WO1997047240A1 - Position-determination system using a marker, and a marker for use in such a system - Google Patents

Position-determination system using a marker, and a marker for use in such a system Download PDF

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Publication number
WO1997047240A1
WO1997047240A1 PCT/EP1997/003018 EP9703018W WO9747240A1 WO 1997047240 A1 WO1997047240 A1 WO 1997047240A1 EP 9703018 W EP9703018 W EP 9703018W WO 9747240 A1 WO9747240 A1 WO 9747240A1
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WO
WIPO (PCT)
Prior art keywords
marker
light
markers
optical waveguide
optical
Prior art date
Application number
PCT/EP1997/003018
Other languages
German (de)
French (fr)
Inventor
Roger Spink
Original Assignee
Leica Ag
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Filing date
Publication date
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Publication of WO1997047240A1 publication Critical patent/WO1997047240A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/08—Auxiliary means for directing the radiation beam to a particular spot, e.g. using light beams
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A61B2090/306—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using optical fibres
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/363—Use of fiducial points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A61B2090/3945—Active visible markers, e.g. light emitting diodes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G01S17/875—Combinations of systems using electromagnetic waves other than radio waves for determining attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G01S5/163—Determination of attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone

Definitions

  • the invention relates in particular to microsurgery and neurosurgery, but is not restricted to this field of application.
  • the information in this patent application is therefore to be understood only as an example
  • the newer surgical technique provides for spatial detection of the area to be operated on by means of MRI or computer tomography and three-dimensional display on screens.
  • the improved microscopy technology allows an image of the body seen from the outside outside Detecting the surgical area and superimposing it on the MRI or CT image This basically helps a surgeon to better localize the area to be operated on in the tissue.
  • this also requires the position of the body relative to the position of the body at the time of the MRI or CT scan.
  • markers are preferably mounted on the body (for example on the head of a patient, so-called fiducial markers), which are in a certain position with respect to one another and both during MRI or CT imaging, as well during the surgery under remain in the surgical microscope at the same place as the patient. Orientation is possible using these markers.
  • markers are preferably designed as active transmission elements, which, for example, emit infrared signals that are received by an infrared receiver and can be evaluated with the help of a computer to determine their position
  • DE 3807578 A1 discloses a method for the spatial detection of human damage, in which optically detectable reference points are attached to the skull. These reference points can also be formed by light-emitting diodes
  • Positioning of an instrument does not offer any teaching regarding the position detection of a patient or object.
  • the problem of voltage-induced fault currents in the brain due to current-carrying tracks in the area of the brain was not recognized there
  • the invention is based on the discovery that such active systems, especially since they are often used on or near a patient's head and are directly connected (screwed in) to the patient's head, could cause problems.
  • the brain of a patient should be used in such operations as little as possible, and certainly not irritated or stressed by external electrical currents, since such the
  • the aim of the invention is therefore to create markers with active transmission properties which can do without electrical currents in the area of their application
  • the electrical or electronic transmission elements are arranged away from the markers and are connected to the markers via optical waveguides in such a way that the signals of the transmitters fed in at one end of the optical waveguide are at the other end of the Waveguides - at the markers - can radiate outdoors
  • at least two, preferably three exit points of two or three mutually independent optical waveguides are provided per marker, to which at least one or possibly one transmitter is assigned in each case.
  • the method for operating the transmitters corresponds to the previously known and applied method, so that there is no need to go into this here
  • Another particularly great advantage of using the glass fibers results from the fact that the glass fibers have a very small defined light emission area compared to previously used light-emitting diodes, which therefore allows the location of this light exit to be positioned with greater accuracy than was previously possible with light-emitting diodes
  • the light emission surface can also be improved by optical measures known per se, such as correction lenses, pinhole or protective diaphragms, pinholes or the like
  • Fig. 1 shows a marker 1a, on the top of which a small one
  • Deflecting mirrors or a light-optical scattering element 2a and the end of an optical waveguide 3a are mounted.
  • a transmitter in the form of a light-emitting diode 4a, which is controlled by a controller 5a
  • the controller 5a is connected to a position sensor 6a which can receive the light from the marker 1a.
  • a second marker 1b is arranged at a distance 7 from the first and likewise sends the signal from the same transmitter 4a or another transmitter 4b into the room via electronic or computational evaluation
  • the information arriving at the sensor 6a from different directions can be evaluated in order to determine the distance 7 between adjacent markers 1a, b and the distance to the sensor 6a and then the position of the markers or the body part connected to them roughened reflective surfaces in question e.g. sandblasted aluminum surfaces
  • CMOS complementary metal-oxide-semiconductor
  • position sensors such as CCD arrays, matrix arrangements, etc.
  • Glass fibers are available as optical fibers
  • FIG. 9a shows a marker 1c with three light emitting outputs 8a-c, which are supplied with transmission energy by a single optical fiber 3b via an integrated optical fiber system.
  • the integrated optical fiber system 9a is only hinted at, since many known techniques could be used in particular
  • Optical fibers along glass plates or spliced glass fibers, radiation plates or the like are used.
  • the advantage Such a marker compared to that of FIG. 1 lies in an improved or simplified determinability of its position relative to the sensor 6a, since there is a predetermined geometry of the signal delivery points on the marker itself, which is known and preferably unchangeable, which is further improved with an even larger one Marker according to Fig. 3
  • Screws 10 can be attached to a head.
  • the ring 1d three or more optical fibers 3c are integrated, each leading to a transmission output 8d-f, with a separate transmitter being arranged at the other ends of the optical fibers 3c, so that the Transmitting energy radiated from the outputs 8d-f is different, for example has a different pulse frequency, light color or the like.
  • This enables the position of the marker to be determined by recognizing the position of the individual outputs 8d-f.
  • the ring shape increases its stability, so that it is less easy with repeated assemblies deviations can occur.
  • the stable, ring-shaped structure also allows the marker 1 or B to be positioned on the head of a patient in a reproducible manner, even if it is not screwed into the patient's head
  • FIG. 3 shows another variant with a frame 15 which carries the markers 8g, which are connected to the control 5a via optical waveguides 3.
  • the frame has a specific geometric shape which allows its detection and thus its position in space.
  • the frame is over a Arm 14 eg connected by means of a "mayfield clamp" (a clamp 1e which can be attached to the patient), so that it lies in a rigid relation to the patient.
  • a change in position of the patient leads to a change in the spatial position of the frame and the light outputs 8g.
  • This structure is different and advantageous compared to the structure of FIG. 3 in that it gives the patient more freedom of movement for one
  • Optical waveguide 3 in front of which a lens 11 leads, which leads to an enlarged exit angle or radiation angle ⁇ .
  • the end of the optical waveguide 3 and the lens are held together on a mount 12 which is connected to a base 13
  • the invention can also be used in all other areas in which light-optical positioning is advantageous and in which electrical current paths in the area of the markings are to be dispensed with.
  • the use in surgical surgery is only given as a typical example

