US6006126A
Expired / Lapsed
US
⏱️ 0.0 years remaining
System and method for stereotactic registration of image scan data
Assignee: Integra Radionics Inc
•
Filing: 1995-06-07
•
Granted: 1999-12-21
•
Expires: 2015-06-07
Abstract
Abstract A system for computer graphic determination and display of a patient's anatomy, as from CT or MR scanning, and stored along with associated equipment in an object field including the patient's anatomy. A first digitizing camera structure produces a signal representative of its field-of-view which defines coordinates of index points in its field-of-view. A second digitizing camera structure produces similar output for an offset field-of-view. The two camera positions are defined with respect to the patient's anatomy so that the fields-of-view of the cameras include both the patient's anatomy and the equipment, but are taken from different directions. Index markers are for fixing points in the fields of view and accordingly locate equipment relative to said patient anatomy. The index markers are provided by variety of structures including, light sources in various forms as reflectors, diodes, and laser scanner structures to provide a visible grid, mesh or cloud of points.
Inventors
- 👤 Eric R. Cosman
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 19:28
CPC Classifications
G; G06; G06T; G06T3/00; G06T3/14; A; A61; A61B; A61B34/00; A61B34/20; A61B90/00; A61B90/10; A61B90/36; G06V; G06V10/00; G06V10/20; G06V10/24; G06V10/245; G06V30/00; G06V30/10; G06V30/14; G06V30/144; A61B34/10; A61B2034/107; A61B2034/2046; A61B2034/2055; A61B2034/2057; A61B2034/2068; A61B2034/2072; A61B2090/363; A61B2090/364; A61B2090/368; A61B90/37; A61B2090/371; A61B90/39; A61B2090/3937; A61B2090/3983; A61B90/50; A61B2090/502; A61B90/20; A61B90/361; A61N; A61N5/00; A61N5/10; A61N5/1048; A61N5/1049; A61N2005/105; G06V2201/00; G06V2201/03
Claims Analysis
Total Claims: 83
Claim 1
Independent Claim
150 words
A system using designated index locations, for indicating positional relationships of an object field including a surgical instrument as related to a subject patient's anatomy represented by image-scanner data, said system comprising: a memory for storing said image-scanner data representing the subject patient's anatomy and referenced in scanner-data coordinates to said designated index locations; a camera apparatus for providing position data indicative of said designated index locations and said surgical instrument whereby to track said surgical instrument in relation to said designated index locations; a computer graphics apparatus for transforming at least one of said position data and said image-scanner data to provide said image-scanner data and said position data in compatible coordinates; an image generator for combining said image-scanner data and said position data to form combined display data; and a display unit for receiving said combined display data to provide an image display including the subject patient's anatomy.
Claim 2
Independent Claim
150 words
A system using designated index locations, for indicating positional relationships of an object field including a surgical instrument as related to a subject patient's anatomy represented by image-scanner data, said system comprising: a memory for storing said image-scanner data representing the subject patient's anatomy and referenced in scanner-data coordinates to said designated index locations; a camera apparatus for providing position data indicative of said designated index locations and said surgical instrument whereby to track said surgical instrument in relation to said designated index locations; a computer graphics apparatus for transforming at least one of said position data and said image-scanner data to provide said image-scanner data and said position data in compatible coordinates; an image generator for combining said image-scanner data and said position data to form combined display data; and a display unit for receiving said combined display data to provide an image display including the subject patient's anatomy.
Claim 3
Dependent Claim
28 words
A system according to claim 1 further including index means to indicate said designated index locations, said index means adapted to be affixed to the subject patient's anatomy.
Claim 4
Dependent Claim
14 words
A system according to claim 2 wherein said index means comprises a light source.
Claim 5
Dependent Claim
13 words
A system according to claim 3 wherein said light source comprises a diode.
Claim 6
Dependent Claim
13 words
A system according to claim 3 wherein said light source comprises a reflector.
Claim 7
Dependent Claim
13 words
A system according to claim 2 wherein said index means comprise geometric means.
