator activated selector for identifying a patient fiducial, said operator activated selector enabling said image display system to accept coordinate data from said articulated arm and probe to identify a patient fiducial.
5. The system of
claim 1
, said probe holder being adjustable for varying the orientation of said probe within said holder with respect to a patient's skull.
6. The system of
claim 5
, said adjustable orientation probe holder being a ball and socket mechanism.
7. The system of
claim 1
, said probe holder further comprising:
a skull ring for mounting to a patient's head; and
a transfer plate having a receptacle located therein for receiving said probe.
8. The system of
claim 7
, said probe holder further comprising a ball and socket mechanism adapted to fit within said receptacle, said ball and socket being lockable within said receptacle.
9. The system of
claim 1
, said image display system further comprising:
a display of said probe and articulated arm position so that operation of said articulated arm and probe may be verified.
10. The system of
claim 1
, wherein said coregistration processor implements an iterative algorithm for coregistering said selected patient fiducials with radiological data used to generate said displayed radiological images.
11. The system of
claim 1
further comprising:
a stereotactic system for selectively positioning a surgical instrument proximate a patient's head.
12. The system of
claim 11
, said stereotactic system further comprising:
an arc carrier rod, said arc carrier rod being mountable within said probe holder so that said rod points to a selected target within said patient's head;
a support arm rotatably mounted about said arc carrier rod; and
an arc slidably mountable to said support arm so that said arc defines a circle centered about said selected target within said patient's head.
13. A method for evaluating and securing a surgical path to a selected target comprising the steps of:
displaying images generated from scanner image data;
selecting fiducials on a displayed image;
selecting a target in said displayed image;
providing spatial coordinates for points external from said displayed image;
selecting a set of external points with said provided spatial coordinates;
coregistering said selected external points with said selected image fiducials so that a path may be displayed on said display image between said selected target and one of said external positions; and
selectively securing a probe proximate a patient's head so that a surgeon may evaluate said path displayed on said display image between one of said external positions and said selected target and through which an instrument may be inserted to follow said displayed path.
14. The system of
claim 13
, said probe positioning step further including:
varying the orientation of said probe with respect to a patient's skull; and
selectively locking said probe in a selected orientation.
15. The method of
claim 13
further comprising:
displaying an articulated arm and probe position so that operation of said articulated arm and probe may be verified.
16. The method of
claim 13
, said coregistering step further including:
selecting a first set of image points;
selecting a second set of external points;
computing a centroid for a geometric figure defined by each set of points;
translating said first set of points to coordinate values corresponding to the translation of said first centroid to said second centroid;
calculating a merit figure based upon the translation of said first set of points;
translating said first set of points in one direction by an incremental amount;
evaluating whether said first set of points is a better fit than said untransiated points; and
transforming said first set of points to said second set of points when said evaluation in all directions displayed within an image are less than said merit figure.
US09/905,833 1994-09-30 2001-07-13 Apparatus and method for surgical stereotactic procedures Expired - Fee Related US6423077B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US09/905,833 US6423077B2 (en) 1994-09-30 2001-07-13 Apparatus and method for surgical stereotactic procedures

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US08/315,927 US5695501A (en) 1994-09-30 1994-09-30 Apparatus for neurosurgical stereotactic procedures
US08/986,292 US6071288A (en) 1994-09-30 1997-12-06 Apparatus and method for surgical stereotactic procedures
US09/553,508 US6261300B1 (en) 1994-09-30 2000-04-20 Apparatus and method for surgical stereotactic procedures
US09/905,833 US6423077B2 (en) 1994-09-30 2001-07-13 Apparatus and method for surgical stereotactic procedures

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
US09/553,508 Continuation US6261300B1 (en) 1994-09-30 2000-04-20 Apparatus and method for surgical stereotactic procedures

Publications (2)

Publication Number Publication Date
US20010039422A1 true US20010039422A1 (en) 2001-11-08
US6423077B2 US6423077B2 (en) 2002-07-23

Family

ID=23226684

Family Applications (4)

Application Number Title Priority Date Filing Date
US08/315,927 Expired - Lifetime US5695501A (en) 1994-09-30 1994-09-30 Apparatus for neurosurgical stereotactic procedures
US08/986,292 Expired - Lifetime US6071288A (en) 1994-09-30 1997-12-06 Apparatus and method for surgical stereotactic procedures
US09/553,508 Expired - Lifetime US6261300B1 (en) 1994-09-30 2000-04-20 Apparatus and method for surgical stereotactic procedures
US09/905,833 Expired - Fee Related US6423077B2 (en) 1994-09-30 2001-07-13 Apparatus and method for surgical stereotactic procedures

Family Applications Before (3)

Application Number Title Priority Date Filing Date
US08/315,927 Expired - Lifetime US5695501A (en) 1994-09-30 1994-09-30 Apparatus for neurosurgical stereotactic procedures
US08/986,292 Expired - Lifetime US6071288A (en) 1994-09-30 1997-12-06 Apparatus and method for surgical stereotactic procedures
US09/553,508 Expired - Lifetime US6261300B1 (en) 1994-09-30 2000-04-20 Apparatus and method for surgical stereotactic procedures

Country Status (7)

Country Link
US (4) US5695501A (en)
EP (1) EP0783279B1 (en)
KR (1) KR100370302B1 (en)
AU (1) AU3760895A (en)
BR (1) BR9509214A (en)
DE (1) DE69524434T2 (en)
WO (1) WO1996010368A2 (en)

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1627272A2 (en) * 2003-02-04 2006-02-22 Z-Kat, Inc. Interactive computer-assisted surgery system and method
US20070270685A1 (en) * 2006-05-19 2007-11-22 Mako Surgical Corp. Method and apparatus for controlling a haptic device
US20090187178A1 (en) * 2008-01-23 2009-07-23 David Muller System and method for positioning an eye therapy device
US20100256626A1 (en) * 2009-04-02 2010-10-07 Avedro, Inc. Eye therapy system
WO2010133838A1 (en) * 2009-05-21 2010-11-25 Renishaw (Ireland) Limited Head clamp
WO2011018100A1 (en) * 2009-08-14 2011-02-17 Elekta Ab (Publ) Surgical apparatus
US8010180B2 (en) 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
US8391954B2 (en) 2002-03-06 2013-03-05 Mako Surgical Corp. System and method for interactive haptic positioning of a medical device
US8652131B2 (en) 2007-07-19 2014-02-18 Avedro, Inc. Eye therapy system
US8712536B2 (en) 2009-04-02 2014-04-29 Avedro, Inc. Eye therapy system
US8882757B2 (en) 2008-11-11 2014-11-11 Avedro, Inc. Eye therapy system
US8992516B2 (en) 2007-07-19 2015-03-31 Avedro, Inc. Eye therapy system
US20150164600A1 (en) * 2009-10-01 2015-06-18 Mako Surgical Corp. Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool
US9254177B2 (en) 2009-05-21 2016-02-09 Renishaw (Ireland) Limited Head clamp for imaging and neurosurgery
WO2016033405A1 (en) * 2014-08-28 2016-03-03 Mela Sciences, Inc. Three dimensional tissue imaging system and method
WO2017070610A1 (en) * 2015-10-21 2017-04-27 Inscopix, Inc. Implantable optical probes and systems and methods for implantation of optical probes
US9801686B2 (en) 2003-03-06 2017-10-31 Mako Surgical Corp. Neural monitor-based dynamic haptics
CN109498045A (en) * 2018-11-14 2019-03-22 上海联影医疗科技有限公司 A kind of holder device for CT equipment correction
US11202676B2 (en) 2002-03-06 2021-12-21 Mako Surgical Corp. Neural monitor-based dynamic haptics

