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Apparatus and method for photogrammetric surgical localization    

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United States Patent6165181   
Link to this pagehttp://www.wikipatents.com/6165181.html
Inventor(s)Heilbrun; Mark Peter (Salt Lake City, UT), McDonald; Paul (Salt Lake City, UT), Wiker; J. Clayton (Salt Lake City, UT), Koehler; Spencer (Salt Lake City, UT), Peters; William (Salt Lake City, UT)
AbstractA method and apparatus for defining the location of a medical instrument relative to features of a medical workspace including a patient's body region are described. Pairs of two-dimensional images are obtained, preferably by means of two video cameras making images of the workspace along different sightlines which intersect. A fiducial structure is positioned in the workspace for defining a three dimensional coordinate framework, and a calibration image pair is made. The calibration image pair comprises two 2D projections from different locations of the fiducial structure. After the calibration image pair is made, the fiducial structure is removed. A standard projection algorithm is used to reconstruct the 3D framework of the fiducial structure from the calibration image pair. Appropriate image pairs can then be used to locate and track any other feature such as a medical instrument, in the workspace, so long as the cameras remain fixed in their positions relative to the workspace. The computations are desirably performed with a computer workstation including computer graphics capability, image processing capability, and providing a real-time display of the workspace as imaged by the video cameras. Also, the 3D framework of the workspace can be aligned with the 3D framework of any selected volume scan, such as MRI, CT, or PET, so that the instrument can be localized and guided to a chosen feature. No guidance arc or other apparatus need be affixed to the patient to accomplish the tracking and guiding operations.
   














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Inventor     Heilbrun; Mark Peter (Salt Lake City, UT) , McDonald; Paul (Salt Lake City, UT) , Wiker; J. Clayton (Salt Lake City, UT) , Koehler; Spencer (Salt Lake City, UT) , Peters; William (Salt Lake City, UT)
Owner/Assignee     Sofamor Danek Holdings, Inc. (Memphis, TN)
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Publication Date     December 26, 2000
Application Number     09/173,138
PAIR File History     Application Data   Transaction History
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Litigation
Filing Date     October 15, 1998
US Classification     606/130 600/407 600/415
Int'l Classification    
Examiner     Buiz; Michael
Assistant Examiner     Truong; Kevin
Attorney/Law Firm     Finnegan, Henderson, Farabow, Garrett & Dunner, L.L.P.
Address
Parent Case     The application is a continuation of application Ser. No. 08/801,662, filed on Feb. 18, 1997, now U.S. Pat. No. 5,836,954, which is a continuation of application Ser. No. 08/145,777, filed on Oct. 29, 1993, now U.S. Pat. No. 5,603,318. application Ser. No. 08/145,777 is a continuation-in-part of application Ser. No. 07/871,382, filed on Apr. 21, 1992, now U.S. Pat. No. 5,389,101.
Priority Data    
USPTO Field of Search     606/130 128/303 128/630 128/653.1
Patent Tags     photogrammetric surgical localization
   
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