System and method for registration between coordinate systems and navigation of selected members

Patent metadata

Field	Value
Publication number	US-11911110-B2
Application number	US-201916261866-A
Country	US
Kind code	B2
Filing date	Jan 30, 2019
Priority date	Jan 30, 2019
Publication date	Feb 27, 2024
Grant date	Feb 27, 2024

Abstract

Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. The guide and system may include various manipulable or movable members and may be registered to selected coordinate systems.

First claim

What is claimed is:

1. A method of performing a navigated procedure relative to a subject, comprising:
accessing first image data of at least a region of interest of the subject, wherein the first image data includes at least a first segmented portion, a second segmented portion, and a third segmented portion;
tracking a reference point at least by (i) tracking a first tracking device in a first coordinate system and (ii) tracking a second tracking device in a second coordinate system;
registering a first image data coordinate system of the first image data to the first coordinate system;
correlating the first coordinate system and the second coordinate system based at least on the tracking the reference point;
tracking a third tracking device that is correlated to the first coordinate system due at least to the correlation of the first coordinate system and the second coordinate system;
tracking a fourth tracking device that is correlated to the first coordinate system due at least to the correlation of the first coordinate system and the second coordinate system;
associating the third tracking device with the first segmented portion in the first image data, wherein the third tracking device is configured to be attached to the subject;
associating the fourth tracking device with the second segmented portion in the first image data, wherein the fourth tracking device is configured to be attached to the subject;
displaying, with a display device, a first image based on the first image data; and
displaying, with the display device, a second image that includes a changed position of the third segmented portion based upon a tracked movement of at least one of the third tracking device or the fourth tracking device;
wherein the third tracking device and the fourth tracking device are tracked in only the second coordinate system;
wherein the third segmented portion is not directly associated with any tracking device.

2. The method of claim 1 , further comprising:
segmenting the first image data to determine at least a boundary.

3. The method of claim 1 , further comprising:
tracking a fifth tracking device in the first coordinate system, wherein the fifth tracking device is associated with an instrument; and
displaying a graphical representation of the instrument relative to the displayed first image.

4. The method of claim 1 , further comprising:
fixing the first tracking device and the second tracking device to a single mounting structure.

5. The method of claim 4 , wherein tracking the first tracking device in the first coordinate system includes tracking an optical tracking member with an optical localizer;
wherein tracking the second tracking device in the second coordinate system includes tracking an electro-magnetic coil with an electro-magnetic localizer.

6. The method of claim 5 , wherein the third tracking device is connected to a first member of the subject and the fourth tracking device is connected to a second member.

7. The method of claim 6 , wherein the first segmented portion is image data of the first member and displaying the second image includes illustrating a real time position of the first member due to a determined change in position of the third tracking device.

8. The method of claim 1 , further comprising:
fixing the third tracking device to a first member of the subject;
fixing the fourth tracking device to a second member of the subject;
wherein fixing at least one of the third tracking device or the fourth tracking device includes separating a trackable portion from a mount relative to at least one of the first member or the second member;
wherein associating the third tracking device with the first segmented portion in the first image data includes providing a first input to a navigation system by a user; and
associating the fourth tracking device with a-the second segmented portion in the first image data includes providing a second input to the navigation system by the user;
wherein the first input and the second input allow for the displayed second image.

9. A system to navigate a procedure relative to a subject, comprising:
a display device to display image data having a first segmented portion of the subject and a second segmented portion of the subject;
a first tracking system defining a first tracking space with a first coordinate system;
a second tracking system defining a second tracking space with a second coordinate system;
wherein at least one of the first tracking system or the second tracking system is operable to track a reference point associated with (i) a first tracking device trackable in the first coordinate system and (ii) a second tracking device trackable in the second coordinate system;
a third tracking device trackable in only the second coordinate system and correlated to the first coordinate system due at least to a registration of the first coordinate system and the second coordinate system, wherein the third tracking device is associated with the first segmented portion in the image data;
a fourth tracking device trackable in only the second coordinate system and correlated to the first coordinate system due at least to the registration of the first coordinate system and the second coordinate system, wherein the fourth tracking device is associated with the second segmented portion in the image data;
wherein at least one of the third tracking device or the fourth tracking device includes a trackable portion separable from a mount; and
a navigation processor system operable to:
register the image data coordinate system of the image data to a navigation space based on the reference point tracked by at least the first tracking system or the second tracking system; and
generate updated image data as an update to the image data, including changing a position of at least one of (i) the first segmented portion or the second segmented portion and (ii) a third segmented portion of the subject based upon a tracked change in position of the third tracking device or the fourth tracking device; and
generate an updated image based on the updated image data for display with the display device;
wherein changing the position of the third segmented portion is not based upon a tracked change in position with any tracking device configured to connect to the subject.

10. The system of claim 9 , wherein the navigation processor system is further operable to access at least a region of interest of the subject in the image data.

11. The system of claim 9 , wherein the first tracking system is configured to operate in a first modality and the second tracking system is configured to operate in a second modality different than the first modality.

12. The system of claim 11 , further comprising:
an instrument configured to be tracked with the first tracking system;
wherein the generated updated image includes a representation of the instrument relative to the first segmented portion.

13. The system of claim 12 , wherein the navigation processor system is further operable to correlate the first coordinate system and the second coordinate system due at least to the reference point;
wherein the updated image data is based on the correlation of the first coordinate system and the second coordinate system;
wherein the third segmented portion is operable to be indirectly tracked.

14. A method of performing a navigated procedure relative to a subject, comprising:
accessing a first image data of at least a region of interest of the subject;
tracking a reference point by tracking a first tracker assembly having at least (i) a first tracking device in a first coor

Assignees

• Medtronic Navigation Inc

Inventors

• Snyder Victor D
• Jacobsen Brad
• Moctezuma Joseph
• Redmond Jerald Lamont
• Darling Katharine E
• Kemp Justin
• Wald Andrew

Classifications

• A61B34/20 Primary

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

• A61B5/0077

  Devices for viewing the surface of the body, e.g. camera, magnifying lens · CPC title

• A61B5/062

  using magnetic field · CPC title

• A61B5/7425

  Displaying combinations of multiple images regardless of image source, e.g. displaying a reference anatomical image with a live image · CPC title

• G06T7/13

  Edge detection · CPC title