Families Citing this family (265)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2652928B1 (en) 1989-10-05 1994-07-29 Diadix Sa INTERACTIVE LOCAL INTERVENTION SYSTEM WITHIN A AREA OF A NON-HOMOGENEOUS STRUCTURE.
US5603318A (en) 1992-04-21 1997-02-18 University Of Utah Research Foundation Apparatus and method for photogrammetric surgical localization
US5913820A (en) 1992-08-14 1999-06-22 British Telecommunications Public Limited Company Position location system
US5829444A (en) * 1994-09-15 1998-11-03 Visualization Technology, Inc. Position tracking and imaging system for use in medical applications
US5803089A (en) 1994-09-15 1998-09-08 Visualization Technology, Inc. Position tracking and imaging system for use in medical applications
US5695501A (en) 1994-09-30 1997-12-09 Ohio Medical Instrument Company, Inc. Apparatus for neurosurgical stereotactic procedures
US5891157A (en) * 1994-09-30 1999-04-06 Ohio Medical Instrument Company, Inc. Apparatus for surgical stereotactic procedures
SE507259C2 (en) * 1995-05-18 1998-05-04 Juto Jan Erik Method, apparatus and system for positioning a probe on a target surface in an open cavity in a test object
US5814038A (en) 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
US5649956A (en) * 1995-06-07 1997-07-22 Sri International System and method for releasably holding a surgical instrument
US5592939A (en) 1995-06-14 1997-01-14 Martinelli; Michael A. Method and system for navigating a catheter probe
US6351659B1 (en) * 1995-09-28 2002-02-26 Brainlab Med. Computersysteme Gmbh Neuro-navigation system
US6408107B1 (en) 1996-07-10 2002-06-18 Michael I. Miller Rapid convolution based large deformation image matching via landmark and volume imagery
US6226418B1 (en) 1997-11-07 2001-05-01 Washington University Rapid convolution based large deformation image matching via landmark and volume imagery
US6009212A (en) 1996-07-10 1999-12-28 Washington University Method and apparatus for image registration
US6611630B1 (en) 1996-07-10 2003-08-26 Washington University Method and apparatus for automatic shape characterization
US6684098B2 (en) * 1996-08-16 2004-01-27 Brigham And Women's Hospital, Inc. Versatile stereotactic device and methods of use
US7245958B1 (en) * 1996-09-30 2007-07-17 Siemens Corporate Research, Inc. Trigonometric depth gauge for biopsy needle
US5984930A (en) * 1996-09-30 1999-11-16 George S. Allen Biopsy guide
US6097994A (en) * 1996-09-30 2000-08-01 Siemens Corporate Research, Inc. Apparatus and method for determining the correct insertion depth for a biopsy needle
US5980535A (en) * 1996-09-30 1999-11-09 Picker International, Inc. Apparatus for anatomical tracking
IT1289303B1 (en) * 1996-12-11 1998-10-02 Sm Scienza Machinale S R L APPARATUS FOR ORIENTATION AND SUPPORT OF SURGICAL INSTRUMENTS
US8206406B2 (en) 1996-12-12 2012-06-26 Intuitive Surgical Operations, Inc. Disposable sterile surgical adaptor
US7727244B2 (en) 1997-11-21 2010-06-01 Intuitive Surgical Operation, Inc. Sterile surgical drape
US6132368A (en) * 1996-12-12 2000-10-17 Intuitive Surgical, Inc. Multi-component telepresence system and method
US8182469B2 (en) 1997-11-21 2012-05-22 Intuitive Surgical Operations, Inc. Surgical accessory clamp and method
US7666191B2 (en) 1996-12-12 2010-02-23 Intuitive Surgical, Inc. Robotic surgical system with sterile surgical adaptor
US6331181B1 (en) * 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US8529582B2 (en) 1996-12-12 2013-09-10 Intuitive Surgical Operations, Inc. Instrument interface of a robotic surgical system
WO1998031273A1 (en) 1997-01-22 1998-07-23 Barzell Whitmore Maroon Bells, Inc. Omni-directional precision instrument platform
US5961527A (en) * 1997-01-22 1999-10-05 Barzell Whitmore Maroon Bells, Inc. Omni-directional precision instrument platform
US5970499A (en) 1997-04-11 1999-10-19 Smith; Kurt R. Method and apparatus for producing and accessing composite data
US6708184B2 (en) 1997-04-11 2004-03-16 Medtronic/Surgical Navigation Technologies Method and apparatus for producing and accessing composite data using a device having a distributed communication controller interface
US5993463A (en) * 1997-05-15 1999-11-30 Regents Of The University Of Minnesota Remote actuation of trajectory guide
US6752812B1 (en) 1997-05-15 2004-06-22 Regent Of The University Of Minnesota Remote actuation of trajectory guide
JP4155344B2 (en) * 1997-07-03 2008-09-24 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ Image guided surgery system
US5876332A (en) * 1997-07-24 1999-03-02 Genzyme Corporation Surgical support member
US6055449A (en) * 1997-09-22 2000-04-25 Siemens Corporate Research, Inc. Method for localization of a biopsy needle or similar surgical tool in a radiographic image
US6226548B1 (en) 1997-09-24 2001-05-01 Surgical Navigation Technologies, Inc. Percutaneous registration apparatus and method for use in computer-assisted surgical navigation
US9498604B2 (en) 1997-11-12 2016-11-22 Genesis Technologies Llc Medical device and method
US6021343A (en) 1997-11-20 2000-02-01 Surgical Navigation Technologies Image guided awl/tap/screwdriver
US6011987A (en) * 1997-12-08 2000-01-04 The Cleveland Clinic Foundation Fiducial positioning cup
US6348058B1 (en) 1997-12-12 2002-02-19 Surgical Navigation Technologies, Inc. Image guided spinal surgery guide, system, and method for use thereof
JP3016427B2 (en) * 1998-02-02 2000-03-06 日本電気株式会社 Atomic coordinate generation method
US6529765B1 (en) 1998-04-21 2003-03-04 Neutar L.L.C. Instrumented and actuated guidance fixture for sterotactic surgery
US6298262B1 (en) 1998-04-21 2001-10-02 Neutar, Llc Instrument guidance for stereotactic surgery
US6546277B1 (en) * 1998-04-21 2003-04-08 Neutar L.L.C. Instrument guidance system for spinal and other surgery
US7337098B2 (en) * 1998-05-18 2008-02-26 Rigaku Corporation Diffraction condition simulation device, diffraction measurement system, and crystal analysis system
ATE272365T1 (en) 1998-05-28 2004-08-15 Orthosoft Inc INTERACTIVE AND COMPUTER-ASSISTED SURGICAL SYSTEM
DE19826386B9 (en) * 1998-06-12 2007-12-06 Mht Medical High Tech Gmbh Navigation system for surgical purposes and use of such
US6110182A (en) * 1998-06-22 2000-08-29 Ohio Medical Instruments Company, Inc. Target socket
US6315743B1 (en) * 1998-06-23 2001-11-13 Jack Guest Pressure application apparatus for reducing stress and relieving headaches
US6118845A (en) 1998-06-29 2000-09-12 Surgical Navigation Technologies, Inc. System and methods for the reduction and elimination of image artifacts in the calibration of X-ray imagers
US6282437B1 (en) 1998-08-12 2001-08-28 Neutar, Llc Body-mounted sensing system for stereotactic surgery
US6351662B1 (en) 1998-08-12 2002-02-26 Neutar L.L.C. Movable arm locator for stereotactic surgery
US6477400B1 (en) 1998-08-20 2002-11-05 Sofamor Danek Holdings, Inc. Fluoroscopic image guided orthopaedic surgery system with intraoperative registration
US6482182B1 (en) 1998-09-03 2002-11-19 Surgical Navigation Technologies, Inc. Anchoring system for a brain lead
US6117143A (en) * 1998-09-11 2000-09-12 Hybex Surgical Specialties, Inc. Apparatus for frameless stereotactic surgery
US6033415A (en) * 1998-09-14 2000-03-07 Integrated Surgical Systems System and method for performing image directed robotic orthopaedic procedures without a fiducial reference system
US6195577B1 (en) 1998-10-08 2001-02-27 Regents Of The University Of Minnesota Method and apparatus for positioning a device in a body
AU6421599A (en) 1998-10-09 2000-05-01 Surgical Navigation Technologies, Inc. Image guided vertebral distractor
JP4101951B2 (en) * 1998-11-10 2008-06-18 オリンパス株式会社 Surgical microscope
WO2000039576A1 (en) 1998-12-23 2000-07-06 Image Guided Technologies, Inc. A hybrid 3-d probe tracked by multiple sensors
AU3492300A (en) * 1999-02-16 2000-09-04 Visualization Technology, Inc. Medical instrument and method for its calibration
US6368331B1 (en) * 1999-02-22 2002-04-09 Vtarget Ltd. Method and system for guiding a diagnostic or therapeutic instrument towards a target region inside the patient's body
