Tracking marker support structure and surface registration methods employing the same for performing navigated surgical procedures
View Patent ↗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.
1. 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.
2. The method according to claim 1 wherein the tracking marker support structure comprises one or more characteristic structures suitable for performing surface registration when processing the surface data and the reference surface data.
3. The method according to claim 2 wherein at least one characteristic structure comprises a plurality of surfaces respectively oriented at oblique angles.
4. The method according to claim 2 wherein the characteristic structures are non-spherical.
5. The method according to claim 1 wherein the validity of the previously determined calibration transformation is assessed by:
computing a current calibration transform for the position and orientation of the tracking marker support structure between the reference frame of the surface imaging system and the reference frame of the tracking marker support structure; and
comparing the current calibration transform to the previously determined calibration transformation.
6. The method according to claim 1 wherein the validity of the previously determined calibration transformation is assessed by:
employing the previously determined calibration transformation to determine, based on the calculated position and orientation of the tracking marker support structure in the reference frame of the surface imaging system, an estimated position and orientation of the tracking marker support structure in the reference frame of the tracking system; and
comparing the estimated position and orientation of the tracking marker support structure in the reference frame of the tracking system to the calculated position and orientation of the tracking marker support structure in the reference frame of the tracking system.
7. The method according to claim 1 wherein the validity of the previously determined calibration transformation is assessed by:
employing the previously determined calibration transformation to determine, based on the calculated position and orientation of the tracking marker support structure in the reference frame of the tracking system, an estimated position and orientation of the tracking marker support structure in the reference frame of the surface imaging system; and
comparing the estimated position and orientation of the tracking marker support structure in the reference frame of the surface imaging system to the calculated position and orientation of the tracking marker support structure in the reference frame of the surface imaging system.
8. The method according to claim 1 wherein the reference surface data is obtained from a three-dimensional model of at least a portion of the tracking marker support structure.
9. The method according to claim 1 wherein the reference surface data comprises previously measured surface data.
10. The method according to claim 1 wherein processing the surface data to determine the position and orientation of the tracking marker support structure in the reference frame of the surface imaging system comprises:
processing 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 determine an estimated position and orientation of the tracking marker support structure in the reference frame of the surface imaging system;
segmenting the surface data within a spatial subregion associated with the estimated position and orientation of the tracking marker support structure to obtain a segmented surface associated with the tracking marker support structure; and
registering the segmented surface to the reference surface data.
11. The method according to claim 10 wherein the tracking marker support structure comprises one or more characteristic structures suitable for performing surface registration when processing the surface data and the reference surface data, and wherein the spatial subregion is selected to include the one or more characteristic structures.
12. The method according to claim 11 wherein at least one characteristic structure comprises a plurality of surfaces respectively oriented at oblique angles.
13. The method according to claim 11 wherein the one or more characteristic structures are non-spherical.
14. The method according to claim 10 wherein the spatial subregion is prescribed by a pre-selected mask.
15. The method according to claim 14 wherein the pre-selected mask is associated with a shape of the tracking marker support structure.
16. The method according to claim 14 wherein the pre-selected mask is a conformal mask that conforms to a shape of the tracking marker support structure.
17. The method according to claim 10 wherein the reference surface data is obtained from a three-dimensional model of at least a portion of the tracking marker support structure.
18. The method according to claim 10 wherein the reference surface data comprises previously measured surface data.
19. The method according to claim 1 further comprising employing the calculated positions and orientations of the tracking marker support structure to generate a new calibration transformation between the reference frame of the surface imaging system and the reference frame of the tracking system.
20. The method according to claim 19 further comprising replacing the previously determined calibration transformation with the new calibration transformation.
21. The method according to claim 19 replacing the previously determined calibration transformation with the new calibration transformation when the previously determined calibration transformation is found to be invalid.
22. The method according to claim 1 wherein the validity of the previously determined calibration transformation is assessed intraoperatively.
23. The method according to claim 1 wherein the validity of the previously determined calibration transformation is assessed in real-time.
24. The method according to claim 1 wherein the medical procedure is a spinal medical procedure, and wherein the validity of the previously determined calibration transformation assessed when the tracking marker support structure is attached to a vertebral level.