Claim 8
Dependent Claim
14 words
A system according to claim 6 wherein said geometric means comprises a triangular plate.
Claim 9
Dependent Claim
31 words
A system according to claim 1 further including an array projector for projecting an optically detectable array of light points on the subject patient's anatomy to indicate said designated index locations.
Claim 10
Dependent Claim
15 words
A system according to claim 8 wherein said array projector comprises a laser grid generator.
Claim 11
Dependent Claim
52 words
A system according to claim 1 further including a mechanical holder adapted to be affixed to said subject patient's anatomy and holder index means detectable by said camera apparatus to provide reference data for referencing said subject patient's anatomy to preserve said display data with positional changes of said subject patient's anatomy.
Claim 12
Dependent Claim
30 words
A system according to claim 1 wherein said computer graphics apparatus computes at least one pattern recognition transformation to determine, from said position data, a pattern of said surgical instrument.
Claim 13
Dependent Claim
16 words
A system according to claim 1 wherein said camera apparatus comprises at least one CCD camera.
Claim 14
Dependent Claim
16 words
A system according to claim 1 wherein said camera apparatus comprises at least one video camera.
Claim 15
Dependent Claim
13 words
A system according to claim 1 wherein said surgical instrument comprises a microscope.
Claim 16
Dependent Claim
26 words
A system according to claim 14 wherein said microscope includes a plurality of optically detectable objects detectable by said camera apparatus to provide said location data.
Claim 17
Dependent Claim
24 words
A system according to claim 1 wherein said system further includes a scanner for scanning the subject patient's anatomy to provide said image-scanner data.
Claim 18
Dependent Claim
24 words
A system according to claim 1 further including index means adapted to be affixed to said patient's anatomy to indicate said designated index locations.
Claim 19
Dependent Claim
15 words
A system according to claim 1 wherein said designated index locations comprise natural anatomical landmarks.
Claim 20
Dependent Claim
32 words
A system according to claim 1 further including an optically detectable probe, whereby said camera apparatus senses said optical probe to determine locations of said designated index locations in said object fields.
Claim 21
Dependent Claim
32 words
A system according to claim 1 wherein said surgical instrument comprises at least one marker detectable by said camera apparatus for providing a representation of said surgical instrument in said image display.
Claim 22
Dependent Claim
33 words
A system according to claim 1 wherein said surgical instrument comprises at least one light source detectable by said camera apparatus for providing a representation of said surgical instrument in said image display.
Claim 23
Dependent Claim
32 words
A system according to claim 1 wherein said surgical instrument comprises at least one reflector detectable by said camera apparatus for providing a representation of said surgical instrument in said image display.
Claim 24
Dependent Claim
22 words
A system according to claim 22 further including at least one light source for projecting light onto said at least one reflector.
Claim 25
Dependent Claim
32 words
A system according to claim 1 further including at least one marker adapted to be affixed to said subject patient's anatomy to indicate at least a portion of said designated index locations.
Claim 26
Dependent Claim
16 words
A system according to claim 24 wherein said surgical instrument comprises at least one light source.
Claim 27
Dependent Claim
18 words
A system according to claim 25 wherein said at least one light source comprises a light emitting diode.
Claim 28
Dependent Claim
16 words
A system according to claim 25 wherein said at least one light source comprises a reflector.
Claim 29
Dependent Claim
18 words
A system according to claim 24 wherein said at least one marker comprises at least one light source.
Claim 30
Dependent Claim
18 words
A system according to claim 28 wherein said at least one light source comprises at least one reflector.
Claim 31
Dependent Claim
18 words
A system according to claim 28 wherein said at least one light source comprises at least one diode.
Claim 32
Dependent Claim
43 words
A system according to claim 1 further including a mechanical holder adapted to be affixed to said subject patient's anatomy, said holder comprising at least one light source detectable by said camera apparatus to provide reference data for referencing said subject patient's anatomy.