AU3377700A (en) * 1999-02-26 2000-09-14 Cartesian Research, Inc. Stereotaxic holders, stereotaxic alignment systems comprising same, and methods for using same
US6470207B1 (en) 1999-03-23 2002-10-22 Surgical Navigation Technologies, Inc. Navigational guidance via computer-assisted fluoroscopic imaging
US6491699B1 (en) * 1999-04-20 2002-12-10 Surgical Navigation Technologies, Inc. Instrument guidance method and system for image guided surgery
AU4365600A (en) * 1999-04-22 2000-11-10 Medtronic Surgical Navigation Technologies Apparatus and method for image guided surgery
US6430430B1 (en) * 1999-04-29 2002-08-06 University Of South Florida Method and system for knowledge guided hyperintensity detection and volumetric measurement
US6132437A (en) * 1999-07-14 2000-10-17 Omurtag; Ahmet Method and stereotactic apparatus for locating intracranial targets guiding surgical instruments
US6456684B1 (en) * 1999-07-23 2002-09-24 Inki Mun Surgical scanning system and process for use thereof
US6454775B1 (en) 1999-12-06 2002-09-24 Bacchus Vascular Inc. Systems and methods for clot disruption and retrieval
US8644907B2 (en) 1999-10-28 2014-02-04 Medtronic Navigaton, Inc. Method and apparatus for surgical navigation
US11331150B2 (en) 1999-10-28 2022-05-17 Medtronic Navigation, Inc. Method and apparatus for surgical navigation
US6474341B1 (en) 1999-10-28 2002-11-05 Surgical Navigation Technologies, Inc. Surgical communication and power system
US6499488B1 (en) 1999-10-28 2002-12-31 Winchester Development Associates Surgical sensor
US6235038B1 (en) 1999-10-28 2001-05-22 Medtronic Surgical Navigation Technologies System for translation of electromagnetic and optical localization systems
US6493573B1 (en) 1999-10-28 2002-12-10 Winchester Development Associates Method and system for navigating a catheter probe in the presence of field-influencing objects
US7366562B2 (en) 2003-10-17 2008-04-29 Medtronic Navigation, Inc. Method and apparatus for surgical navigation
US8239001B2 (en) 2003-10-17 2012-08-07 Medtronic Navigation, Inc. Method and apparatus for surgical navigation
US6379302B1 (en) 1999-10-28 2002-04-30 Surgical Navigation Technologies Inc. Navigation information overlay onto ultrasound imagery
US6381485B1 (en) 1999-10-28 2002-04-30 Surgical Navigation Technologies, Inc. Registration of human anatomy integrated for electromagnetic localization
NO313573B1 (en) * 2000-01-06 2002-10-28 Medinnova Sf Tools for use in brain operations, as well as a system for determining the insertion depth of a probe or similar brain operations and the coordinates of the tool and probe brain operations
US20010034530A1 (en) 2000-01-27 2001-10-25 Malackowski Donald W. Surgery system
US20010025183A1 (en) * 2000-02-25 2001-09-27 Ramin Shahidi Methods and apparatuses for maintaining a trajectory in sterotaxi for tracking a target inside a body
WO2001064124A1 (en) 2000-03-01 2001-09-07 Surgical Navigation Technologies, Inc. Multiple cannula image guided tool for image guided procedures
US6497134B1 (en) 2000-03-15 2002-12-24 Image Guided Technologies, Inc. Calibration of an instrument
US6306146B1 (en) 2000-04-06 2001-10-23 Ohio Medical Instrument Company, Inc. Surgical instrument support and method
US6535756B1 (en) 2000-04-07 2003-03-18 Surgical Navigation Technologies, Inc. Trajectory storage apparatus and method for surgical navigation system
US7660621B2 (en) 2000-04-07 2010-02-09 Medtronic, Inc. Medical device introducer
US7366561B2 (en) * 2000-04-07 2008-04-29 Medtronic, Inc. Robotic trajectory guide
US6527782B2 (en) * 2000-06-07 2003-03-04 Sterotaxis, Inc. Guide for medical devices
US7085400B1 (en) 2000-06-14 2006-08-01 Surgical Navigation Technologies, Inc. System and method for image based sensor calibration
US8256430B2 (en) 2001-06-15 2012-09-04 Monteris Medical, Inc. Hyperthermia treatment and probe therefor
US7166113B2 (en) * 2000-06-22 2007-01-23 Nuvasive, Inc. Polar coordinate surgical guideframe
US6837892B2 (en) * 2000-07-24 2005-01-04 Mazor Surgical Technologies Ltd. Miniature bone-mounted surgical robot
US6902569B2 (en) 2000-08-17 2005-06-07 Image-Guided Neurologics, Inc. Trajectory guide with instrument immobilizer
EP1324713A1 (en) * 2000-09-24 2003-07-09 Medtronic, Inc. Surgical reference frame fixation device with cannulated post and method of use
DE10051370A1 (en) * 2000-10-17 2002-05-02 Brainlab Ag Method and appliance for exact positioning of patient for radiation therapy and radio surgery with which only one camera is used to determine and compensate for positional error
US7194296B2 (en) * 2000-10-31 2007-03-20 Northern Digital Inc. Flexible instrument with optical sensors
US7162439B2 (en) * 2000-12-22 2007-01-09 General Electric Company Workstation configuration and selection method and apparatus
US7033326B1 (en) 2000-12-29 2006-04-25 Advanced Bionics Corporation Systems and methods of implanting a lead for brain stimulation
WO2002062199A2 (en) 2001-01-16 2002-08-15 Microdexterity Systems, Inc. Surgical manipulator
US7892243B2 (en) * 2001-01-16 2011-02-22 Microdexterity Systems, Inc. Surgical manipulator
US7547307B2 (en) * 2001-02-27 2009-06-16 Smith & Nephew, Inc. Computer assisted knee arthroplasty instrumentation, systems, and processes
US6921406B1 (en) 2001-04-19 2005-07-26 The Ohio State University Stereotactic apparatus and methods
US6636757B1 (en) 2001-06-04 2003-10-21 Surgical Navigation Technologies, Inc. Method and apparatus for electromagnetic navigation of a surgical probe near a metal object
US7607440B2 (en) * 2001-06-07 2009-10-27 Intuitive Surgical, Inc. Methods and apparatus for surgical planning
US6947786B2 (en) 2002-02-28 2005-09-20 Surgical Navigation Technologies, Inc. Method and apparatus for perspective inversion
US6990368B2 (en) 2002-04-04 2006-01-24 Surgical Navigation Technologies, Inc. Method and apparatus for virtual digital subtraction angiography
US7998062B2 (en) 2004-03-29 2011-08-16 Superdimension, Ltd. Endoscope structures and techniques for navigating to a target in branched structure
US7993353B2 (en) * 2002-06-04 2011-08-09 Brainlab Ag Medical tracking system with universal interface
US7720522B2 (en) * 2003-02-25 2010-05-18 Medtronic, Inc. Fiducial marker devices, tools, and methods
US7787934B2 (en) * 2002-07-29 2010-08-31 Medtronic, Inc. Fiducial marker devices, tools, and methods
US20040019265A1 (en) * 2002-07-29 2004-01-29 Mazzocchi Rudy A. Fiducial marker devices, tools, and methods
US7604645B2 (en) * 2002-08-07 2009-10-20 Civco Medical Instruments Inc. Ultrasound probe support and stepping device
EP2070487B1 (en) 2002-08-13 2014-03-05 NeuroArm Surgical, Ltd. Microsurgical robot system
IL151315A (en) * 2002-08-18 2010-04-29 Maroon J Abu Nassar Device for electrode positioning
US7343205B1 (en) 2002-08-20 2008-03-11 Boston Scientific Neuromodulation Corp. System and method for insertion of a device into the brain
US7704260B2 (en) 2002-09-17 2010-04-27 Medtronic, Inc. Low profile instrument immobilizer
US7599730B2 (en) 2002-11-19 2009-10-06 Medtronic Navigation, Inc. Navigation system for cardiac therapies
US7697972B2 (en) 2002-11-19 2010-04-13 Medtronic Navigation, Inc. Navigation system for cardiac therapies
US7636596B2 (en) 2002-12-20 2009-12-22 Medtronic, Inc. Organ access device and method
US20070282347A9 (en) * 2002-12-20 2007-12-06 Grimm James E Navigated orthopaedic guide and method
US7660623B2 (en) 2003-01-30 2010-02-09 Medtronic Navigation, Inc. Six degree of freedom alignment display for medical procedures
US7542791B2 (en) 2003-01-30 2009-06-02 Medtronic Navigation, Inc. Method and apparatus for preplanning a surgical procedure
US7896889B2 (en) 2003-02-20 2011-03-01 Medtronic, Inc. Trajectory guide with angled or patterned lumens or height adjustment
US7322990B1 (en) * 2003-02-28 2008-01-29 Suros Surgical Systems, Inc. Needle guide for stereotactic biopsy
US7273459B2 (en) * 2003-03-31 2007-09-25 Liposonix, Inc. Vortex transducer
FR2854318B1 (en) * 2003-05-02 2010-10-22 Perception Raisonnement Action DETERMINING THE POSITION OF AN ANATOMIC ELEMENT
