US6470207B1 — Navigational guidance via computer-assisted fluor…

Claim 1

Independent Claim 180 words

An x-ray imaging device comprising: an x-ray source for generating cycles of x-ray radiation corresponding to an image acquisition cycle; an x-ray receiving section positioned so that x-rays emanating from the x-ray source enter the x-ray receiving section, the x-ray receiving section generating an image representing intensities of the x-rays entering the x-ray receiving section; a computer coupled to the x-ray receiving section; radiation sensors located in a path of x-rays emitted from the x-ray source, the radiation sensors detecting a beginning and an end of a radiation cycle and transmitting the detected beginning and end of the radiation cycle to the computer; a dynamic reference frame marker attached in a fixed position relative to a patient; a calibration and tracking target; and a tracking sensor for detecting a position, in three-dimensional space, of the dynamic reference frame marker and the calibration and tracking target; wherein the computer determines that an image acquisition cycle is erroneous when the, position of the calibration and tracking target moves relative to the position of the dynamic reference frame during an image acquisition cycle.

Claim 2

Dependent Claim 180 words

An x-ray imaging device comprising: an x-ray source for generating cycles of x-ray radiation corresponding to an image acquisition cycle; an x-ray receiving section positioned so that x-rays emanating from the x-ray source enter the x-ray receiving section, the x-ray receiving section generating an image representing intensities of the x-rays entering the x-ray receiving section; a computer coupled to the x-ray receiving section; radiation sensors located in a path of x-rays emitted from the x-ray source, the radiation sensors detecting a beginning and an end of a radiation cycle and transmitting the detected beginning and end of the radiation cycle to the computer; a dynamic reference frame marker attached in a fixed position relative to a patient; a calibration and tracking target; and a tracking sensor for detecting a position, in three-dimensional space, of the dynamic reference frame marker and the calibration and tracking target; wherein the computer determines that an image acquisition cycle is erroneous when the, position of the calibration and tracking target moves relative to the position of the dynamic reference frame during an image acquisition cycle.

Claim 3

Dependent Claim 23 words

The device of claim 1 , wherein the computer further comprises a display for displaying the image generated by the x-ray receiving section.

Claim 4

Dependent Claim 27 words

The device of claim 1 , wherein the calibration and tracking target includes calibration markers and the calibration and tracking target is attached to the imaging device.

Claim 5

Dependent Claim 47 words

The device of claim 1 , wherein the calibration and tracking target is physically separated from the x-ray source and the x-ray receiving section and calibration markers included in the calibration and tracking target are in the path of x-rays of the generated cycles of x-ray radiation.

Claim 6

Dependent Claim 114 words

An x-ray imaging device comprising: an x-ray source for generating cycles of x-ray radiation corresponding to an image acquisition cycle; an x-ray receiving section positioned so that x-rays emanating from the x-ray source enter the x-ray receiving section, the x-ray receiving section generating an image representing intensities of the x-rays entering the x-ray receiving section; a computer coupled to the x-ray receiving section; radiation sensors located in a path of x-rays emitted from the x-ray source, the radiation sensors detecting a beginning and an end of a radiation cycle and transmitting the detected beginning and end of the radiation cycle to the computer; and calibration markers for determining a projective transformation of the image.

Claim 7

Dependent Claim 114 words

An x-ray imaging device comprising: an x-ray source for generating cycles of x-ray radiation corresponding to an image acquisition cycle; an x-ray receiving section positioned so that x-rays emanating from the x-ray source enter the x-ray receiving section, the x-ray receiving section generating an image representing intensities of the x-rays entering the x-ray receiving section; a computer coupled to the x-ray receiving section; radiation sensors located in a path of x-rays emitted from the x-ray source, the radiation sensors detecting a beginning and an end of a radiation cycle and transmitting the detected beginning and end of the radiation cycle to the computer; and calibration markers for determining a projective transformation of the image.

Claim 8

Dependent Claim 16 words

The device of claim 5 , wherein the calibration markers are used to correct image distortion.