Abstract

The invention concerns a position-determination system using at least one marker, and a marker for use in such a system. The markers (1) are novel in that their active transmission power - normally pulses of light or similar energy - is fed in by means of optical waveguides (3) so that no detectable electrical currents occur in the region of the marker (1). Patients therefore have optimum protection against undesirable electrical interference.

Description

System zur Positionserfassung mit einem Marker und Marker zur Anwendung in einem solchen System System for position detection with a marker and marker for use in such a system
Die Erfindung betrifft insbesondere die Mikro- und Neurochirurgie, ist jedoch auf dieses Anwendungsgebiet nicht eingeschränkt Die diesbezüglichen Angaben in dieser Patentanmeldung sind daher insofern nur beispielhaft zu verstehenThe invention relates in particular to microsurgery and neurosurgery, but is not restricted to this field of application. The information in this patent application is therefore to be understood only as an example
Um Operationen im Inneren eines menschlichen oder tierischen Organismus durchfuhren zu können, sieht die neuere Operationstechnik vor, mittels MRI oder Computertomographie das zu operierende Gebiet räumlich zu erfassen und dreidimensional auf Bildschirmen darzustellen Die verbesserte Mikroskopiertechnologie erlaubt dabei, ein Bild des von aussen gesehenen Korpers ausserhalb des Operationsbereiches zu erfassen und dem MRI oder CT Bild zu überlagern Dies hilft einem Chirurgen grundsätzlich, die zu operierende Stelle im Gewebe besser zu lokalisieren Dazu ist es jedoch auch erforderlich, die Position des Korpers relativ zur Position des Korpers zum Zeitpunkt der MRI- oder CT- Aufnahme festzulegen bzw die beiden Positionen in Übereinstimmung zu bringen Bevorzugt werden dazu am Korper (z B am Kopf eines Patienten, sogenannte Fiducial Markers) Marker montiert, die zueinander in einer bestimmten Position sind und sowohl bei der MRI- oder CT- Aufnahme, als auch wahrend der Operation unter dem Operationsmikroskop am selben Ort des Patienten verbleiben Über diese Marker ist eine Orientierung möglich Bevorzugt werden solche Marker als aktive Sendeelemente ausgebildet, die z B Infrarotsignale abstrahlen, die von einem Infrarotempfanger empfangen werden und zur Positionsbestimmung computerunterstutzt ausgewertet werden können Die DE 3807578 A1 offenbart ein Verfahren zur raumlichen Erfassung eines menschlichen Schadeis, bei dem optisch erfassbare Bezugspunkte am Schädel befestigt werden Diese Bezugspunkte können auch durch Leuchtdioden gebildet seinIn order to be able to perform operations inside a human or animal organism, the newer surgical technique provides for spatial detection of the area to be operated on by means of MRI or computer tomography and three-dimensional display on screens. The improved microscopy technology allows an image of the body seen from the outside outside Detecting the surgical area and superimposing it on the MRI or CT image This basically helps a surgeon to better localize the area to be operated on in the tissue. However, this also requires the position of the body relative to the position of the body at the time of the MRI or CT scan. To determine the exposure or to bring the two positions into agreement, markers are preferably mounted on the body (for example on the head of a patient, so-called fiducial markers), which are in a certain position with respect to one another and both during MRI or CT imaging, as well during the surgery under remain in the surgical microscope at the same place as the patient. Orientation is possible using these markers. Such markers are preferably designed as active transmission elements, which, for example, emit infrared signals that are received by an infrared receiver and can be evaluated with the help of a computer to determine their position DE 3807578 A1 discloses a method for the spatial detection of human damage, in which optically detectable reference points are attached to the skull. These reference points can also be formed by light-emitting diodes
Die DE 4202505 A1 offenbart ein Fuhrungssystem zur raumlichenDE 4202505 A1 discloses a guidance system for spatial