WO2004100772A2 (en) * 2003-05-12 2004-11-25 University Of Florida Devices and methods for disruption and removal of luninal occlusions
US20050033315A1 (en) * 2003-08-01 2005-02-10 Hankins Carol A. Apparatus and method for guiding a medical device
US7313430B2 (en) 2003-08-28 2007-12-25 Medtronic Navigation, Inc. Method and apparatus for performing stereotactic surgery
DE10340002B3 (en) * 2003-08-29 2005-04-14 Siemens Ag Positioning device for positioning a patient
WO2005025635A2 (en) 2003-09-15 2005-03-24 Super Dimension Ltd. System of accessories for use with bronchoscopes
EP2316328B1 (en) 2003-09-15 2012-05-09 Super Dimension Ltd. Wrap-around holding device for use with bronchoscopes
US7862570B2 (en) 2003-10-03 2011-01-04 Smith & Nephew, Inc. Surgical positioners
US7835778B2 (en) 2003-10-16 2010-11-16 Medtronic Navigation, Inc. Method and apparatus for surgical navigation of a multiple piece construct for implantation
US7840253B2 (en) 2003-10-17 2010-11-23 Medtronic Navigation, Inc. Method and apparatus for surgical navigation
US7764985B2 (en) 2003-10-20 2010-07-27 Smith & Nephew, Inc. Surgical navigation system component fault interfaces and related processes
CA2546023C (en) 2003-11-14 2012-11-06 Smith & Nephew, Inc. Adjustable surgical cutting systems
US20050107680A1 (en) * 2003-11-18 2005-05-19 Kopf J. D. Stereotaxic instrument with linear coordinate scales coupled to split-image microscopic image display system
US20050154308A1 (en) 2003-12-30 2005-07-14 Liposonix, Inc. Disposable transducer seal
US20050154309A1 (en) * 2003-12-30 2005-07-14 Liposonix, Inc. Medical device inline degasser
WO2005065409A2 (en) * 2003-12-30 2005-07-21 Liposonix, Inc. Ultrasound therapy head with movement control
US20050193451A1 (en) * 2003-12-30 2005-09-01 Liposonix, Inc. Articulating arm for medical procedures
AU2004311419B2 (en) * 2003-12-30 2010-09-16 Medicis Technologies Corporation Systems and methods for the destruction of adipose tissue
US7857773B2 (en) * 2003-12-30 2010-12-28 Medicis Technologies Corporation Apparatus and methods for the destruction of adipose tissue
US8337407B2 (en) * 2003-12-30 2012-12-25 Liposonix, Inc. Articulating arm for medical procedures
US8764725B2 (en) 2004-02-09 2014-07-01 Covidien Lp Directional anchoring mechanism, method and applications thereof
US20050182424A1 (en) 2004-02-13 2005-08-18 Schulte Gregory T. Methods and apparatus for securing a therapy delivery device within a burr hole
US7993341B2 (en) * 2004-03-08 2011-08-09 Zimmer Technology, Inc. Navigated orthopaedic guide and method
US8114086B2 (en) 2004-03-08 2012-02-14 Zimmer Technology, Inc. Navigated cut guide locator
EP1755422A4 (en) * 2004-04-02 2009-10-28 Civco Medical Instr Co Inc Support system for use when performing medical imaging of a patient
US8109942B2 (en) 2004-04-21 2012-02-07 Smith & Nephew, Inc. Computer-aided methods, systems, and apparatuses for shoulder arthroplasty
US7567834B2 (en) * 2004-05-03 2009-07-28 Medtronic Navigation, Inc. Method and apparatus for implantation between two vertebral bodies
US8290570B2 (en) * 2004-09-10 2012-10-16 Stryker Leibinger Gmbh & Co., Kg System for ad hoc tracking of an object
US8007448B2 (en) * 2004-10-08 2011-08-30 Stryker Leibinger Gmbh & Co. Kg. System and method for performing arthroplasty of a joint and tracking a plumb line plane
US7452357B2 (en) * 2004-10-22 2008-11-18 Ethicon Endo-Surgery, Inc. System and method for planning treatment of tissue
US20060089626A1 (en) * 2004-10-22 2006-04-27 Vlegele James W Surgical device guide for use with an imaging system
US7833221B2 (en) * 2004-10-22 2010-11-16 Ethicon Endo-Surgery, Inc. System and method for treatment of tissue using the tissue as a fiducial
US7497863B2 (en) 2004-12-04 2009-03-03 Medtronic, Inc. Instrument guiding stage apparatus and method for using same
US7744606B2 (en) 2004-12-04 2010-06-29 Medtronic, Inc. Multi-lumen instrument guide
US7783359B2 (en) * 2005-01-05 2010-08-24 Boston Scientific Neuromodulation Corporation Devices and methods using an implantable pulse generator for brain stimulation
US7809446B2 (en) * 2005-01-05 2010-10-05 Boston Scientific Neuromodulation Corporation Devices and methods for brain stimulation
US20060150984A1 (en) * 2005-01-07 2006-07-13 Ferguson Joe W Surgical head fixation and positioning system
JP2008531091A (en) 2005-02-22 2008-08-14 スミス アンド ネフュー インコーポレーテッド In-line milling system
US9289267B2 (en) * 2005-06-14 2016-03-22 Siemens Medical Solutions Usa, Inc. Method and apparatus for minimally invasive surgery using endoscopes
US7835784B2 (en) 2005-09-21 2010-11-16 Medtronic Navigation, Inc. Method and apparatus for positioning a reference frame
DE102005045908A1 (en) * 2005-09-26 2007-04-19 Siemens Ag Method for imaging radiological image data into a neuroanatomical coordinate system
US8271094B1 (en) 2005-09-30 2012-09-18 Boston Scientific Neuromodulation Corporation Devices with cannula and electrode lead for brain stimulation and methods of use and manufacture
US9042958B2 (en) 2005-11-29 2015-05-26 MRI Interventions, Inc. MRI-guided localization and/or lead placement systems, related methods, devices and computer program products
US20070179626A1 (en) * 2005-11-30 2007-08-02 De La Barrera Jose L M Functional joint arthroplasty method
US9168102B2 (en) 2006-01-18 2015-10-27 Medtronic Navigation, Inc. Method and apparatus for providing a container to a sterile environment
US8165659B2 (en) * 2006-03-22 2012-04-24 Garrett Sheffer Modeling method and apparatus for use in surgical navigation
US8112292B2 (en) 2006-04-21 2012-02-07 Medtronic Navigation, Inc. Method and apparatus for optimizing a therapy
US7583999B2 (en) 2006-07-31 2009-09-01 Cranial Medical Systems, Inc. Multi-channel connector for brain stimulation system
US8335553B2 (en) * 2006-09-25 2012-12-18 Mazor Robotics Ltd. CT-free spinal surgical imaging system
US8660635B2 (en) 2006-09-29 2014-02-25 Medtronic, Inc. Method and apparatus for optimizing a computer assisted surgical procedure
WO2008051911A2 (en) 2006-10-20 2008-05-02 Cardiorobotics, Inc. Apparatus for positioning a device
US20080171930A1 (en) * 2007-01-16 2008-07-17 Ar2 Partners, Inc. Method and apparatus for positioning an instrument in a predetermined region within a patient's body
WO2008118524A2 (en) * 2007-01-26 2008-10-02 Zimmer, Inc. Instrumented linkage system
US8142200B2 (en) * 2007-03-26 2012-03-27 Liposonix, Inc. Slip ring spacer and method for its use
JP5527731B2 (en) * 2007-04-16 2014-06-25 ニューロアーム サージカル エル ティ ディー Methods, devices, and systems useful for registration
US8175677B2 (en) * 2007-06-07 2012-05-08 MRI Interventions, Inc. MRI-guided medical interventional systems and methods
US8374677B2 (en) 2007-06-07 2013-02-12 MRI Interventions, Inc. MRI-guided medical interventional systems and methods
DE102007033756A1 (en) 2007-07-19 2009-02-05 Siemens Ag Indication-dependent control elements
JP2009056299A (en) 2007-08-07 2009-03-19 Stryker Leibinger Gmbh & Co Kg Method of and system for planning surgery
US8548569B2 (en) * 2007-09-24 2013-10-01 MRI Interventions, Inc. Head fixation assemblies for medical procedures
US8315689B2 (en) 2007-09-24 2012-11-20 MRI Interventions, Inc. MRI surgical systems for real-time visualizations using MRI image data and predefined data of surgical tools
EP2192871B8 (en) * 2007-09-24 2015-01-28 MRI Interventions, Inc. Mri-compatible patch and method for identifying a position
US8905920B2 (en) 2007-09-27 2014-12-09 Covidien Lp Bronchoscope adapter and method
US20090240146A1 (en) * 2007-10-26 2009-09-24 Liposonix, Inc. Mechanical arm
US8340743B2 (en) * 2007-11-21 2012-12-25 MRI Interventions, Inc. Methods, systems and computer program products for positioning a guidance apparatus relative to a patient
CA2732274C (en) 2007-12-06 2017-03-28 Smith & Nephew, Inc. Systems and methods for determining the mechanical axis of a femur
JP5300871B2 (en) 2008-02-01 2013-09-25 ライポソニックス, インコーポレイテッド Treatment head for use with ultrasound system