Claim 9

Dependent Claim 211 words

An x-ray imaging device comprising: a rotatable C-arm support having first and second ends, an x-ray source positioned at the first end for initiating an imaging cycle by generating x-ray radiation; an x-ray receiving section positioned at the second end so that x-rays emanating from the x-ray source enter the x-ray receiving section, the x-ray receiving section generating an image representing the intensities of the x-rays entering the x-ray receiving section; a calibration and tracking target; a tracking sensor for detecting a position, in three-dimensional space, of the calibration and tracking target; a computer communicating with the x-ray receiving section and the tracking sensor, the computer detecting motion of the C-arm based on changes in the position detected by the tracking sensor; a dynamic reference frame marker attached in a fixed position relative to a patient, the tracking sensor detecting the position, in three-dimensional space, of the dynamic reference frame marker; and means for detecting a beginning and an end of an imaging cycle and transmitting indications of the detected beginning and end of the radiation cycle to the computer, and the computer determining that an image acquisition cycle is erroneous when the position of the tracking target moves with respect to the dynamic reference frame marker during the imaging cycle.

Claim 10

Dependent Claim 211 words

An x-ray imaging device comprising: a rotatable C-arm support having first and second ends, an x-ray source positioned at the first end for initiating an imaging cycle by generating x-ray radiation; an x-ray receiving section positioned at the second end so that x-rays emanating from the x-ray source enter the x-ray receiving section, the x-ray receiving section generating an image representing the intensities of the x-rays entering the x-ray receiving section; a calibration and tracking target; a tracking sensor for detecting a position, in three-dimensional space, of the calibration and tracking target; a computer communicating with the x-ray receiving section and the tracking sensor, the computer detecting motion of the C-arm based on changes in the position detected by the tracking sensor; a dynamic reference frame marker attached in a fixed position relative to a patient, the tracking sensor detecting the position, in three-dimensional space, of the dynamic reference frame marker; and means for detecting a beginning and an end of an imaging cycle and transmitting indications of the detected beginning and end of the radiation cycle to the computer, and the computer determining that an image acquisition cycle is erroneous when the position of the tracking target moves with respect to the dynamic reference frame marker during the imaging cycle.

Claim 11

Dependent Claim 191 words

A surgical instrument navigation system comprising; a computer processor; a tracking sensor for sensing three-dimensional position information of a surgical instrument and transmitting the position information to the computer processor; a memory coupled to the computer processor, the memory including computer instructions that when executed by the computer processor cause the processor to generate an icon representing the surgical instrument and to overlay the icon on a pre-acquired x-ray image, the icon of the surgical instrument representing the real-time position of the surgical instrument projected into the pre-acquired x-ray image and the icon being generated as a first representation when the surgical instrument is positioned such that it is substantially viewable in the plane of the pre-acquired image and the icon being automatically generated as a second representation when a distance in the pre-acquired image between a tip and tail of the surgical instrument becomes smaller than a pre-determined distance such that the surgical instrument is substantially perpendicular to the plane of the pre-acquired image; and a display coupled to the processor for displaying the generated icon as one of either the first and second representations superimposed on the pre-acquired image.

Claim 12

Dependent Claim 191 words

A surgical instrument navigation system comprising; a computer processor; a tracking sensor for sensing three-dimensional position information of a surgical instrument and transmitting the position information to the computer processor; a memory coupled to the computer processor, the memory including computer instructions that when executed by the computer processor cause the processor to generate an icon representing the surgical instrument and to overlay the icon on a pre-acquired x-ray image, the icon of the surgical instrument representing the real-time position of the surgical instrument projected into the pre-acquired x-ray image and the icon being generated as a first representation when the surgical instrument is positioned such that it is substantially viewable in the plane of the pre-acquired image and the icon being automatically generated as a second representation when a distance in the pre-acquired image between a tip and tail of the surgical instrument becomes smaller than a pre-determined distance such that the surgical instrument is substantially perpendicular to the plane of the pre-acquired image; and a display coupled to the processor for displaying the generated icon as one of either the first and second representations superimposed on the pre-acquired image.

Claim 13

Dependent Claim 16 words

The computer system of claim 8 , wherein the icon is superimposed on multiple pre-acquired images.

Claim 14

Dependent Claim 45 words

The computer system of claim 8 , wherein the second representation includes first and second cross-hair icons, the center of the first icon representing one end of the surgical instrument and the center of the second icon representing an opposite end of the surgical instrument.

