System and method for image localization of effecters during a medical procedure
A computer-assisted imaging and localization system assists the physician in positioning surgical effecters, such as implants, tools and instruments, within a surgical site in a patient's body. The system displays overlapping images—one image of the surgical site with the patient's anatomy and another image showing the surgical effecter(s). The overlapping image of the surgical effecter(s) is moved over the static image of the anatomy as the implant/instrument is moved. The movement of the surgical effecter(s) is determined in a three-dimensional coordinate system at a home base location in the patient's anatomy, which home base can be moved during the procedure without interrupting the displays of the overlapping images.
1. A calibration device for calibrating the position of a C-arm radiation machine having a detector in a detector housing and an imaging ray source in a source housing, the device comprising:
a calibration collar configured to be mounted on a detector housing of the C-arm, the collar including;
an end face configured to be mounted flush with the end face of the detector housing, the end face defining a central opening for passage of the imaging ray from the source to the detector; and
a plurality of collar glyphs, uniquely configured in relation to each other, mounted to the calibration collar within said central opening, said plurality of collar glyphs formed of a radio-opaque material; and
a cap configured to be mounted over the source housing, the cap including;
a plate configured to be seated flush with the face of the source housing when the cap is mounted thereon, said plate defining a plate opening aligned with the transmission path of the imaging ray from the imaging ray source; and
a plurality of cap glyphs that extend into the opening so that the cap glyphs intersect the beam transmitted by the imaging ray source.
2. The calibration device of claim 1 , wherein:
the central opening of the calibration collar is a circular opening corresponding to the field of view of the C-arm, and the plurality of collar glyphs are dispersed around the circumference of said central opening at pre-determined radial positions relative to a pre-determined central axis of the field of view of the C-arm; and
the plate opening of the cap is a circular opening corresponding to the field of view of the C-arm, and the plurality of cap glyphs are dispersed around the circumference of said plate opening at pre-determined radial positions relative to the pre-determined central axis of the field of view of the C-arm.
3. The calibration device of claim 1 , wherein each of said plurality of collar glyphs includes three metallic bars, radially oriented relative to said collar opening, wherein the three bars in each collar glyph are arranged in unique patterns with unique spacing relative to the three bars of the other of the plurality of collar glyphs, wherein the unique patterns correspond to different angular position of the associated collar glyph relative to the central axis of the field of view of the C-arm.
4. The calibration device of claim 1 , wherein each of said plurality of cap glyphs includes three metallic beads arranged in a unique pattern relative to the three beads of the other of the plurality of cap glyphs, wherein the unique patterns correspond to different angular position of the associated cap glyph relative to the central axis of the field of view of the C-arm.
5. A calibration device for calibrating the position of a C-arm radiation machine having a detector in a detector housing and an imaging ray source in a source housing, the device comprising:
a calibration collar configured to be mounted on a detector housing of the C-arm, the collar including an end face configured to be mounted flush with the end face of the detector housing, the end face defining a central opening for passage of the imaging ray from the source to the detector; and
a plurality of glyphs, uniquely configured in relation to each other, mounted to the calibration collar within said central opening, said plurality of glyphs formed of a radio-opaque material.
6. The calibration device of claim 5 , wherein the central opening is a circular opening corresponding to the field of view of the C-arm, and the plurality of glyphs are dispersed around the circumference of said circular opening at pre-determined radial positions relative to a pre-determined central axis of the field of view of the C-arm.
7. The calibration device of claim 5 , wherein each of said plurality of glyphs includes three metallic bars, radially oriented relative to said circular opening, wherein the three bars in each glyph are arranged in unique patterns with unique spacing relative to the three bars of the other of the plurality of glyphs, wherein the unique patterns correspond to different angular position of the associated glyph relative to the central axis of the field of view of the C-arm.
8. The calibration device of claim 5 , wherein the collar includes a circumferential ring sized to receive the detector housing therein, said ring including an array of optically detectable elements configured for detection by an optical tracking device.
9. A calibration device for calibrating the position of a C-arm radiation machine having a detector in a detector housing and an imaging ray source in a source housing, the device comprising:
a cap configured to be mounted over the source housing, the cap including a plate configured to be seated flush with the face of the source housing when the cap is mounted thereon, said plate defining an opening aligned with the transmission path of the imaging ray from the imaging ray source; and
a plurality of glyphs that extend into the opening so that the glyphs intersect the beam transmitted by the imaging ray source.
10. The calibration device of claim 9 , wherein the opening is a circular opening corresponding to the field of view of the C-arm, and the plurality of glyphs are dispersed around the circumference of said circular opening at pre-determined radial positions relative to a pre-determined central axis of the field of view of the C-arm.
11. The calibration device of claim 9 , wherein each of said plurality of glyphs includes three metallic beads arranged in a unique pattern relative to the three beads of the other of the plurality of glyphs, wherein the unique patterns correspond to different angular position of the associated glyph relative to the central axis of the field of view of the C-arm.