Positionierung eines Instrumentes, bietet jedoch keine Lehre hinsichtlich der Positionserfassung eines Patienten oder Objektes Die Problematik von spannungsinduzierten Fehlstromen im Gehirn durch stromleitende Bahnen im Bereich desselben ist dort nicht erkannt wordenPositioning of an instrument, however, does not offer any teaching regarding the position detection of a patient or object. The problem of voltage-induced fault currents in the brain due to current-carrying tracks in the area of the brain was not recognized there
Die Erfindung geht von der Entdeckung aus, dass solche aktiven Systeme, zumal sie häufig am Kopf eines Patienten oder in seiner Nahe angewendet werden und mit dem Kopf des Patienten unmittelbar verbunden sind (eingeschraubt), Probleme erzeugen konnten Das Gehirn eines Patienten sollte bei solchen Operationen möglichst wenig und zwar schon gar nicht durch elektrische Fremdstrome irritiert oder belastet werden, da solches dasThe invention is based on the discovery that such active systems, especially since they are often used on or near a patient's head and are directly connected (screwed in) to the patient's head, could cause problems. The brain of a patient should be used in such operations as little as possible, and certainly not irritated or stressed by external electrical currents, since such the
Operationsrisiko steigern konnte Ausserdem können auftretende Fremdstrome operationsnotwendige Überwachungen der Gehirnstrome negativ beeinflussen Die Erfindung setzt sich daher zum Ziel, Marker mit aktiven Sendeeigenschaften zu schaffen, die im Bereich ihres Anwendungsortes ohne elektrische Strome auskommenThe risk of surgery could also increase the occurrence of external currents. Surveillance of brain currents that are necessary for surgery can therefore have a negative effect. The aim of the invention is therefore to create markers with active transmission properties which can do without electrical currents in the area of their application
Gelost wird das Ziel dadurch, dass die elektrischen bzw elektronischen Sendeelemente (Leuchtdioden) o dgl von den Markern entfernt angeordnet sind und mit den Markern über optische Wellenleiter derart verbunden sind, dass die an einem Ende der optischen Wellenleiter eingespeisten Signale der Sender am anderen Ende der Wellenleiter - an den Markern - ins Freie abstrahlen können Gemass einer bevorzugten Ausbildung der Erfindung sind pro Marker wenigstens zwei, vorzugsweise drei Austrittsstellen von zwei bzw drei voneinander unabhängigen Lichtwellenleitem vorgesehen, denen wenigstens ein oder gegebenenfalls je ein Sender zugeordnet ist Das Verfahren zum Betreiben der Sender entspricht dem bisher bekannten und angewendeten Verahren, so dass darauf hier nicht naher eingegangen werden mussThe goal is achieved in that the electrical or electronic transmission elements (light-emitting diodes) or the like are arranged away from the markers and are connected to the markers via optical waveguides in such a way that the signals of the transmitters fed in at one end of the optical waveguide are at the other end of the Waveguides - at the markers - can radiate outdoors According to a preferred embodiment of the invention, at least two, preferably three exit points of two or three mutually independent optical waveguides are provided per marker, to which at least one or possibly one transmitter is assigned in each case. The method for operating the transmitters corresponds to the previously known and applied method, so that there is no need to go into this here
Ein weiterer besonders grosser Vorteil durch die Anwendung der Glasfasern ergibt sich daraus, dass die Glasfasern im Vergleich zu bisher verwendeten Leuchtdioden eine sehr kleine definierte Lichtaustnttsflache aufweisen, die somit eine Positionierung des Ortes dieses Lichtaustrittes mit grosserer Genauigkeit erlauben, als dies bisher mit Leuchtdioden möglich warAnother particularly great advantage of using the glass fibers results from the fact that the glass fibers have a very small defined light emission area compared to previously used light-emitting diodes, which therefore allows the location of this light exit to be positioned with greater accuracy than was previously possible with light-emitting diodes
