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US 8,737,708 B2Granted
System and method for automatic registration between an image and a subject
AssigneeMedtronic Navigation, Inc.
InventorsSteven L. Hartmann, Bradley A. Jascob, Brandon Merkl, Matthew F. Dicorleto
Life of this patent
Estimating the term…
Abstract
A patient defines a patient space in which an instrument can be tracked and navigated. An image space is defined by image data that can be registered to the patient space. A tracking device can be connected to a member in a known manner that includes imageable portions that generate image points in the image data. Selected image slices or portions can be used to register reconstructed image data to the patient space.
Claims23
A navigation system, comprising:
- a patient holding device configured to hold a patient fixed in a substantially single holding position relative to an imaging device during acquisition of image data of the patient;
- a navigation reference frame removably fixed to the patient holding device to remain in a substantially single reference frame position relative to the patient during the image data acquisition and a procedure on the patient;
- a plurality of navigation reference frame imageable portions included with the navigation reference frame and viewable in acquired image data of the patient when the plurality of navigation reference frame imageable portions are in a field of view of the imaging device;
- a tracking device included with the navigation reference frame operable to be tracked and at a known location relative to the plurality of navigation reference frame imageable portions;
- and
- a navigation processor system configurable to execute instructions to determine a location of the plurality of navigation reference frame imageable portions in the acquired image data, determine a subject space location of the tracking device, and register the acquired image data to the subject space based at least on the acquired image data of the plurality of navigation reference frame imageable portions.
3 more elements
A navigation system, comprising:
- a subject holding device configured to hold a patient fixed in a substantially single holding position relative to an imaging device during acquisition of image data of the subject;
- a navigation reference frame removably fixed to the subject holding device to remain in a substantially single reference frame position relative to the subject during the image data acquisition and a procedure on the subject;
- a plurality of navigation reference frame imageable portions included with navigation reference frame and viewable in acquired image data of the patient when the plurality of navigation reference frame imageable portions are in a field of view of the imaging device, wherein the plurality of navigation reference frame imageable portions are set in the of navigation reference frame to have a selected and identifiable geometry in the acquired image data;
- a tracking device fixed to the navigation reference at a known location relative to the plurality of navigation reference frame imageable portions, wherein the tracking device is operable to be tracked in subject space;
- a navigation processor system configurable to execute instructions to determine a location of the plurality of navigation reference frame imageable portions in the acquired image data, determine a subject space location of the tracking device, and register an image space of the acquired image data to the subject space based at least on the acquired image data of the plurality of navigation reference frame imageable portions;
- and
- a display device configured to display the image data defining an image space that is registered to the subject space.
4 more elements
A method of registering an image space to a subject space, comprising operating a processor system to execute instructions to:
- determine a subject space location of a navigation reference frame in a subject space with a tracking device;
- determine a specific geometry of a plurality of navigation reference frame imageable portions in an image data;
- determine an image space location of the navigation reference frame based on the determined specific geometry of the plurality of navigation frame imageable portions in the image data;
- recall a location of the tracking device relative to the plurality of navigation reference frame imageable portions;
- and
- register an image space defined by the image data and the patient space based on the determined subject space location of a navigation reference frame and the determined image space location of the navigation reference frame.
3 more elements
Dependencies are inferred from the claim text.