Claim 15

Dependent Claim 148 words

A surgical instrument navigation system comprising: a computer processor; a tracking sensor for sensing three-dimensional position information of a surgical instrument and transmitting the position information to the computer processor; a memory coupled to the computer processor, the memory including computer instructions that when executed by the computer processor cause the processor to generate an icon representing the surgical instrument positioned in a pre-acquired image of a patient's anatomy, the icon of the surgical instrument including a first portion corresponding to an actual position of the surgical instrument and a second portion corresponding to a current projection of the surgical Instrument along a line given by a current trajectory of the surgical instrument where a length of the second portion is selectable by a user of the surgical instrument navigation system; and a display coupled to the processor for displaying the generated icon superimposed on the pre-acquired image.

Claim 16

Dependent Claim 148 words

A surgical instrument navigation system comprising: a computer processor; a tracking sensor for sensing three-dimensional position information of a surgical instrument and transmitting the position information to the computer processor; a memory coupled to the computer processor, the memory including computer instructions that when executed by the computer processor cause the processor to generate an icon representing the surgical instrument positioned in a pre-acquired image of a patient's anatomy, the icon of the surgical instrument including a first portion corresponding to an actual position of the surgical instrument and a second portion corresponding to a current projection of the surgical Instrument along a line given by a current trajectory of the surgical instrument where a length of the second portion is selectable by a user of the surgical instrument navigation system; and a display coupled to the processor for displaying the generated icon superimposed on the pre-acquired image.

Claim 17

Dependent Claim 16 words

The computer system of claim 11 , wherein the icon is superimposed on multiple pre-acquired images.

Claim 18

Dependent Claim 175 words

A surgical instrument navigation system comprising, a rotatable C-arm including an x-ray source and an x-ray receiving section for acquiring x-ray images of a patient, the C-arm being rotatable about one of a plurality of mechanical axes; a computer processor coupled to the rotatable C-arm; a memory coupled to the computer processor, the memory storing the x-ray images acquired by the rotatable C-arm and computer instructions that when executed by the computer processor cause the computer processor to generate a line representing a projection of a plane substantially parallel to one of the plurality of the mechanical axes of the C-arm into the x-ray image, the line enabling visual alignment of the one of the plurality of mechanical axes of the C-arm with an axis relating complimentary x-ray images; and a display coupled to the processor for displaying at least a portion of the generated line superimposed on the x-ray image, wherein the line displayed on the display enables visual alignment of the C-arm with the complimentary axis before the complimentary x-ray image is acquired.

Claim 19

Dependent Claim 175 words

A surgical instrument navigation system comprising, a rotatable C-arm including an x-ray source and an x-ray receiving section for acquiring x-ray images of a patient, the C-arm being rotatable about one of a plurality of mechanical axes; a computer processor coupled to the rotatable C-arm; a memory coupled to the computer processor, the memory storing the x-ray images acquired by the rotatable C-arm and computer instructions that when executed by the computer processor cause the computer processor to generate a line representing a projection of a plane substantially parallel to one of the plurality of the mechanical axes of the C-arm into the x-ray image, the line enabling visual alignment of the one of the plurality of mechanical axes of the C-arm with an axis relating complimentary x-ray images; and a display coupled to the processor for displaying at least a portion of the generated line superimposed on the x-ray image, wherein the line displayed on the display enables visual alignment of the C-arm with the complimentary axis before the complimentary x-ray image is acquired.

Claim 20

Dependent Claim 53 words

The system of claim 13 , further comprising: a tracking target attached to the rotatable C-arm; and a tracking sensor for detecting a position, in three-dimensional space, of the tracking target, wherein the computer calculates an amount of rotation of the C-arm based on changes in the position detected by the tracking sensor.

Claim 21

Independent Claim 112 words

A system for defining a surgical plan comprising: an x-ray imaging device; a surgical instrument; a tracking sensor for detecting a position, in three-dimensional space, of the surgical Instrument; a computer processor in communication with the tracking sensor for calculating a projection of a trajectory of the surgical instrument a distance ahead of an actual location of the surgical instrument; and a display coupled to the processor for displaying a pre-acquired x-ray image overlaid with an iconic representation of the surgical instrument and a calculated projection of the trajectory of the surgical instrument, wherein a length of the projection of the surgical instrument changes based upon an input received by a user.