US9575140B2 (en) 2008-04-03 2017-02-21 Covidien Lp Magnetic interference detection system and method
US8473032B2 (en) 2008-06-03 2013-06-25 Superdimension, Ltd. Feature-based registration method
US8218847B2 (en) 2008-06-06 2012-07-10 Superdimension, Ltd. Hybrid registration method
US8932207B2 (en) 2008-07-10 2015-01-13 Covidien Lp Integrated multi-functional endoscopic tool
US8868176B2 (en) * 2008-07-22 2014-10-21 New York University Microelectrode-equipped subdural therapeutic agent delivery strip
US8728092B2 (en) 2008-08-14 2014-05-20 Monteris Medical Corporation Stereotactic drive system
US8747418B2 (en) 2008-08-15 2014-06-10 Monteris Medical Corporation Trajectory guide
JP5656313B2 (en) 2008-09-05 2015-01-21 カーネギー メロン ユニバーシティ Articulated endoscopic device with a spherical distal assembly
US8165658B2 (en) 2008-09-26 2012-04-24 Medtronic, Inc. Method and apparatus for positioning a guide relative to a base
JP2012508594A (en) * 2008-11-12 2012-04-12 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ Neurosurgery guiding tool
US8175681B2 (en) 2008-12-16 2012-05-08 Medtronic Navigation Inc. Combination of electromagnetic and electropotential localization
US8611984B2 (en) 2009-04-08 2013-12-17 Covidien Lp Locatable catheter
US8794977B2 (en) * 2009-04-29 2014-08-05 Lifemodeler, Inc. Implant training system
US8494614B2 (en) 2009-08-31 2013-07-23 Regents Of The University Of Minnesota Combination localization system
US8494613B2 (en) 2009-08-31 2013-07-23 Medtronic, Inc. Combination localization system
US8424399B2 (en) * 2009-10-29 2013-04-23 Covidien Lp Probe holder assembly for an end to end test of adhesives and sealants
NL2003831C2 (en) * 2009-11-19 2011-05-23 Neurendo B V A shaft connector.
US8295944B2 (en) * 2009-11-30 2012-10-23 Boston Scientific Neuromodulation Corporation Electrode array with electrodes having cutout portions and methods of making the same
US8391985B2 (en) 2009-11-30 2013-03-05 Boston Scientific Neuromodulation Corporation Electrode array having concentric windowed cylinder electrodes and methods of making the same
US20180071114A1 (en) * 2010-03-10 2018-03-15 Zimmer, Inc. Instrumented linkage system
CN103037789A (en) 2010-06-11 2013-04-10 史密夫和内修有限公司 Patient-matched instruments
US10582834B2 (en) 2010-06-15 2020-03-10 Covidien Lp Locatable expandable working channel and method
US9561094B2 (en) 2010-07-23 2017-02-07 Nfinium Vascular Technologies, Llc Devices and methods for treating venous diseases
BR112013003628A2 (en) * 2010-08-16 2016-09-06 Smith & Nephew Inc tissue guide corresponding to a patient for surgical device operation
US9119655B2 (en) 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
US9921712B2 (en) 2010-12-29 2018-03-20 Mako Surgical Corp. System and method for providing substantially stable control of a surgical tool
US8945011B2 (en) * 2011-04-05 2015-02-03 Houston Medical Robotics, Inc. Systems and methods for accessing the lumen of a vessel
US9855405B2 (en) * 2011-04-29 2018-01-02 Medtronic, Inc. Burr hole cap assembly with therapy delivery member orientation feature
WO2012173890A2 (en) 2011-06-16 2012-12-20 Smith & Nephew, Inc. Surgical alignment using references
EP3213697B1 (en) 2011-09-02 2020-03-11 Stryker Corporation Surgical instrument including a housing, a cutting accessory that extends from the housing and actuators that establish the position of the cutting accessory relative to the housing
CN108113762A (en) 2012-06-27 2018-06-05 曼特瑞斯医药有限责任公司 The image guided therapy of tissue
CN112932672A (en) 2012-08-03 2021-06-11 史赛克公司 Systems and methods for robotic surgery
US9226796B2 (en) 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
US9820818B2 (en) 2012-08-03 2017-11-21 Stryker Corporation System and method for controlling a surgical manipulator based on implant parameters
US9192446B2 (en) 2012-09-05 2015-11-24 MRI Interventions, Inc. Trajectory guide frame for MRI-guided surgeries
IN2015DN03776A (en) 2012-11-09 2015-10-02 Pro Med Instruments Gmbh
EP2996611B1 (en) 2013-03-13 2019-06-26 Stryker Corporation Systems and software for establishing virtual constraint boundaries
KR102274277B1 (en) 2013-03-13 2021-07-08 스트리커 코포레이션 System for arranging objects in an operating room in preparation for surgical procedures
FR3015883B1 (en) * 2013-12-31 2021-01-15 Inria Inst Nat Rech Informatique & Automatique SYSTEM AND METHOD FOR MONITORING THE MOVEMENT OF A MEDICAL INSTRUMENT IN THE BODY OF A SUBJECT
WO2015143025A1 (en) 2014-03-18 2015-09-24 Monteris Medical Corporation Image-guided therapy of a tissue
US9504484B2 (en) 2014-03-18 2016-11-29 Monteris Medical Corporation Image-guided therapy of a tissue
US10675113B2 (en) 2014-03-18 2020-06-09 Monteris Medical Corporation Automated therapy of a three-dimensional tissue region
JP2017516584A (en) 2014-06-04 2017-06-22 エンフィニアム バスキュラー テクノロジーズ, エルエルシー Low radial force vascular device and method of occlusion
US10952593B2 (en) 2014-06-10 2021-03-23 Covidien Lp Bronchoscope adapter
US10327830B2 (en) 2015-04-01 2019-06-25 Monteris Medical Corporation Cryotherapy, thermal therapy, temperature modulation therapy, and probe apparatus therefor
US10939962B1 (en) * 2015-04-02 2021-03-09 Mazor Robotics Ltd. Cranial insertion placement verification
US10426555B2 (en) 2015-06-03 2019-10-01 Covidien Lp Medical instrument with sensor for use in a system and method for electromagnetic navigation
WO2017028916A1 (en) 2015-08-19 2017-02-23 Brainlab Ag Reference array holder
US9962134B2 (en) 2015-10-28 2018-05-08 Medtronic Navigation, Inc. Apparatus and method for maintaining image quality while minimizing X-ray dosage of a patient
JP6944939B2 (en) 2015-12-31 2021-10-06 ストライカー・コーポレイション Systems and methods for performing surgery on a patient's target site as defined by a virtual object
US10478254B2 (en) 2016-05-16 2019-11-19 Covidien Lp System and method to access lung tissue
KR101861176B1 (en) * 2016-08-16 2018-05-28 주식회사 고영테크놀러지 Surgical robot for stereotactic surgery and method for controlling a stereotactic surgery robot
CN110650673A (en) 2016-08-30 2020-01-03 加利福尼亚大学董事会 Methods for biomedical targeting and delivery and devices and systems for practicing the same
US10517505B2 (en) 2016-10-28 2019-12-31 Covidien Lp Systems, methods, and computer-readable media for optimizing an electromagnetic navigation system
US10722311B2 (en) 2016-10-28 2020-07-28 Covidien Lp System and method for identifying a location and/or an orientation of an electromagnetic sensor based on a map
US10446931B2 (en) 2016-10-28 2019-10-15 Covidien Lp Electromagnetic navigation antenna assembly and electromagnetic navigation system including the same
US10638952B2 (en) 2016-10-28 2020-05-05 Covidien Lp Methods, systems, and computer-readable media for calibrating an electromagnetic navigation system
US10751126B2 (en) 2016-10-28 2020-08-25 Covidien Lp System and method for generating a map for electromagnetic navigation
US10792106B2 (en) 2016-10-28 2020-10-06 Covidien Lp System for calibrating an electromagnetic navigation system
US10418705B2 (en) 2016-10-28 2019-09-17 Covidien Lp Electromagnetic navigation antenna assembly and electromagnetic navigation system including the same
US10615500B2 (en) 2016-10-28 2020-04-07 Covidien Lp System and method for designing electromagnetic navigation antenna assemblies
US11202682B2 (en) 2016-12-16 2021-12-21 Mako Surgical Corp. Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site
US10905497B2 (en) 2017-04-21 2021-02-02 Clearpoint Neuro, Inc. Surgical navigation systems
WO2019018342A1 (en) 2017-07-17 2019-01-24 Voyager Therapeutics, Inc. Trajectory array guide system
US11219489B2 (en) 2017-10-31 2022-01-11 Covidien Lp Devices and systems for providing sensors in parallel with medical tools
US20220125548A1 (en) * 2018-11-07 2022-04-28 Olaf Storz Surgical head holding device
DE102019114352B4 (en) * 2019-05-28 2022-02-24 Karl Storz Se & Co. Kg positioning system
CN116919596B (en) * 2023-09-14 2024-01-09 武汉联影智融医疗科技有限公司 Instrument navigation method, system, device, equipment and storage medium

