US 2017/0281283 A1 · Tracking Marker Support Structure and Surface Registration Methods Employing the Same For Performing Navigated Surgical Procedures

Abstract

Devices and methods are provide for facilitating registration and calibration of surface imaging systems. Tracking marker support structures are described that include one or more fiducial reference markers, where the tracking marker support structures are configured to be removably and securely attached to a skeletal region of a patient. Methods are provided in which a tracking marker support structure is attached to a skeletal region in a pre-selected orientation, thereby establishing an intraoperative reference direction associated with the intraoperative position of the patient, which is employed for guiding the initial registration between intraoperatively acquired surface data and volumetric image data. In other example embodiments, the tracking marker support structure may be employed for assessing the validity of a calibration transformation between a tracking system and a surface imaging system. Example methods are also provided to detect whether or not a tracking marker support structure has moved from its initial position during a procedure.

Claims25

Dependent claims

1-39. (canceled)

A method of assessing the validity of a previously determined calibration transformation between a reference frame of a surface imaging system and a reference frame of a tracking system, the method comprising:

obtaining reference surface data characterizing a surface profile of a tracking marker support structure;
detecting, with the tracking system, signals associated with fiducial markers located on the tracking marker support structure, wherein the tracking marker support structure is removably attached to a patient during a medical procedure;
acquiring surface data using the surface imaging system, wherein the surface data is obtained from a spatial region that includes at least a portion of the tracking marker support structure;
processing the signals to calculate the position and orientation of the tracking marker support structure in the reference frame of the tracking system;
processing the surface data and the reference surface data to calculate the position and orientation of the tracking marker support structure in the reference frame of the surface imaging system;
employing the position and orientation of the tracking marker support structure in the reference frame of the surface imaging system and the position and orientation of the tracking marker support structure in the reference frame of the tracking system, and the previously determined calibration transformation to provide comparative measures for assessing the validity of the previously determined calibration transformation;
and
processing the comparative measures to assess the validity of the previously determined calibration transformation.

5 more elements

Dependencies are inferred from the claim text.

Facts

Application

15/513,862Filed 23 Sep 2015

Priority

24 Sep 2014

Published

5 Oct 2017

Term ends

Not estimatedThe source records don’t support an estimate.

Classification28 codes

A61B 34/20
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical navigation systems; Devices for tracking or guiding…
A61B 5/1127
Using a particular sensing technique: using markers
A61B 5/6847
Specially adapted to be brought in contact with an internal body part, i.e. invasive: mounted on an invasive device
A61B 17/28
Surgical instruments, devices or methods: surgical forceps

Tracking Marker Support Structure and Surface Registration Methods Employing the Same For Performing Navigated Surgical Procedures

Life of this patent

Tracking Marker Support Structure and Surface Registration Methods Employing the Same For Performing Navigated Surgical Procedures

Life of this patent

Abstract

Claims25