Apparatus and method for planning a stereotactic surgical procedure using coordinated fluoroscopy
AssigneeNorthwestern University
InventorsMichael A. Peshkin, Julio J. Santos-Munne
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Abstract
An apparatus and method is provided for coordinating two fluoroscope images, which permits accurate computer-based planning of the insertion point and angle of approach of a needle, drill, screw, nail, wire or other surgical instrumentation into the body of a patient, and subsequently guides the surgeon in performing the insertion in accordance with the plan.
Claims32
A method for planning a stereotactic surgical procedure using a fluoroscope for generating images of the body, the method comprising the steps of:
- placing adjacent to the body a registration artifact including a plurality of fiducials at known positions relative to a known coordinate frame of the artifact;
- displaying on a computer monitor an image taken of the patient's body and the registration artifact;
- receiving an input to identify two-dimensional coordinates of the fiducials of the registration artifact displayed on the image;
- and
- registering the image by creating a geometric model having parameters, said model projecting three-dimensional coordinates into image points, and numerically optimizing the parameters of the geometric model such that the projections of the known three-dimensional coordinates of the fiducials best fit the identified two-dimensional coordinates in the image.
An apparatus for planning a stereotactic surgical procedure using a fluoroscope for generating images of the body, the apparatus comprising:
- means for placing adjacent to the body a registration artifact including a plurality of fiducials;
- means for displaying an image taken of the body and the fiducials;
- means for identifying two-dimensional coordinates of the fiducials in an image;
- means for registering an image with respect to said fiducial artifact;
- means for receiving inputs to select and adjust a virtual guidewire or targetpoint, while the projections of said guidewire or targetpoint are displayed superimposed upon the image;
- and
- means for producing an output to adjust the coordinates of a tool guide.
An apparatus for planning a stereotactic surgical procedure for a linear trajectory insertion of a surgical instrument into a body using a fluoroscope for generating images of the body, the apparatus comprising:
- a registration artifact located adjacent to the body, the registration artifact including a plurality of fiducials located at known three-dimensional coordinates relative a known coordinate frame;
- means for displaying at least one image taken of the body and the fiducials on at least one computer monitor;
- means for identifying two-dimensional coordinates of the fiducials in each image;
- and
- means for numerically optimizing parameters of a geometric model, said model projecting three-dimensional coordinates into image points, such that the projections of the known three-dimensional coordinates of the fiducials best fit the identified two-dimensional coordinates in the image.
Dependencies are inferred from the claim text.