Claim 22

Independent Claim 112 words

A system for defining a surgical plan comprising: an x-ray imaging device; a surgical instrument; a tracking sensor for detecting a position, in three-dimensional space, of the surgical Instrument; a computer processor in communication with the tracking sensor for calculating a projection of a trajectory of the surgical instrument a distance ahead of an actual location of the surgical instrument; and a display coupled to the processor for displaying a pre-acquired x-ray image overlaid with an iconic representation of the surgical instrument and a calculated projection of the trajectory of the surgical instrument, wherein a length of the projection of the surgical instrument changes based upon an input received by a user.

Claim 23

Independent Claim 111 words

A method of defining a surgical plan comprising: acquiring an image of a patient's anatomy; sensing three-dimensional position information of a surgical instrument; generating a graphical icon representing the surgical instrument positioned in a pre-acquired image of the patient's anatomy, the icon of the surgical instrument including a first portion corresponding to a position of the surgical instrument in space and a second portion corresponding to a current projection of the surgical instrument along a line given by a current trajectory of the surgical instrument; selecting a length of the second portion corresponding to the current trajectory of the surgical instrument; and displaying the generated icon superimposed on the pre-acquired image.

Claim 24

Independent Claim 111 words

A method of defining a surgical plan comprising: acquiring an image of a patient's anatomy; sensing three-dimensional position information of a surgical instrument; generating a graphical icon representing the surgical instrument positioned in a pre-acquired image of the patient's anatomy, the icon of the surgical instrument including a first portion corresponding to a position of the surgical instrument in space and a second portion corresponding to a current projection of the surgical instrument along a line given by a current trajectory of the surgical instrument; selecting a length of the second portion corresponding to the current trajectory of the surgical instrument; and displaying the generated icon superimposed on the pre-acquired image.

Claim 25

Dependent Claim 28 words

The method of claim 16 , further comprising freezing at least the first or second portion of the iconic representation of the surgical instrument in the x-ray image.

Claim 26

Dependent Claim 15 words

The method of claim 16 , wherein the icon is superimposed on multiple pre-acquired images.

Claim 27

Independent Claim 124 words

A method of representing a real-time position of a surgical instrument in a pre-acquired x-ray image comprising: generating an icon of a surgical instrument and overlaying the icon on the pre-acquired x-ray image, the icon of the surgical instrument representing the real-time position of the surgical instrument projected into the pre-acquired x-ray image; representing the icon as a first representation when the surgical instrument is positioned such that it is substantially viewable in a plane of the pre-acquired image; and automatically representing the icon as a second representation when a distance in the pre-acquired image between a tip and a tail of the surgical instrument becomes smaller than a pre-determined distance such that it is substantially perpendicular to, the plane of the pre-acquired image.

Claim 28

Independent Claim 124 words

A method of representing a real-time position of a surgical instrument in a pre-acquired x-ray image comprising: generating an icon of a surgical instrument and overlaying the icon on the pre-acquired x-ray image, the icon of the surgical instrument representing the real-time position of the surgical instrument projected into the pre-acquired x-ray image; representing the icon as a first representation when the surgical instrument is positioned such that it is substantially viewable in a plane of the pre-acquired image; and automatically representing the icon as a second representation when a distance in the pre-acquired image between a tip and a tail of the surgical instrument becomes smaller than a pre-determined distance such that it is substantially perpendicular to, the plane of the pre-acquired image.

Claim 29

Independent Claim 117 words

A method of detecting an error in an x-ray process comprising: generating cycles of x-ray radiation corresponding to an image acquisition cycle, the cycles being generated by an x-ray imager and passing through calibration markers of a calibration and tracking target; generating an image of a patient's anatomy defined by intensities of the x-rays in the cycle of the x-ray radiation; detecting a beginning and an end of a radiation cycle; detecting a position of the calibration and tracking target and the patient; and determining that the image acquisition cycle is erroneous when the position of the tracking target relative to the position of the patient moves between the beginning and the end of the radiation cycle.

Claim 30

Independent Claim 117 words

A method of detecting an error in an x-ray process comprising: generating cycles of x-ray radiation corresponding to an image acquisition cycle, the cycles being generated by an x-ray imager and passing through calibration markers of a calibration and tracking target; generating an image of a patient's anatomy defined by intensities of the x-rays in the cycle of the x-ray radiation; detecting a beginning and an end of a radiation cycle; detecting a position of the calibration and tracking target and the patient; and determining that the image acquisition cycle is erroneous when the position of the tracking target relative to the position of the patient moves between the beginning and the end of the radiation cycle.

