System and method for automatic shape registration and instrument tracking
View Patent ↗There is provided a device for generating a frame of reference and tracking the position and orientation of a tool in computer-assisted image guided surgery or therapy system. A first curvature sensor including fiducial markers is provided for positioning on a patient prior to volumetric imaging, and sensing the patient's body position during surgery. A second curvature sensor is coupled to the first curvature sensor at one end and to a tool at the other end to inform the computer-assisted image guided surgery or therapy system of the position and orientation of the tool with respect to the patient's body. A system is provided that incorporates curvature sensors, a garment for sensing the body position of a person, and a method for registering a patient's body to a volumetric image data set in preparation for computer-assisted surgery or other therapeutic interventions. This system can be adapted for remote applications as well.
1. A device for performing surgery or therapeutic interventions on a patient, comprising:
a first non-invasive curvature sensor configured to be placed externally on a patient, the first non-invasive curvature sensor providing first external curvature data;
imageable fiducials coupled to the first non-invasive curvature sensor; and
an attachment fixture coupled to the first non-invasive curvature sensor; and
a computer configured to receive the first external curvature data and relate the curvature of the first non-invasive curvature sensor to: the location of the imageable fiducials; and a 3-D internal image set of the patient.
2. The device of claim 1 , further comprising:
a second non-invasive curvature sensor providing second external curvature data, the second non-invasive curvature sensor having a first end and a second end and capable of being coupled to the attachment fixture at the first end; and
a tool connector coupled to the second end of the second non-invasive curvature sensor.
3. The device of claim 2 , further comprising a second attachment fixture capable of being positioned at a known location with respect to the first non-invasive curvature sensor, wherein the second end of the second non-invasive curvature sensor is coupled to the second attachment fixture and the tool connector is coupled to the second non-invasive curvature sensor between the first end and the second end.
4. The device of claim 2 , further comprising a monitor for positionally displaying the tool connector with respect to the patient.
5. The device of claim 2 , further comprising an optical tracking system electronically coupled to the computer and configured to positionally track the tool connector or a tool positioned in the tool connector.
6. The device of claim 5 , wherein the computer uses both the second non-invasive curvature sensor and the optical tracking system to positionally track the tool connector or a tool positioned in the tool connector.
7. The device of claim 1 , wherein the computer is configured to determine an attachment fixture-centered frame of reference based on the first external curvature data.
8. The device of claim 1 , wherein the first non-invasive curvature sensor comprises a fiber optic curvature sensor.
9. The device of claim 1 , wherein the attachment fixture comprises:
at least one imageable fiducial; and
a latching mechanism configured for attaching to the first end of the non-invasive second curvature sensor.
10. A device for performing surgery or therapeutic intervention on a patient, comprising:
an attachment fixture;
at least one imageable fiducial coupled to the attachment fixture, the imageable fiducial being capable of being detected by a medical imaging system;
a non-invasive curvature sensor having a first end and a second end and capable of being coupled to the attachment fixture at the first end, the non-invasive curvature sensor configured to be placed externally on a patient, the non-invasive curvature sensor configured to provide external curvature data
a tool connector coupled to the second end of the non-invasive curvature sensor; and
a computer configured to receive the external curvature data and relate the curvature of the first non-invasive curvature sensor to: the location of the imageable fiducials; and a 3-D internal image set of the patient.
11. A device for use in an image guided therapy or image guided surgery system, comprising:
a non-invasive curvature sensor configured to be applied externally to a portion of a patient, the non-invasive curvature sensor being adapted to measure and provide external curvature data;
imageable fiducials located on the non-invasive curvature sensor;
an attachment fixture coupled to the non-invasive curvature sensor, the attachment fixture comprising an imageable fiducial; and
a computer configured to receive the external curvature data and relate the curvature of the non-invasive curvature sensor to: the location of the imageable fiducials; and a 3-D internal image set of the patient.
12. The device for use in an image guided therapy or image guided surgery system according to claim 11 , wherein the non-invasive curvature sensor comprises a fiber optic curvature sensor.
13. A device for generating a patient based frame of reference for an image guided therapy or image guided surgery system, comprising:
a non-invasive curvature sensor configured to be applied externally to a portion of a patient, the non-invasive curvature sensor being adapted to measure and provide external curvature data of the curvature of the portion of the patient;
imageable fiducials coupled to the non-invasive curvature sensor; and
an attachment fixture coupled to the non-invasive curvature sensor at a known position with respect to the non-invasive curvature sensor; and
a computer configured to receive the external curvature data and relate the curvature of the non-invasive curvature sensor to: the location of the imageable fiducials; and a 3-D internal image set of the patient.
14. A device for generating a patient-based frame of reference for an image guided therapy or image guided surgery system according to claim 13 , wherein each of the imageable fiducials are coupled to the non-invasive curvature sensor at known inter-fiducial distances.
15. A system for monitoring or enabling surgery on a patient at a distance, comprising:
a first non-invasive curvature sensor configured to be placed externally on the patient, the first non-invasive curvature sensor providing first external curvature data;
imageable fiducials coupled to the first non-invasive curvature sensor;
an attachment fixture attached to the first non-invasive curvature sensor;
a second non-invasive curvature sensor having a first end and a second end and capable of being coupled at the first end to the attachment fixture, the second non-invasive curvature sensor providing second external curvature data;
a tool capable of being coupled to the second end of the second non-invasive curvature sensor; and
a computer configured to:
receive the first external curvature data;
receive the second external curvature data;
relate the curvature of the first non-invasive curvature sensor to: the location of the imageable fiducials; and a 3-D internal image set of the patient;
provide an output of the curvature of the first non-invasive curvature sensor and the position and orientation of the tool coupled to the second end of the second non-invasive curvature sensor with respect to the attachment fixture; and
communicate the output of the computer to a distant receiver using a communication device that is electronically coupled to the computer.
16. A device for conducting surgery or therapy on a body, comprising:
means for externally measuring the curvature of a body;
means for locating the position of the means for externally measuring the curvature of a body within a frame of reference;
means for determining the position of a tool with respect to the means for externally measuring the curvature of a body; and
means for registering a 3-D internal image set of the body to the means for externally measuring the curvature of a body.