Claim 33
Dependent Claim
42 words
A system according to claim 1 further including a mechanical holder adapted to be affixed to said subject patient's anatomy, said holder comprising at least one reflector detectable by said camera apparatus to provide reference data for referencing said subject patient's anatomy.
Claim 34
Independent Claim
161 words
A method of determining the positional relationship of a surgical instrument with respect to a subject patient's anatomy comprising the steps of: designating at least one index location for detection in relation to the subject patient's anatomy and the surgical instrument; storing three dimensional image scanner data representative of the subject patient's anatomy in scanner-data coordinates and referenced to said at least one index location; determining, using a camera system, the position of said surgical instrument in detector coordinates relative to the subject patient's anatomy based on said at least one index location and represented by surgical instrument data; correlating the surgical instrument data and the image scanner data representative of the subject patient's anatomy to a compatible coordinate system; combining said surgical instrument data and said image scanner data in said compatible coordinate system to provide display signals; and driving a computer graphics display with said display signals to display said surgical instrument in relation to said subject patient's anatomy.
Claim 35
Independent Claim
161 words
A method of determining the positional relationship of a surgical instrument with respect to a subject patient's anatomy comprising the steps of: designating at least one index location for detection in relation to the subject patient's anatomy and the surgical instrument; storing three dimensional image scanner data representative of the subject patient's anatomy in scanner-data coordinates and referenced to said at least one index location; determining, using a camera system, the position of said surgical instrument in detector coordinates relative to the subject patient's anatomy based on said at least one index location and represented by surgical instrument data; correlating the surgical instrument data and the image scanner data representative of the subject patient's anatomy to a compatible coordinate system; combining said surgical instrument data and said image scanner data in said compatible coordinate system to provide display signals; and driving a computer graphics display with said display signals to display said surgical instrument in relation to said subject patient's anatomy.
Claim 36
Dependent Claim
27 words
A method according to claim 33 further including the step of affixing at least one index marker to said subject patient's anatomy to indicate said index locations.
Claim 37
Dependent Claim
19 words
A method according to claim 34 wherein said at least one index marker comprises at least one radiopaque marker.
Claim 38
Dependent Claim
19 words
A method according to claim 34 wherein said at least one index marker comprises at least one light source.
Claim 39
Dependent Claim
18 words
A method according to claim 36 wherein said at least one light source comprises at least one diode.
Claim 40
Dependent Claim
18 words
A method according to claim 36 wherein said at least one light source comprises at least one reflector.
Claim 41
Dependent Claim
24 words
A method according to claim 34 further including the step of detecting light from at least one light emitting diode on said surgical instrument.
Claim 42
Dependent Claim
22 words
A method according to claim 34 further including the step of detecting light from at least one reflector on said surgical instrument.
Claim 43
Dependent Claim
24 words
A method according to claim 40 further including the step of projecting light onto said at least one reflector to track said surgical instrument.
Claim 44
Dependent Claim
20 words
A method according to claim 33 wherein said at least one index location comprises at least one natural anatomical landmark.
Claim 45
Dependent Claim
32 words
A method according to claim 33 further including the step of projecting an optically detectable array of light points on said subject patient's anatomy to indicate said at least one index location.
Claim 46
Dependent Claim
55 words
A method according to claim 33 further including the step of affixing a mechanical holder to said subject patient's anatomy, said mechanical holder comprising holder index means detectable by said camera system to provide reference data for referencing said subject patient's anatomy to preserve said display signals with positional changes of said subject patient's anatomy.
Claim 47
Dependent Claim
43 words
A method according to claim 33 further including the step of affixing a mechanical holder to said subject patient's anatomy, said mechanical holder comprising at least one reflector detectable by said camera system to provide reference data for referencing said subject patient's anatomy.
Claim 48
Dependent Claim
44 words
A method according to claim 33 further including the step of affixing a mechanical holder to said subject patient's anatomy, said mechanical holder comprising at least one light source detectable by said camera system to provide reference data for referencing said subject patient's anatomy.
