# US 11,304,629 B2 · Apparatus and method for image guided accuracy verification

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- Number: US 11,304,629 B2
- Document ID: US11304629B2
- Status: Granted
- Kind: B2
- Application number: 16/586,105
- Filed: 2019-09-27
- Published: 2020-02-06
- Granted: 2022-04-19
- Earliest claimed: 2005-09-13
- Assignees: Veran Medical Technologies, Inc.
- Applicants: Veran Medical Technologies, Inc.
- Inventors: Jerome R. Edwards; Troy L. Holsing; Torsten M. Lyon; Evan Austill, Jr.; Christopher B. Lee
- Web page: https://patentgrep.com/patent/US11304629B2

## CPC

- A61B 90/18: Retaining sheets, e.g. immobilising masks {made from a thermoplastic material}
- A61B 5/055: involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
- A61B 5/1127: {using markers}
- A61B 5/6804: {Garments; Clothes}
- A61B 5/7246: {using correlation, e.g. template matching or determination of similarity}
- A61B 5/7271: {Specific aspects of physiological measurement analysis (specific diagnostics methods using bioelectric or biomagnetic signals A61B5/316)}
- A61B 6/032: {Transmission computed tomography [CT]}
- A61B 6/037: {Emission tomography}
- A61B 6/12: Arrangements for detecting or locating foreign bodies
- A61B 6/486: {involving generating temporal series of image data}
- A61B 6/5217: {extracting a diagnostic or physiological parameter from medical diagnostic data}
- A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 90/39: {Markers, e.g. radio-opaque or breast lesions markers}
- G06T 7/246: using feature-based methods, e.g. the tracking of corners or segments
- G06T 7/30: Determination of transform parameters for the alignment of images, i.e. image registration
- G06T 7/33: using feature-based methods
- G06T 7/38: Registration of image sequences
- G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80)
- G06T 7/74: {involving reference images or patches}
- G06T 11/60: Creating or editing images; Combining images with text
- G06T 15/00: Three-dimensional [3D] image rendering
- A61B 5/06: Devices, other than using radiation, for detecting or locating foreign bodies {; Determining position of diagnostic devices within or on the body of the patient}
- A61B 5/11: Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb {(A61B5/1038 takes precedence; motion detection to correct for motion artifacts in physiological signals A61B5/721)}
- A61B 5/7285: {for synchronizing or triggering a physiological measurement or image acquisition with a physiological event or waveform, e.g. an ECG signal}
- A61B 6/00: Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment (instruments measuring radiation intensity for application in the field of nuclear medicine, e.g. in vivo counting, G01T1/161)
- A61B 6/5235: {combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT}
- A61B 6/541: {involving acquisition triggered by a physiological signal}
- A61B 6/547: {involving tracking of position of the device or parts of the device}
- A61B 2017/00699: {correcting for movement caused by respiration, e.g. by triggering}
- A61B 2034/107: {Visualisation of planned trajectories or target regions}
- A61B 2034/2051: {Electromagnetic tracking systems}
- A61B 2034/2055: {Optical tracking systems}
- A61B 2034/2065: {Tracking using image or pattern recognition}
- A61B 2090/363: {Use of fiducial points}
- A61B 2090/3908: {Soft tissue, e.g. breast tissue}
- A61B 2090/3937: {Visible markers}
- A61B 2090/3945: {Active visible markers, e.g. light emitting diodes}
- A61B 2090/3966: {Radiopaque markers visible in an X-ray image}
- A61B 2090/3979: {infrared}
- A61B 2090/3983: {Reference marker arrangements for use with image guided surgery}
- A61B 2090/3991: {having specific anchoring means to fixate the marker to the tissue, e.g. hooks}
- A61B 2576/00: Medical imaging apparatus involving image processing or analysis (A61B1/00009, A61B6/52 and A61B8/52 take precedence)
- G06T 2200/04: involving 3D image data
- G06T 2207/10081: Computed x-ray tomography [CT]
- G06T 2207/30004: Biomedical image processing
- G06T 2207/30196: Human being; Person
- G06T 2207/30204: Marker
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL

## Abstract

A method includes receiving during a first time interval associated with a path of motion of a dynamic body, image data associated with a plurality of images of the dynamic body. The plurality of images include an indication of a position of a first marker coupled to a garment at a first location, and a position of a second marker coupled to the garment at a second location. The garment is coupled to the dynamic body. During a second time interval, an image from the plurality of images is automatically identified that includes a position of the first marker that is substantially the same as a position of a first localization element relative to the dynamic body and a position of the second marker that is substantially the same as a position of the second localization element relative to the dynamic body.