Family Cites Families (52)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1129333A (en) * 1914-06-27 1915-02-23 Robert Henry Clarke Stereotaxic apparatus.
US3223087A (en) * 1960-06-18 1965-12-14 Chirana Praha Np Stereotaxic device
US3135263A (en) * 1960-10-05 1964-06-02 Smiths America Corp Surgical instrument positioning device
FR1311384A (en) * 1961-10-27 1962-12-07 Alexandre & Cie Device allowing complete exploration of the brain in stereotaxic neurosurgery
US4386602A (en) * 1977-05-17 1983-06-07 Sheldon Charles H Intracranial surgical operative apparatus
US4341220A (en) * 1979-04-13 1982-07-27 Pfizer Inc. Stereotactic surgery apparatus and method
US4608977A (en) * 1979-08-29 1986-09-02 Brown Russell A System using computed tomography as for selective body treatment
US4463758A (en) * 1981-09-18 1984-08-07 Arun A. Patil Computed tomography stereotactic frame
US4475550A (en) * 1982-03-30 1984-10-09 Bremer Orthopedics, Inc. Halo for stereotaxic applications
US4618978A (en) * 1983-10-21 1986-10-21 Cosman Eric R Means for localizing target coordinates in a body relative to a guidance system reference frame in any arbitrary plane as viewed by a tomographic image through the body
US4617925A (en) * 1984-10-01 1986-10-21 Laitinen Lauri V Adapter for definition of the position of brain structures
US4706665A (en) * 1984-12-17 1987-11-17 Gouda Kasim I Frame for stereotactic surgery
US4805615A (en) * 1985-07-02 1989-02-21 Carol Mark P Method and apparatus for performing stereotactic surgery
US5078140A (en) * 1986-05-08 1992-01-07 Kwoh Yik S Imaging device - aided robotic stereotaxis system
US4733661A (en) * 1987-04-27 1988-03-29 Palestrant Aubrey M Guidance device for C.T. guided drainage and biopsy procedures
DE3717871C3 (en) * 1987-05-27 1995-05-04 Georg Prof Dr Schloendorff Method and device for reproducible visual representation of a surgical intervention
JPH02503519A (en) * 1987-05-27 1990-10-25 サージカル ナビゲーション テクノロジース インコーポレーティッド(アン アフィリエイティッド カンパニー オブ ソファマー ダンネク グループ インコーポレーティッド) Method and apparatus for reproducibly optically displaying surgical procedures
US4991579A (en) * 1987-11-10 1991-02-12 Allen George S Method and apparatus for providing related images over time of a portion of the anatomy using fiducial implants
US5027818A (en) * 1987-12-03 1991-07-02 University Of Florida Dosimetric technique for stereotactic radiosurgery same
US4998938A (en) * 1988-06-09 1991-03-12 Neurodynamics, Inc. Removable skull mounted work platform and method of assembling same
US5050608A (en) * 1988-07-12 1991-09-24 Medirand, Inc. System for indicating a position to be operated in a patient's body
US5006122A (en) * 1988-12-02 1991-04-09 The United States Of America As Represented By The Department Of Health And Human Services Tissue transplantation system
US5257998A (en) * 1989-09-20 1993-11-02 Mitaka Kohki Co., Ltd. Medical three-dimensional locating apparatus
ES2085885T3 (en) * 1989-11-08 1996-06-16 George S Allen MECHANICAL ARM FOR INTERACTIVE SURGERY SYSTEM DIRECTED BY IMAGES.
US5222499A (en) * 1989-11-15 1993-06-29 Allen George S Method and apparatus for imaging the anatomy
US5080662A (en) * 1989-11-27 1992-01-14 Paul Kamaljit S Spinal stereotaxic device and method
US5269305A (en) * 1990-04-27 1993-12-14 The Nomos Corporation Method and apparatus for performing stereotactic surgery
US5163430A (en) * 1990-04-27 1992-11-17 Medco, Inc. Method and apparatus for performing stereotactic surgery
US5452720A (en) * 1990-09-05 1995-09-26 Photoelectron Corporation Method for treating brain tumors
DE69133603D1 (en) * 1990-10-19 2008-10-02 Univ St Louis System for localizing a surgical probe relative to the head
US5207223A (en) * 1990-10-19 1993-05-04 Accuray, Inc. Apparatus for and method of performing stereotaxic surgery
US5116345A (en) * 1990-11-28 1992-05-26 Ohio Medical Instrument Co., Inc. Stereotactically implanting an intracranial device
US5279309A (en) * 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
US5207688A (en) * 1991-10-31 1993-05-04 Medco, Inc. Noninvasive head fixation method and apparatus
US5300080A (en) * 1991-11-01 1994-04-05 David Clayman Stereotactic instrument guided placement
US5330485A (en) * 1991-11-01 1994-07-19 Clayman David A Cerebral instrument guide frame and procedures utilizing it
US5230623A (en) * 1991-12-10 1993-07-27 Radionics, Inc. Operating pointer with interactive computergraphics
US5263956A (en) * 1992-03-04 1993-11-23 Neuro Navigational Corporation Ball joint for neurosurgery
US5517990A (en) * 1992-11-30 1996-05-21 The Cleveland Clinic Foundation Stereotaxy wand and tool guide
JP2648274B2 (en) * 1993-01-28 1997-08-27 三鷹光器株式会社 Medical position detection device
US5361763A (en) * 1993-03-02 1994-11-08 Wisconsin Alumni Research Foundation Method for segmenting features in an image
CA2161126C (en) * 1993-04-22 2007-07-31 Waldean A. Schulz System for locating relative positions of objects
DE69432834T2 (en) * 1993-04-26 2004-05-13 St. Louis University Display of the location of a surgical probe
US5387220A (en) * 1993-06-15 1995-02-07 Pisharodi; Maohaven Stereotactic frame and localization method
US6120465A (en) 1994-01-24 2000-09-19 Radionics Software Applications, Inc. Virtual probe for a stereotactic digitizer for use in surgery
US5803089A (en) * 1994-09-15 1998-09-08 Visualization Technology, Inc. Position tracking and imaging system for use in medical applications
US5891157A (en) * 1994-09-30 1999-04-06 Ohio Medical Instrument Company, Inc. Apparatus for surgical stereotactic procedures
US5695501A (en) * 1994-09-30 1997-12-09 Ohio Medical Instrument Company, Inc. Apparatus for neurosurgical stereotactic procedures
US5618288A (en) * 1996-01-22 1997-04-08 Calvo; Antonio M. Stereotactic system for surgical procedures
US5984930A (en) * 1996-09-30 1999-11-16 George S. Allen Biopsy guide
US6110182A (en) * 1998-06-22 2000-08-29 Ohio Medical Instruments Company, Inc. Target socket
US6117143A (en) * 1998-09-11 2000-09-12 Hybex Surgical Specialties, Inc. Apparatus for frameless stereotactic surgery