Die Lichtaustnttsflache kann darüber hinaus durch an sich bekannte optische Massnahmen, wie Korrekturlinsen, Loch- oder Schhtzblenden, Pinholes o dgl noch verbessert werdenThe light emission surface can also be improved by optical measures known per se, such as correction lenses, pinhole or protective diaphragms, pinholes or the like
In der Zeichnung sind 6 Figuren mit unterschiedlichen Details dargestellt Die Figuren sind rein schematisch und werden zusammenhangend beschrieben Gleiche Bauteile tragen gleiche Bezugszeichen Funktionsahnliche Bauteile tragen indizierte BezugszeichenIn the drawing, 6 figures are shown with different details. The figures are purely schematic and are described in a related manner. The same components have the same reference numerals Functional components have indexed reference numerals
FigurenbeschreibungFigure description
Fig 1 zeigt einen Marker 1a, an dessen Oberseite ein kleinerFig. 1 shows a marker 1a, on the top of which a small one
Umlenkspiegel oder ein lichtoptisches Streuelement 2a und das Ende eines Lichtwellenleiters 3a montiert sind Am anderen Ende des Lichtwellenleiters 3a befindet sich ein Sender in Form einer Leuchtdiode 4a, diese ist über eine Steuerung 5a angesteuert Mit der Steuerung 5a ist ein Positionssensor 6a verbunden, der das Licht des Markers 1a empfangen kann Ein zweiter Marker 1b ist in einem Abstand 7 vom ersten angeordnet und sendet ebenso das Signal desselben Senders 4a oder eines anderen Senders 4b in den Raum Über elektronisches bzw rechnerisches Auswerten können die Informationen, die aus verschiedenen Richtungen am Sensor 6a eintreffen, ausgewertet werden, um den Abstand 7 zwischen benachbarten Markern 1a,b und den Abstand zum Sensor 6a und dann die Position der Marker bzw des damit verbundenen Körperteils zu bestimmen Als Streuelement 2a kommen beispielsweise aufgerauhte reflektierende Flachen in Frage z B sandgestrahlte AluminiumflachenDeflecting mirrors or a light-optical scattering element 2a and the end of an optical waveguide 3a are mounted. At the other end of the optical waveguide 3a there is a transmitter in the form of a light-emitting diode 4a, which is controlled by a controller 5a The controller 5a is connected to a position sensor 6a which can receive the light from the marker 1a. A second marker 1b is arranged at a distance 7 from the first and likewise sends the signal from the same transmitter 4a or another transmitter 4b into the room via electronic or computational evaluation The information arriving at the sensor 6a from different directions can be evaluated in order to determine the distance 7 between adjacent markers 1a, b and the distance to the sensor 6a and then the position of the markers or the body part connected to them roughened reflective surfaces in question e.g. sandblasted aluminum surfaces
Als Positionssensor kommen an sich bekannte, mehrdimensionale Sensoren, wie z B CCD-Arrays, Matrixanordnungen etc in FrageKnown multi-dimensional sensors, such as CCD arrays, matrix arrangements, etc., can be used as position sensors
Als Lichtwellenleiter bieten sich Glasfasern (-Bündel),Glass fibers (bundles) are available as optical fibers,
Kunststoffleitungen, flussigkeitsbefullte Schlauche (z B Siliconol) usw in FragePlastic lines, liquid-filled hoses (e.g. Siliconol) etc. in question
Dieses Verfahren ist grundsätzlich schon bekannt Neu ist, dass an den Markern 1 erfindungsgemass keine messbaren elektrischen Strome auftretenIn principle, this method is already known. It is new that according to the invention, no measurable electrical currents occur at the markers 1
zeigt einen Marker 1c mit drei Lichtsendeausgangen 8a-c, die von einem einzigen Lichtwellenleiter 3b über ein integriertes Lichtleitersystem mit Sendeenergie versorgt werden Das integrierte Lichtleitersystem 9a ist nur angedeutet, da sich dafür viele bekannte Techniken einsetzen lassen Insbesondere konntenshows a marker 1c with three light emitting outputs 8a-c, which are supplied with transmission energy by a single optical fiber 3b via an integrated optical fiber system. The integrated optical fiber system 9a is only hinted at, since many known techniques could be used in particular