Claim 31

Independent Claim 111 words

A system of defining a surgical plan comprising: means for sensing three-dimensional position information of a surgical instrument; means for generating a graphical icon representing the surgical instrument positioned in a pre-acquired image of a patient's anatomy, the icon of the surgical instrument including a first portion corresponding to a position of the surgical instrument in space and a second portion corresponding to a projection of the surgical instrument along a line given by a current trajectory of the surgical instrument; means for selecting a length of the second portion corresponding to the current trajectory of the surgical instrument; and means for displaying the generated icon superimposed on the pre-acquired image.

Claim 32

Independent Claim 111 words

A system of defining a surgical plan comprising: means for sensing three-dimensional position information of a surgical instrument; means for generating a graphical icon representing the surgical instrument positioned in a pre-acquired image of a patient's anatomy, the icon of the surgical instrument including a first portion corresponding to a position of the surgical instrument in space and a second portion corresponding to a projection of the surgical instrument along a line given by a current trajectory of the surgical instrument; means for selecting a length of the second portion corresponding to the current trajectory of the surgical instrument; and means for displaying the generated icon superimposed on the pre-acquired image.

Claim 33

Independent Claim 129 words

A system for representing a real-time position of a surgical instrument in a pre-acquired x-ray image comprising: means for generating an icon of a surgical instrument and overlaying the icon on the pre-acquired x-ray image, the icon of the surgical instrument representing the real-time position of the surgical instrument projected into the pre-acquired x-ray image; means for representing the icon as a first representation when the surgical instrument is positioned such that it is substantially viewable in a plane of the pre-acquired image; and means for representing the icon as a second representation when a distance in the pre-acquired image between a tip and a tail of the surgical instrument becomes smaller than a predetermined distance such that it is substantially perpendicular to the plane of the pre-acquired image.

Claim 34

Independent Claim 129 words

A system for representing a real-time position of a surgical instrument in a pre-acquired x-ray image comprising: means for generating an icon of a surgical instrument and overlaying the icon on the pre-acquired x-ray image, the icon of the surgical instrument representing the real-time position of the surgical instrument projected into the pre-acquired x-ray image; means for representing the icon as a first representation when the surgical instrument is positioned such that it is substantially viewable in a plane of the pre-acquired image; and means for representing the icon as a second representation when a distance in the pre-acquired image between a tip and a tail of the surgical instrument becomes smaller than a predetermined distance such that it is substantially perpendicular to the plane of the pre-acquired image.

Claim 35

Dependent Claim 136 words

An x-ray imaging device comprising: means for generating cycles of x-ray radiation corresponding to an image acquisition cycle; means for generating an image representing intensities of the x-rays entering an x-ray receiving section; means for detecting a beginning and an end of a radiation cycle and transmitting the detected beginning and end of the radiation cycle to a computer; a dynamic reference frame marker attached in a fixed position relative to a patient; a calibration and tracking target; and a tracking sensor for detecting a position, in three-dimensional space, of the dynamic reference frame marker and the calibration and tracking target; wherein the computer determines that an image acquisition cycle is erroneous when the position of the calibration and tracking target moves relative to the position of the dynamic reference frame during an image acquisition cycle.

Claim 36

Dependent Claim 136 words

An x-ray imaging device comprising: means for generating cycles of x-ray radiation corresponding to an image acquisition cycle; means for generating an image representing intensities of the x-rays entering an x-ray receiving section; means for detecting a beginning and an end of a radiation cycle and transmitting the detected beginning and end of the radiation cycle to a computer; a dynamic reference frame marker attached in a fixed position relative to a patient; a calibration and tracking target; and a tracking sensor for detecting a position, in three-dimensional space, of the dynamic reference frame marker and the calibration and tracking target; wherein the computer determines that an image acquisition cycle is erroneous when the position of the calibration and tracking target moves relative to the position of the dynamic reference frame during an image acquisition cycle.

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	2005-10-21	2006-04-22	2006-10-22	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	2009-10-21	2010-04-22	2010-10-22	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	2013-10-21	2014-04-22	2014-10-22	$7700.00	Window Closed / Lapsed

Navigational guidance via computer-assisted fluoroscopic imaging

Abstract

Inventors

Bibliographic Details

Claims Analysis

References Cited (Backward Citations)

USPTO Annuity & Maintenance Windows

Assigned Categories & Tags

Assign Category Tag