Cited By (59)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9002426B2 (en) 2002-03-06 2015-04-07 Mako Surgical Corp. Haptic guidance system and method
US9775681B2 (en) 2002-03-06 2017-10-03 Mako Surgical Corp. Haptic guidance system and method
US10610301B2 (en) 2002-03-06 2020-04-07 Mako Surgical Corp. System and method for using a haptic device as an input device
US11076918B2 (en) 2002-03-06 2021-08-03 Mako Surgical Corp. Robotically-assisted constraint mechanism
US10231790B2 (en) 2002-03-06 2019-03-19 Mako Surgical Corp. Haptic guidance system and method
US10058392B2 (en) 2002-03-06 2018-08-28 Mako Surgical Corp. Neural monitor-based dynamic boundaries
US11202676B2 (en) 2002-03-06 2021-12-21 Mako Surgical Corp. Neural monitor-based dynamic haptics
US8571628B2 (en) 2002-03-06 2013-10-29 Mako Surgical Corp. Apparatus and method for haptic rendering
US11426245B2 (en) 2002-03-06 2022-08-30 Mako Surgical Corp. Surgical guidance system and method with acoustic feedback
US8911499B2 (en) 2002-03-06 2014-12-16 Mako Surgical Corp. Haptic guidance method
US9775682B2 (en) 2002-03-06 2017-10-03 Mako Surgical Corp. Teleoperation system with visual indicator and method of use during surgical procedures
US8010180B2 (en) 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
US11298191B2 (en) 2002-03-06 2022-04-12 Mako Surgical Corp. Robotically-assisted surgical guide
US11298190B2 (en) 2002-03-06 2022-04-12 Mako Surgical Corp. Robotically-assisted constraint mechanism
US8391954B2 (en) 2002-03-06 2013-03-05 Mako Surgical Corp. System and method for interactive haptic positioning of a medical device
US9636185B2 (en) 2002-03-06 2017-05-02 Mako Surgical Corp. System and method for performing surgical procedure using drill guide and robotic device operable in multiple modes
EP1627272A2 (en) * 2003-02-04 2006-02-22 Z-Kat, Inc. Interactive computer-assisted surgery system and method
EP1627272A4 (en) * 2003-02-04 2010-04-21 Z Kat Inc Interactive computer-assisted surgery system and method
US9801686B2 (en) 2003-03-06 2017-10-31 Mako Surgical Corp. Neural monitor-based dynamic haptics
US10350012B2 (en) 2006-05-19 2019-07-16 MAKO Surgiccal Corp. Method and apparatus for controlling a haptic device
US8287522B2 (en) 2006-05-19 2012-10-16 Mako Surgical Corp. Method and apparatus for controlling a haptic device
US20080004633A1 (en) * 2006-05-19 2008-01-03 Mako Surgical Corp. System and method for verifying calibration of a surgical device
US11844577B2 (en) 2006-05-19 2023-12-19 Mako Surgical Corp. System and method for verifying calibration of a surgical system
US20070270685A1 (en) * 2006-05-19 2007-11-22 Mako Surgical Corp. Method and apparatus for controlling a haptic device
US20080010705A1 (en) * 2006-05-19 2008-01-10 Mako Surgical Corp. Method and apparatus for controlling a haptic device
US11771504B2 (en) 2006-05-19 2023-10-03 Mako Surgical Corp. Surgical system with base and arm tracking
US11712308B2 (en) 2006-05-19 2023-08-01 Mako Surgical Corp. Surgical system with base tracking
US9492237B2 (en) 2006-05-19 2016-11-15 Mako Surgical Corp. Method and apparatus for controlling a haptic device
US20080010706A1 (en) * 2006-05-19 2008-01-10 Mako Surgical Corp. Method and apparatus for controlling a haptic device
US10952796B2 (en) 2006-05-19 2021-03-23 Mako Surgical Corp. System and method for verifying calibration of a surgical device
US11123143B2 (en) 2006-05-19 2021-09-21 Mako Surgical Corp. Method and apparatus for controlling a haptic device
US9724165B2 (en) 2006-05-19 2017-08-08 Mako Surgical Corp. System and method for verifying calibration of a surgical device
WO2007136770A3 (en) * 2006-05-19 2008-02-21 Mako Surgical Corp System and method for verifying calibration of a surgical device
US10028789B2 (en) 2006-05-19 2018-07-24 Mako Surgical Corp. Method and apparatus for controlling a haptic device
US11291506B2 (en) 2006-05-19 2022-04-05 Mako Surgical Corp. Method and apparatus for controlling a haptic device
US8652131B2 (en) 2007-07-19 2014-02-18 Avedro, Inc. Eye therapy system
US8992516B2 (en) 2007-07-19 2015-03-31 Avedro, Inc. Eye therapy system
US20090187178A1 (en) * 2008-01-23 2009-07-23 David Muller System and method for positioning an eye therapy device
US8469952B2 (en) * 2008-01-23 2013-06-25 Avedro, Inc. System and method for positioning an eye therapy device
US8882757B2 (en) 2008-11-11 2014-11-11 Avedro, Inc. Eye therapy system
US20100256626A1 (en) * 2009-04-02 2010-10-07 Avedro, Inc. Eye therapy system
US8712536B2 (en) 2009-04-02 2014-04-29 Avedro, Inc. Eye therapy system
WO2010133838A1 (en) * 2009-05-21 2010-11-25 Renishaw (Ireland) Limited Head clamp
US9254177B2 (en) 2009-05-21 2016-02-09 Renishaw (Ireland) Limited Head clamp for imaging and neurosurgery
WO2011018100A1 (en) * 2009-08-14 2011-02-17 Elekta Ab (Publ) Surgical apparatus
US20120143213A1 (en) * 2009-08-14 2012-06-07 Elekta Ab (Publ) Surgical Apparatus
US9597157B2 (en) * 2009-10-01 2017-03-21 Mako Surgical Corp. Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool
US10864047B2 (en) 2009-10-01 2020-12-15 Mako Surgical Corp. Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool
US10206750B2 (en) 2009-10-01 2019-02-19 Mako Surgical Corp. Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool
US10052166B2 (en) 2009-10-01 2018-08-21 Mako Surgical Corp. System with brake to limit manual movement of member and control system for same
US9770306B2 (en) 2009-10-01 2017-09-26 Mako Surgical Corp. Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool
US9724167B2 (en) 2009-10-01 2017-08-08 Mako Surgical Corp. System with brake to limit manual movement of member and control system for same
US11672610B2 (en) 2009-10-01 2023-06-13 Mako Surgical Corp. Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool
US20150164600A1 (en) * 2009-10-01 2015-06-18 Mako Surgical Corp. Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool
US10004403B2 (en) * 2014-08-28 2018-06-26 Mela Sciences, Inc. Three dimensional tissue imaging system and method
US20160058288A1 (en) * 2014-08-28 2016-03-03 Mela Sciences, Inc. Three dimensional tissue imaging system and method
WO2016033405A1 (en) * 2014-08-28 2016-03-03 Mela Sciences, Inc. Three dimensional tissue imaging system and method
WO2017070610A1 (en) * 2015-10-21 2017-04-27 Inscopix, Inc. Implantable optical probes and systems and methods for implantation of optical probes
CN109498045A (en) * 2018-11-14 2019-03-22 上海联影医疗科技有限公司 A kind of holder device for CT equipment correction