## Claims

### Claim 1

A method for imaging a dynamic body of a patient having predictable movement during a periodic cycle, comprising:
a) attaching a first marker to a first location on the patient, and a second marker to a second location on the patient that moves differently than the first location during the periodic cycle;
b) receiving from an imaging device a plurality of images of the dynamic body over the periodic cycle taken during a first time interval prior to a medical procedure, each image showing a position of the first marker and a position of the second marker;
c) attaching a first localization element to the first location on the patient and a second localization element is to the second location on the patient;
d) receiving, at a second time that is during the medical procedure, data identifying positions for the first and second localization elements; and
e) automatically identifying for the second time an identified image from the plurality of images, the identified image being selected to show the first marker at substantially the same as the position of the first localization element relative to the dynamic body and showing the position of the second marker at substantially the same as the position of the second localization element relative to the dynamic body.

### Claim 2 (depends on 1)

The method of claim 1, further comprising displaying, on an image display the identified image for use in navigating a medical instrument during the medical procedure.

### Claim 3 (depends on 1)

The method of claim 1, a third marker and a third localization element are attached at a third location on the patient; further wherein the step of receiving data at the second time further comprises receiving data identifying a position of the third localization element relative to the dynamic body, further comprising the step of determining that the third marker exists in the identified image at substantially the same position as the third localization element relative to the dynamic body.

### Claim 4 (depends on 1)

The method of claim 1, further comprising:
f) automatically registering a path of motion of the dynamic body during a second time interval that includes the second time with the path of motion of the dynamic body during the first time interval based on the automatically identifying for times during the second time interval.

### Claim 5 (depends on 1)

The method of claim 1, wherein the step of automatically identifying comprises:
i) determining a measurement between the position of the first marker and the position of the second-marker in the plurality of images during the first time interval using a cost-function,
ii) applying the cost-function to the position of the first localization element and the position of the second localization element at the second time,
iii) determining whether the position of the first localization element and the position of the second localization element at the second time is substantially the same as the position of the first marker and the position of the second marker, respectively, in the images,
iv) automatically computing a registration between the positions of the first and second markers, and the positions of the first and second localizations elements, and
v) superimposing a position of a medical instrument on to a displayed image of the dynamic body from the first time interval.

### Claim 6 (depends on 1)

The method of claim 1, further comprising providing a navigational path for a medical instrument to be directed based on the identified image.

### Claim 7 (depends on 1)

The method of claim 1, wherein the images of the dynamic body are 3-D images.

### Claim 8 (depends on 1)

The method of claim 1, wherein the step of attaching the first localization element to the first location on the patient and the second localization element is to the second location on the patient occurs before the first time interval.

### Claim 9 (depends on 1)

The method of claim 1, wherein the first localization element is attached to the first marker using a first connector and the second localization element is attached to the second maker using a second connector.

### Claim 10 (depends on 1)

The method of claim 1, wherein the imaging device utilizes X-rays.

### Claim 11 (depends on 10)

The method of claim 10, wherein the step of attaching the first localization element to the first location on the patient and the second localization element is to the second location on the patient occurs after the first time interval.

### Claim 12 (depends on 11)

The method of claim 11, wherein the localization elements comprise electro-magnetic coils in which the data identifying positions for the localization elements is derived by measuring voltages induced in the coils.

### Claim 13 (depends on 1)

The method of claim 1, wherein the localization elements comprise reflective markers.

### Claim 14 (depends on 1)

The method of claim 1, wherein the localization elements comprise infrared light emitting diodes.

### Claim 15 (depends on 1)

The method of claim 1, wherein the markers are attached to the locations on the patient using adhesive.

### Claim 16 (depends on 15)

The method of claim 15, wherein the localization elements are attached at the locations on the patient by physically coupling the localization elements to the markers.

### Claim 17 (depends on 1)

The method of claim 1, wherein the markers are attached to the locations on the patient using straps.

### Claim 18 (depends on 1)

The method of claim 1, wherein the markers are attached to the locations on the patient by attaching the markers to a garment that is attached to the patient.