Lichtleiterbahnen entlang von Glasplatten oder gespleisste Glasfasern, Strahlenteller o dgl zum Einsatz gelangen Der Vorteil eines solchen Markers gegenüber jenen nach Fig 1 liegt in einer verbesserten bzw vereinfachten Bestimmbarkeit seiner Position relativ zum Sensor 6a, da auf dem Marker selbst eine vorgegebene Geometrie der Signalabgabestellen herrscht, die bekannt und vorzugsweise unveränderbar ist, was noch weiter verbessert ist mit einem noch grosseren Marker nach Fig 3Optical fibers along glass plates or spliced glass fibers, radiation plates or the like are used. The advantage Such a marker compared to that of FIG. 1 lies in an improved or simplified determinability of its position relative to the sensor 6a, since there is a predetermined geometry of the signal delivery points on the marker itself, which is known and preferably unchangeable, which is further improved with an even larger one Marker according to Fig. 3
zeigt einen grossflachigen Marker 1d in Ringform, der mittels dreishows a large-area marker 1d in a ring shape, which by means of three
Schrauben 10 beispielsweise an einem Kopf befestigt werden kann In dem Ring 1d integriert sind drei oder mehr Lichtwellenleiter 3c, die zu je einem Sendeausgang 8d-f fuhren, wobei an den jeweils anderen Enden der Lichtwellenleiter 3c jeweils ein eigener Sender angeordnet ist, so dass die von den Ausgangen 8d-f abgestrahlte Sendeenergie unterschiedlich ist, z B unterschiedliche Pulsfrequenz, Lichtfarbe o dgl aufweist Diese ermöglicht die Lagebestimmung des Markers durch Erkennen der Lage der einzelnen Ausgange 8d-f Die Ringform erhöht dessen Stabilität, so dass es bei wiederholten Montagen weniger leicht zu Abweichungen kommen kann Der ringförmige stabile Aufbau erlaubt darüber hinaus ein gutes reproduzierbares Positionieren des Markers 1 b z B am Kopf eines Patienten, selbst wenn er nicht mittels Schrauben imScrews 10, for example, can be attached to a head. In the ring 1d, three or more optical fibers 3c are integrated, each leading to a transmission output 8d-f, with a separate transmitter being arranged at the other ends of the optical fibers 3c, so that the Transmitting energy radiated from the outputs 8d-f is different, for example has a different pulse frequency, light color or the like. This enables the position of the marker to be determined by recognizing the position of the individual outputs 8d-f. The ring shape increases its stability, so that it is less easy with repeated assemblies deviations can occur. The stable, ring-shaped structure also allows the marker 1 or B to be positioned on the head of a patient in a reproducible manner, even if it is not screwed into the patient's head
Schädel angeschraubt , sondern von diesem durch Mess-Distanz- Stellschrauben reproduzierbar distanziert istSkull screwed, but is reproducibly distanced from it by measuring distance adjusting screws
zeigt eine andere Variante mit einem Rahmen 15, der die Marker 8g tragt, die über Lichtwellenleiter 3 mit der Steuerung 5a verbunden sind Der Rahmen verfugt über eine bestimmte geometrische Form, die seine Erkennung und damit seine Lage im Raum festzustellen erlaubt Der Rahmen ist über einen Arm 14 z B mittels "mayfield clamp" (einer am Patienten befestigbaren Klammer 1e) verbunden, so dass er in einer starren Relation zum Patienten liegt Eine Positionsanderung des Patienten fuhrt zu einer Änderung der Raumlage des Rahmens und der Lichtausgange 8g Dieser Aufbau ist insofern unterschiedlich und vorteilhaft gegenüber dem Aufbau der Figur 3 als er beim Patienten mehr Bewegungsfreiheit für einenshows another variant with a frame 15 which carries the markers 8g, which are connected to the control 5a via optical waveguides 3. The frame has a specific geometric shape which allows its detection and thus its position in space. The frame is over a Arm 14 eg connected by means of a "mayfield clamp" (a clamp 1e which can be attached to the patient), so that it lies in a rigid relation to the patient. A change in position of the patient leads to a change in the spatial position of the frame and the light outputs 8g. This structure is different and advantageous compared to the structure of FIG. 3 in that it gives the patient more freedom of movement for one
Operateur ermöglicht, ohne zu einer erhöhten Abschattung der Lichtaustrittsflachen zu fuhrenSurgeon enables without leading to increased shading of the light exit surfaces
Fig 5 zeigt eine vergrosserte Variante einer Lichtaustnttsflache aus einem5 shows an enlarged variant of a light emission surface from a