Also Published As

Publication number Publication date
BR9509214A (en) 1997-10-28
KR100370302B1 (en) 2003-05-12
WO1996010368A2 (en) 1996-04-11
EP0783279A1 (en) 1997-07-16
US6423077B2 (en) 2002-07-23
US6261300B1 (en) 2001-07-17
WO1996010368A3 (en) 1996-05-30
KR970705947A (en) 1997-11-03
EP0783279B1 (en) 2001-12-05
DE69524434T2 (en) 2002-08-08
AU3760895A (en) 1996-04-26
US6071288A (en) 2000-06-06
DE69524434D1 (en) 2002-01-17
US5695501A (en) 1997-12-09

Similar Documents

Publication Publication Date Title
US6423077B2 (en) Apparatus and method for surgical stereotactic procedures
WO1996010368A9 (en) Apparatus and method for neurosurgical stereotactic procedures
EP0895461B1 (en) Apparatus for surgical stereotactic procedures
Smith et al. The NeurostationTM—A highly accurate, minimally invasive solution to frameless stereotactic neurosurgery
US6064904A (en) Frameless stereotactic CT scanner with virtual needle display for planning image guided interventional procedures
Zamorano et al. Interactive intraoperative localization using an infrared-based system
EP0501993B1 (en) Probe-correlated viewing of anatomical image data
US5483961A (en) Magnetic field digitizer for stereotactic surgery
US5787886A (en) Magnetic field digitizer for stereotatic surgery
US6359959B1 (en) System for determining target positions in the body observed in CT image data
US6366796B1 (en) Method and apparatus for planning brachytherapy surgical procedures
Clarysse et al. A computer-assisted system for 3-D frameless localization in stereotaxic MRI
US6259943B1 (en) Frameless to frame-based registration system
US6782287B2 (en) Method and apparatus for tracking a medical instrument based on image registration
US6684098B2 (en) Versatile stereotactic device and methods of use
US8682413B2 (en) Systems and methods for automated tracker-driven image selection
US6674916B1 (en) Interpolation in transform space for multiple rigid object registration
US8024026B2 (en) Dynamic reference method and system for use with surgical procedures
US6725079B2 (en) Dual pointer device and method for surgical navigation
EP3908221B1 (en) Method for registration between coordinate systems and navigation
US9477686B2 (en) Systems and methods for annotation and sorting of surgical images
Rousseau et al. A frameless method for 3D MRI-and CT guided stereotaxic localisation
Zamorano et al. Computer-assisted stereotactic neurological surgery: pre-planning and on-site real-time operating control and simulation system
Zamorano et al. Computer-assisted resection of brain lesions

Legal Events

Date Code Title Description
AS Assignment

Owner name: SCHAERER MAYFIELD USA, INC., OHIO

Free format text: CHANGE OF NAME;ASSIGNOR:OHIO MEDICAL INSTRUMENT COMPANY, INC.;REEL/FRAME:014137/0505

Effective date: 20030728

FEPP Fee payment procedure

Free format text: PAT HOLDER CLAIMS SMALL ENTITY STATUS, ENTITY STATUS SET TO SMALL (ORIGINAL EVENT CODE: LTOS); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY

REFU Refund

Free format text: REFUND - PAYMENT OF MAINTENANCE FEE, 4TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: R1551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY

Free format text: REFUND - SURCHARGE FOR LATE PAYMENT, LARGE ENTITY (ORIGINAL EVENT CODE: R1554); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY

REMI Maintenance fee reminder mailed
FPAY Fee payment

Year of fee payment: 4

SULP Surcharge for late payment
REMI Maintenance fee reminder mailed
LAPS Lapse for failure to pay maintenance fees
STCH Information on status: patent discontinuation

Free format text: PATENT EXPIRED DUE TO NONPAYMENT OF MAINTENANCE FEES UNDER 37 CFR 1.362

FP Lapsed due to failure to pay maintenance fee

Effective date: 20100723

AS Assignment

Owner name: SCHAERER MEDICAL USA, INC., OHIO

Free format text: CHANGE OF NAME;ASSIGNOR:SCHAERER MAYFIELD USA, INC.;REEL/FRAME:032279/0546

Effective date: 20120816