Claim 49
Dependent Claim
31 words
A method according to claim 33 further including the step of computing at least one pattern recognition transformation to determine, from said surgical instrument data, a pattern of said surgical instrument.
Claim 50
Dependent Claim
47 words
A method according to claim 33 wherein said surgical instrument comprises a microscope including a plurality of optically detectable objects, the method further including the step of detecting said optically detectable objects by said camera system to provide at least a portion of said surgical instrument data.
Claim 51
Dependent Claim
22 words
A method according to claim 33 further including the step of scanning said subject patient's anatomy to provide said image scanner data.
Claim 52
Dependent Claim
20 words
A method according to claim 33 further including the step of detecting at least one marker on said surgical instrument.
Claim 53
Dependent Claim
21 words
A method according to claim 33 further including the step of detecting at least one light source on said surgical instrument.
Claim 54
Dependent Claim
20 words
A method according to claim 33 further including the step of detecting at least one reflector on said surgical instrument.
Claim 55
Dependent Claim
24 words
A method according to claim 52 further including the step of projecting light onto said at least one reflector to track said surgical instrument.
Claim 56
Dependent Claim
24 words
A method according to claim 33 further including the step of sensing an optically detectable probe to designate said at least one index location.
Claim 57
Independent Claim
156 words
A system using designated index locations, for indicating positional relationships of an object field including a surgical instrument as related to a subject patient's anatomy represented by image-scanner data, said system comprising; a memory for storing said image-scanner data representing the subject patient's anatomy and referenced in scanner-data coordinates to said designated index locations; a camera apparatus for optically sensing said object field from plural different fields of view to provide location data comprising first data associated with said designated index locations and second data associated with said surgical instrument; a computer graphics apparatus for transforming at least one of sad location data and said image-scanner data to provide said image-scanner data and said location data in compatible coordinates; an image generator for combining said image-scanner data and said location data to form combined display data; and a display unit for receiving said combined display data to provide an image display including the subject patient's anatomy.
Claim 58
Independent Claim
156 words
A system using designated index locations, for indicating positional relationships of an object field including a surgical instrument as related to a subject patient's anatomy represented by image-scanner data, said system comprising; a memory for storing said image-scanner data representing the subject patient's anatomy and referenced in scanner-data coordinates to said designated index locations; a camera apparatus for optically sensing said object field from plural different fields of view to provide location data comprising first data associated with said designated index locations and second data associated with said surgical instrument; a computer graphics apparatus for transforming at least one of sad location data and said image-scanner data to provide said image-scanner data and said location data in compatible coordinates; an image generator for combining said image-scanner data and said location data to form combined display data; and a display unit for receiving said combined display data to provide an image display including the subject patient's anatomy.
Claim 59
Dependent Claim
21 words
A system according to claim 55 wherein said surgical instrument comprises at least one light source detectable by said camera apparatus.
Claim 60
Dependent Claim
20 words
A system according to claim 55 wherein said surgical instrument comprises at least one reflector detectable by said camera apparatus.
Claim 61
Dependent Claim
32 words
A system according to claim 55 further including at least one marker adapted to be affixed to said subject patient's anatomy to indicate at least a portion of said designated index locations.
Claim 62
Dependent Claim
16 words
A system according to claim 58 wherein said surgical instrument comprises at least one light source.
Claim 63
Dependent Claim
18 words
A system according to claim 59 wherein said at least one light source comprises a light emitting diode.
Claim 64
Dependent Claim
16 words
A system according to claim 59 wherein said at least one light source comprises a reflector.
Claim 65
Dependent Claim
18 words
A system according to claim 58 wherein said at least one marker comprises at least one light source.
Claim 66
Dependent Claim
18 words
A system according to claim 62 wherein said at least one light source comprises at least one reflector.
Claim 67
Dependent Claim
18 words
A system according to claim 62 wherein said at least one light source comprises at least one diode.