Lichtwellenleiter 3, der eine Linse 11 vorgesetzt ist, die zu einem vergrosserten Austrittswinkel bzw Abstrahlwinkel α fuhrt Das Ende des Lichtwellenleiters 3 und die Linse sind gemeinsam an einer Fassung 12 gehalten, die mit einer Basis 13 verbunden istOptical waveguide 3, in front of which a lens 11 leads, which leads to an enlarged exit angle or radiation angle α. The end of the optical waveguide 3 and the lens are held together on a mount 12 which is connected to a base 13
Selbstverständlich kann die Erfindung auch in allen anderen Bereichen, in denen eine lichtoptische Positionierung von Vorteil ist und in denen auf elektrische Strombahnen im Bereich der Markierungen verzichtet werden soll, zum Einsatz gelangen Die Anwendung in der Operationschirurgie ist nur als typisches Beispiel angeführtOf course, the invention can also be used in all other areas in which light-optical positioning is advantageous and in which electrical current paths in the area of the markings are to be dispensed with. The use in surgical surgery is only given as a typical example
Als weitere Variante hegt im Rahmen der Erfindung eine Ausbildung mit mehreren Markern, d h Lichtleiterausgangen, jedoch nur einer einzigen Signalfunktion darauf D h die Zufuhrung zu allen Markern erfolgt über ein einziges Glasfaserkabel, bzw mehrere Glasfaserkabel gehen von einer einzigen Lichtquelle aus Die optische Erkennung und Zuordnung ist dann nicht eingeschränkt auf die modulierte Lichtabgabe vom einzelnen Marker, sondern nur von dessen räumlicher Anordnung in Bezug zu den anderen Markern Eine weitere Variante der Erfindung ist denkbar (vgl Fig 6), bei der an Stelle der geometrischen Anordnung mehrerer Marker bzw Lichtwellenleiterausgange durch geometrische Schlitzblenden 16 o dgl geometrisch codiert sind, so dass beispielsweise von einem einzigen Marker 1 f eine geometrisch definierte, z B sternförmige oder auch asymmetrische Abstrahlleistung abgegeben werden kann, wobei die Querschnitte der einzelnen Strahlenbundel 17 definiert sind, z B rund, dreieckig oder mehrfach punktformig nebeneinander liegend o dgl Dies ermöglicht das Verwenden von nur wenigen Markern oder nur einem was zu einer verbesserten Kompaktheit fuhrt Die einzelnen Strahlenbundel 17 konnten beispielsweise jedoch auch z B mittels Filter farbcodiert sein um eine entsprechende Zuordnung und Orientierung zu ermöglichen As a further variant, within the scope of the invention, there is a design with several markers, i.e. light guide outputs, but only a single signal function thereon. The supply to all markers takes place via a single fiber optic cable, or multiple fiber optic cables are based on a single light source. The optical detection and assignment is then not limited to the modulated light output from the individual marker, but only from its spatial arrangement in relation to the other markers A further variant of the invention is conceivable (cf. FIG. 6), in which instead of the geometrical arrangement of a plurality of markers or optical waveguide outputs are geometrically coded by means of geometrical slit diaphragms 16 or the like, so that, for example, a geometrically defined, for example star-shaped, of a single marker 1 f or asymmetrical radiation power can be output, the cross-sections of the individual beams 17 being defined, for example round, triangular or multiple point-shaped lying next to one another or the like. This enables the use of only a few markers or only one, which leads to improved compactness. The individual beams However, 17 could, for example, also be color-coded using a filter, for example, to enable appropriate assignment and orientation
BezugszeichenlisteReference list
1a-f Marker1a-f markers
2a Streuelement2a scattering element
3 Wellenleiter3 waveguides
3a-d Lichtwellenleiter3a-d optical fiber
4a-c Sendeelement, Leuchtdiode, Sender4a-c transmission element, light emitting diode, transmitter
5a Steuerung5a control
6 Sensor6 sensor
6a Sensor6a sensor
7 Abstand7 distance
8 Lichtaustrittsöffnungen, Austrittsstellen8 light exit openings, exit points
8a-c Lichtsendeausgänge8a-c light transmission outputs
8d-h Ausgänge/Sendeausgänge8d-h outputs / transmit outputs
9 Lichtleitersystem9 light guide system
9a Lichtleitersystem9a light guide system
10 Schrauben10 screws
11 Linse11 lens
12 Fassung12 version
13 Basis13 base
14 Arm14 arm
15 Rahmen 15 frames

