Method and system for projecting an incision marker onto a patient

Patent metadata

Field	Value
Publication number	US-11877874-B2
Application number	US-202017299635-A
Country	US
Kind code	B2
Filing date	Sep 22, 2020
Priority date	Sep 24, 2019
Publication date	Jan 23, 2024
Grant date	Jan 23, 2024

Abstract

This document relates to technologies of projecting an incision marker onto a patient using a movable gantry carrying a medical imaging system and at least one laser which is adjustable relative to the gantry. The medical imaging system is used for capturing a fluoroscopic or x-ray image of at least a part of the patient from a viewing direction. Then a virtual marker is set in the captured image in order to indicate a point or region of interest, for example as a point or at least one line of an incision. Then the laser is used to indicate, from a projection direction different from the viewing direction, the point or region of interest onto the surface of the patient, thus making the point or region of interest visible from the outside.

First claim

The invention claimed is:

1. A method of projecting an incision marker onto a patient using an associated medical imaging system comprising a gantry and at least one laser that is adjustable relative to the gantry, the method comprising:
capturing a fluoroscopic image of at least a part of a bony structure of the patient from a viewing direction onto the patient using the associated medical imaging system;
projecting, by the at least one laser, an imaging marker onto the patient, wherein the imaging marker indicates a position of the fluoroscopic image on the patient when the fluoroscopic image is captured;
overlaying an initial virtual marker over the fluoroscopic image, wherein a position of the initial virtual marker in the fluoroscopic image corresponds with a position of the imaging marker projected onto the patient;
setting a virtual marker in the fluoroscopic image; and
controlling the at least one laser to project the incision marker in accordance with the virtual marker onto the patient from a projection direction different from the viewing direction.

2. The method of claim 1 , wherein an angle between the viewing direction and the projection direction lies between 85° and 95°.

3. The method of claim 1 , further comprising changing the position of the initial virtual marker to obtain the virtual marker.

4. The method of claim 1 , wherein the virtual marker comprises a point.

5. The method of claim 1 , wherein:
the capturing the fluoroscopic image of the at least a part of the bony structure of the patient comprises capturing a fluoroscopic image of at least a part of a spine of the patient; and
the setting the virtual marker comprises setting the virtual marker that indicates a vertical position on the spine.

6. The method of claim 1 , further comprising:
setting a second virtual marker in the fluoroscopic image; and
controlling the at least one laser to project a second incision marker in accordance with the second virtual marker.

7. The method of claim 1 , further comprising:
changing the position of the virtual marker in the fluoroscopic image; and
controlling the at least one laser according to the changed position of the virtual marker to adapt the position of the corresponding incision marker in real time.

8. The method of claim 4 , wherein the at least one laser projects a point or a crosshair as the incision marker.

9. The method of claim 5 , wherein the projecting by the laser comprises projecting a line as the incision marker.

10. A non-transitory computer readable storage medium storing a program that, when running on a computer that is connected with an associated medical imaging system comprising a gantry and at least one laser that is adjustable relative to the gantry, causes the computer to perform steps comprising:
acquiring a fluoroscopic image of at least a part of a bony structure of a patient from a viewing direction onto a patient using the associated medical imaging system;
instructing the at least one laser to project an imaging marker onto the patient, wherein the imaging marker indicates a position of the fluoroscopic image on the patient when the fluoroscopic image is captured;
overlaying an initial virtual marker over the fluoroscopic image, wherein a position of the initial virtual marker in the fluoroscopic image corresponds with a position of the imaging marker projected onto the patient;
receiving a user input representing a virtual marker in the fluoroscopic image; and
outputting control parameters for controlling the at least one laser to project an incision marker onto the patient in accordance with the virtual marker from a projection direction different from the viewing direction.

11. A computer comprising a processor and a non-transitory computer readable storage medium storing a program executable by the processor to:
control an associated medical imaging system comprising a gantry and at least one laser that is adjustable relative to the gantry to capture a fluoroscopic image of at least a part of a bony structure of an associated patient from a viewing direction onto the associated patient;
control the at least one laser to project an imaging marker onto the patient, wherein the imaging marker indicates a position of the fluoroscopic image on the patient when the fluoroscopic image is captured;
control the associated medical imaging system to overlay an initial virtual marker over the fluoroscopic image, wherein a position of the initial virtual marker in the fluoroscopic image corresponds with a position of the imaging marker projected onto the patient;
control the associated medical imaging system to set a virtual marker in the fluoroscopic image; and
control the at least one laser to project the incision marker in accordance with the virtual marker onto the associated patient from a projection direction different from the viewing direction.

12. A system comprising:
a medical imaging system comprising a gantry and at least one laser that is adjustable relative to the gantry; and
a computer comprising:
a processor; and
a non-transitory computer readable storage medium storing a program executable by the processor to:
control the medical imaging system to capture a fluoroscopic image of at least a part of a bony structure of an associated patient from a viewing direction onto the associated patient;
control the at least one laser to project an imaging marker onto the patient, wherein the imaging marker indicates a position of the fluoroscopic image on the patient when the fluoroscopic image is captured;
control the medical imaging system to overlay an initial virtual marker over the fluoroscopic image, wherein a position of the initial virtual marker in the fluoroscopic image corresponds with a position of the imaging marker projected onto the patient;
control the medical imaging system to set a virtual marker in the fluoroscopic image; and
control the at least one laser to project the incision marker in accordance with the virtual marker onto the associated patient from a projection direction different from the viewing direction.

Assignees

• Brainlab Ag

Inventors

• Bertram Michael
• Glatz Florian
• Christian Georg

Classifications

• A61B6/0492 Primary

  using markers or indicia for aiding patient positioning · CPC title

• A61B6/487

  involving fluoroscopy · CPC title

• A61B6/4435

  the source unit and the detector unit being coupled by a rigid structure · CPC title

• A61B2034/107

  Visualisation of planned trajectories or target regions · CPC title

• A61B5/0071 Primary

  by measuring fluorescence emission · CPC title