Patient registration systems, devices, and methods for a medical procedure

Patent metadata

Field	Value
Publication number	US-10832408-B2
Application number	US-201715794518-A
Country	US
Kind code	B2
Filing date	Oct 26, 2017
Priority date	Oct 26, 2017
Publication date	Nov 10, 2020
Grant date	Nov 10, 2020

Abstract

Methods and apparatuses for performing patient registration. 3D scan data from a 3D scanner, preoperative image data, first tracking data from a first tracking system, and second tracking data from a second tracking system are mapped to a common coordinate space. The 3D scan data and the first tracking data are mapped to each other using a transformation that is determined based on a calibration relating the 3D scan coordinate space and the tracking coordinate space. The 3D scan data and the preoperative image data are mapped to each other using a surface matching algorithm. The first tracking data and the second tracking data are mapped to each other based on tracking of the patient reference device.

First claim

The invention claimed is:

1. A method of registering a patient for a medical procedure using a medical navigation system, the method comprising:
obtaining 3D scan data from a 3D scanner, the 3D scan data being obtained for a patient surface relevant to the medical procedure, the 3D scan data being in a 3D scan coordinate space;
obtaining preoperative image data of the patient surface, the preoperative image data being in a preoperative image coordinate space;
obtaining first tracking data from a first tracking system, the first tracking data being obtained for a patient reference device, the first tracking data being in a first tracking coordinate space;
obtaining second tracking data from a second tracking system, the second tracking data being obtained for the patient reference device, the second tracking data being in a second tracking coordinate space; and
mapping the 3D scan data, preoperative image data and second tracking data to a common coordinate space by:
mapping the 3D scan data and the first tracking data to each other using a transformation, the transformation having been determined based on a calibration relating the 3D scan coordinate space and the tracking coordinate space;
mapping the 3D scan data and the preoperative image data to each other using a surface matching algorithm, using the surface matching algorithm comprising: matching a 3D surface from the 3D scan data with a 3D surface extracted from preoperative volumetric image data; cropping the 3D surface to exclude at least one unintended region; and selecting a point to initialize surface matching and automatically calculating an iterative closest point (ICP), thereby aligning and matching the 3D surface from the 3D scan data with the 3D surface extracted from preoperative volumetric image data; and
mapping the first tracking data and the second tracking data to each other based on tracking of the patient reference device.

2. The method of claim 1 wherein the 3D scan data comprises data obtained at a given time, wherein the first tracking data comprises data obtained at the same given time, and wherein mapping the 3D scan data and the first tracking data to each other comprises performing the mapping between the respective 3D scan data and first tracking data obtained at the same given time.

3. The method of claim 1 further comprising: performing the calibration to relate the 3D scan coordinate space and the tracking coordinate space to each other by: obtaining 3D scan calibration data of a calibration device and obtaining first tracking calibration data of the calibration device; and calculating the transformation to map the 3D scan calibration data and the first track calibration data to each other.

4. The method of claim 3 wherein the 3D scanner and the first tracking system are in fixed spatial relationship with each other, and wherein the calibration is performed prior to obtaining the 3D scan data of the patient surface.

5. The method of claim 1 wherein the patient surface is a surface of the patient's head in a prone, lateral or supine position.

6. The method of claim 1 wherein the patient reference device comprises: a body having a first side and an opposing second side; at least three tracking markers supported on the first side; and at least another three tracking markers supported on the second side; wherein the tracking markers are trackable by the first and second tracking systems.

7. The method of claim 1 wherein the preoperative image data includes at least one of magnetic resonance (MR) image data, computed tomography (CT) image data, positron emission topography (PET) image data, X-ray image data or ultrasound image data.

8. A medical navigation system comprising:
a 3D scanner coupled with a first tracking system;
a second tracking system;
a patient reference device; and
a controller in communication with the 3D scanner, the first tracking system and the second tracking system, the controller including a processor configured to:
receive 3D scan data from the 3D scanner, the 3D scan data being obtained for a patient surface relevant to the medical procedure, the 3D scan data being in a 3D scan coordinate space;
retrieve preoperative image data of the patient surface, the preoperative image data being in a preoperative image coordinate space;
receive first tracking data from the first tracking system, the first tracking data being obtained for the patient reference device, the first tracking data being in a first tracking coordinate space;
receive second tracking data from the second tracking system, the second tracking data being obtained for the patient reference device, the second tracking data being in a second tracking coordinate space; and
map the 3D scan data, preoperative image data and second tracking data to a common coordinate space by:
mapping the 3D scan data and the first tracking data to each other using a transformation, the transformation having been determined based on a calibration relating the 3D scan coordinate space and the tracking coordinate space;
mapping the 3D scan data and the preoperative image data to each other using a surface matching algorithm, using the surface matching algorithm comprising: matching a 3D surface from the 3D scan data with a 3D surface extracted from preoperative volumetric image data; cropping the 3D surface to exclude at least one unintended region; and selecting a point to initialize surface matching and automatically calculating an iterative closest point (ICP), thereby aligning and matching the 3D surface from the 3D scan data with the 3D surface extracted from preoperative volumetric image data; and
mapping the first tracking data and the second tracking data to each other based on tracking of the patient reference device.

9. The system of claim 8 wherein the 3D scan data comprises data obtained at a given time, wherein the first tracking data comprises data obtained at the same given time, and wherein mapping the 3D scan data and the first tracking data to each other comprises performing the mapping between the respective 3D scan data and first tracking data obtained at the same given time.

10. The system of claim 8 wherein the processor is further configured to: perform the calibration to relate the 3D scan coordinate space and the tracking coordinate space to each other by: obtaining 3D scan calibration data of a calibration device and obtaining first tracking calibration data of the calibration device; and calculating the transformation to map the 3D scan calibration data and the first track calibration data to each other.

11. The system of claim 10 wherein the 3D scanner and the first tracking system are in fixed spatial relationship with each other, and wherein the system further includes a calibration object for performing the calibration, the calibration object having features detectable by the 3D scanner and by the first tracking system.

12. The system of claim 8 wherein the patient surface is a surface of the patient's head in a prone, lateral or supine position.

13. The system of claim 8 wherein the patient reference device comprises: a body having a first side and an opposing second side; at least three tracking markers supported on the first side; and at least another three tracking markers supported on the second side; wherein the tracking markers are trackable by the first and second tracking systems.

14. The system of claim 8 wherein the preoperative image data includes at least one of magnetic resonance (MR) image data, computed tomography (CT) image data, positron emission topography (PET) image data, X-ray image data or ultrasound image data.

Assignees

• Srimohanarajah Kirusha
• Lui Dorothy
• Sela Gal
• Hynna Kai
• Ismaili Shysta
• Ng Samson
• Jankowski Jakub
• Synaptive Medical Barbados Inc

Inventors

• Srimohanarajah Kirusha
• Lui Dorothy
• Sela Gal
• Hynna Kai
• Ismaili Shysta
• Ng Samson
• Jankowski Jakub

Classifications

• G06T12/10

  Image preprocessing, e.g. calibration, positioning of sources or scatter correction · CPC title

• A61B34/20 Primary

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• G16H40/60

  for the operation of medical equipment or devices · CPC title

• G16H20/40

  relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture · CPC title

• G16H40/40

  for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades · CPC title