Claims

PatentansprücheClaims
1 Marker (1) mit elektrischen bzw elektronischen Licht- Sendeelementen (4), dadurch gekennzeichnet, dass die elektrischen bzw elektronischen Sendeelemente (4) (Leuchtdioden) o dgl von dem Marker (1) entfernt angeordnet sind und mit dem Marker (1) über optische Wellenleiter (3) derart verbunden sind, dass die Signale der Sendeelemente (4) an einem Ende der optischen Wellenleiter (3) eingespeist, am anderen Ende der Wellenleiter (3) - am Marker (1) - ins Freie abstrahlen können1 marker (1) with electrical or electronic light-transmitting elements (4), characterized in that the electrical or electronic transmission elements (4) (light-emitting diodes) or the like are arranged away from the marker (1) and with the marker (1) above optical waveguides (3) are connected in such a way that the signals of the transmission elements (4) are fed in at one end of the optical waveguide (3) and can radiate outdoors at the other end of the waveguide (3) - at the marker (1)
2 Marker (1) nach Anspruch 1, dadurch gekennzeichnet, dass ihm wenigstens zwei, vorzugsweise drei Austrittsstellen (8) von zwei bzw drei voneinander unabhängigen Lichtwellenleitern (3) zugeordnet sind, denen wenigstens ein oder gegebenenfalls je ein Sendeelement (4) zugeordnet ist2 marker (1) according to claim 1, characterized in that it is assigned at least two, preferably three exit points (8) of two or three mutually independent optical waveguides (3) to which at least one or, if appropriate, one transmitting element (4) is assigned
3 Marker (1 ) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass er zweiteilig ausgebildet ist, wobei der untere Teil als im Knochen befestigbare Schraube ausgebildet ist und der obere Teil - der die Lichtaustrittsoffnungen (8) tragt - am unteren losbar befestigbar ist3 marker (1) according to one of the preceding claims, characterized in that it is formed in two parts, the lower part being designed as a screw which can be fastened in the bone and the upper part - which carries the light exit openings (8) - can be detachably fastened to the lower one
4 Marker (1) nach Anspruch 3, dadurch gekennzeichnet, dass zwischen dem oberen und dem unteren Teil des Markers (1) eine an sich bekannte Rast- Klemm- oder Magnethaftverbindung vorgesehen ist4 marker (1) according to claim 3, characterized in that between the upper and the lower part of the marker (1) a known locking, clamping or magnetic connection is provided
5 Marker (1) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die am Marker (1) mundenden Enden des Lichtwellenleiters (3) losbar befestigt sind 6. Marker (1) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass dem Lichtsendeausgang (8h) oder Lichtwellenleiter (3) eine geometrische Schablone oder Blende (16) angeordnet ist. 5 marker (1) according to one of the preceding claims, characterized in that the ends of the optical waveguide (3) which end at the marker (1) are detachably fastened 6. marker (1) according to any one of the preceding claims, characterized in that the light emitting output (8h) or optical waveguide (3) is arranged a geometric template or screen (16).
PCT/EP1997/003018 1996-06-10 1997-06-10 Position-determination system using a marker, and a marker for use in such a system WO1997047240A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH01443/96A CH690707A5 (en) 1996-06-10 1996-06-10 Markers for position detection with electrical or electronic light-transmitting elements
CH1443/96 1996-06-10