Claim 68
Dependent Claim
43 words
A system according to claim 55 further including a mechanical holder adapted to be affixed to said subject patient's anatomy, said holder comprising at least one light source detectable by said camera apparatus to provide reference data for referencing said subject patient's anatomy.
Claim 69
Dependent Claim
42 words
A system according to claim 55 further including a mechanical holder adapted to be affixed to said subject patient's anatomy, said holder comprising at least one reflector detectable by said camera apparatus to provide reference data for referencing said subject patient's anatomy.
Claim 70
Independent Claim
159 words
A system using designated index locations, for indicating positional relationships of an object field including a surgical instrument as related to a subject patient's anatomy represented by image-scanner data, said system comprising: a memory for storing said image-scanner data representing the subject patient's anatomy and referenced in scanner-data coordinates to said designated index locations; a camera apparatus for sensing plural fields of view of said object field for tracking said surgical instrument in said fields of view relative to said designated index locations, said camera apparatus providing location data relating said surgical instrument to said image scanner data; a computer graphics apparatus for transforming data based on said index locations to provide said image-scanner data and said location data in compatible coordinates; an image generator for combining said image-scanner data and said location data to form combined display data; and a display unit for receiving said combined display data to provide an image display including the subject patient's anatomy.
Claim 71
Independent Claim
159 words
A system using designated index locations, for indicating positional relationships of an object field including a surgical instrument as related to a subject patient's anatomy represented by image-scanner data, said system comprising: a memory for storing said image-scanner data representing the subject patient's anatomy and referenced in scanner-data coordinates to said designated index locations; a camera apparatus for sensing plural fields of view of said object field for tracking said surgical instrument in said fields of view relative to said designated index locations, said camera apparatus providing location data relating said surgical instrument to said image scanner data; a computer graphics apparatus for transforming data based on said index locations to provide said image-scanner data and said location data in compatible coordinates; an image generator for combining said image-scanner data and said location data to form combined display data; and a display unit for receiving said combined display data to provide an image display including the subject patient's anatomy.
Claim 72
Dependent Claim
21 words
A system according to claim 67 wherein said surgical instrument comprises at least one light source detectable by said camera apparatus.
Claim 73
Dependent Claim
20 words
A system according to claim 67 wherein said surgical instrument comprises at least one reflector detectable by said camera apparatus.
Claim 74
Dependent Claim
31 words
A system according to claim 67 further including at least one marker adapted to be affixed to said subject patient's anatomy to indicate at least one of said designated index locations.
Claim 75
Dependent Claim
16 words
A system according to claim 70 wherein said surgical instrument comprises at least one light source.
Claim 76
Dependent Claim
20 words
A system according to claim 71 wherein said at least one light source comprises at least one light emitting diode.
Claim 77
Dependent Claim
18 words
A system according to claim 71 wherein said at least one light source comprises at least one reflector.
Claim 78
Dependent Claim
18 words
A system according to claim 72 wherein said at least one marker comprises at least one light source.
Claim 79
Dependent Claim
18 words
A system according to claim 74 wherein said at least one light source comprises at least one reflector.
Claim 80
Dependent Claim
18 words
A system according to claim 74 wherein said at least one light source comprises at least one diode.
Claim 81
Dependent Claim
43 words
A system according to claim 67 further including a mechanical holder adapted to be affixed to said subject patient's anatomy, said holder comprising at least one light source detectable by said camera apparatus to provide reference data for referencing said subject patient's anatomy.
Claim 82
Dependent Claim
42 words
A system according to claim 67 further including a mechanical holder adapted to be affixed to said subject patient's anatomy, said holder comprising at least one reflector detectable by said camera apparatus to provide reference data for referencing said subject patient's anatomy.
Claim 83
Dependent Claim
13 words
A system according to claim 17 wherein said index means comprise radiopaque markers.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2002-12-20 | 2003-06-21 | 2003-12-21 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2006-12-20 | 2007-06-21 | 2007-12-21 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2010-12-20 | 2011-06-21 | 2011-12-21 | $7700.00 | Window Closed / Lapsed |