Publications (1)

Publication Number Publication Date
WO1997047240A1 true WO1997047240A1 (en) 1997-12-18

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WO1999066853A1 (en) * 1998-06-22 1999-12-29 Synthes Ag Chur Fiducial matching by means of fiducial screws
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EP1645228A1 (en) * 2004-10-05 2006-04-12 BrainLAB AG Tracking system using a scattering effect
EP1645241A1 (en) * 2004-10-05 2006-04-12 BrainLAB AG Position marker system with point light sources
DE102005045706B3 (en) * 2005-09-20 2007-04-26 Aesculap Ag & Co. Kg Surgical marker element for a surgical navigation system comprises a radiation source for producing radiation and an element for producing a luminescent mark detected by a detector
US8446473B2 (en) 2004-10-05 2013-05-21 Brainlab Ag Tracking system with scattering effect utilization, in particular with star effect and/or cross effect utilization
WO2016096675A1 (en) * 2014-12-16 2016-06-23 Koninklijke Philips N.V. Pulsed-light emitting marker device
EP3335664A1 (en) * 2016-12-15 2018-06-20 Carl Zeiss Industrielle Messtechnik GmbH Fiducial marker and method of manufacturing a fiducial marker

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DE19751781C2 (en) * 1996-11-22 2002-02-14 Leica Mikroskopie Systeme Ag H Microscope with position monitoring
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WO1999038449A1 (en) * 1998-01-28 1999-08-05 Cosman Eric R Optical object tracking system
WO1999066853A1 (en) * 1998-06-22 1999-12-29 Synthes Ag Chur Fiducial matching by means of fiducial screws
EP1207336A1 (en) 2000-11-12 2002-05-22 Leica Microsystems AG Stand with supporting parallelogram and balancing device
US6637274B2 (en) 2000-11-12 2003-10-28 Leica Microsystems (Schweiz) Ag Stand with a parallelogram carrier and balancing mechanism
US8446473B2 (en) 2004-10-05 2013-05-21 Brainlab Ag Tracking system with scattering effect utilization, in particular with star effect and/or cross effect utilization
EP1645228A1 (en) * 2004-10-05 2006-04-12 BrainLAB AG Tracking system using a scattering effect
EP1645241A1 (en) * 2004-10-05 2006-04-12 BrainLAB AG Position marker system with point light sources
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DE102005045706B3 (en) * 2005-09-20 2007-04-26 Aesculap Ag & Co. Kg Surgical marker element for a surgical navigation system comprises a radiation source for producing radiation and an element for producing a luminescent mark detected by a detector
WO2016096675A1 (en) * 2014-12-16 2016-06-23 Koninklijke Philips N.V. Pulsed-light emitting marker device
CN107106253A (en) * 2014-12-16 2017-08-29 皇家飞利浦有限公司 Pulsating light emission marking arrangement
CN107106253B (en) * 2014-12-16 2020-04-03 皇家飞利浦有限公司 Pulsating light-emitting marking device
US11129691B2 (en) 2014-12-16 2021-09-28 Koninklijke Philips N.V. Pulsed-light emitting marker device
EP3335664A1 (en) * 2016-12-15 2018-06-20 Carl Zeiss Industrielle Messtechnik GmbH Fiducial marker and method of manufacturing a fiducial marker

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