Interrelated point acquisition for navigated surgery

Patent metadata

Field	Value
Publication number	US-2016249985-A1
Application number	US-201315027606-A
Country	US
Kind code	A1
Filing date	Oct 28, 2013
Priority date	Oct 28, 2013
Publication date	Sep 1, 2016
Grant date	—

Abstract

The present invention relates to a method for acquiring the position of points for navigated surgery, the method being constituted to be executed by a computer and comprising the following steps: —acquiring, on the basis of detecting a first tracked device, first point position data for each of at least two points, wherein the first point position data comprise point position information describing the three-dimensional position of the point within a first co-ordinate system assigned to the first tracked device; —acquiring first co-ordinate transformation data for each of at least two points, wherein the first co-ordinate transformation data comprise co-ordinate transformation information describing a transformation of the three-dimensional position of the point from the first co-ordinate system to a second co-ordinate system; —acquiring second co-ordinate transformation data for each of at least two points, wherein the second co-ordinate transformation data comprise co-ordinate transformation information describing a transformation of the three-dimensional position of the point from the second co-ordinate system to a third co-ordinate system assigned to a second tracked device; —determining, on the basis of the first and second co-ordinate transformation data, second point position data for each of at least two points, wherein the second point position data comprise point position information describing the three-dimensional position of the point within the third co-ordinate system; wherein the second point position data of at least one of the at least two points are determined on the basis of the second co-ordinate transformation data of at least one other of the at least two points.

First claim

1 . A data processing, comprising a computer having a processor configured to execute a computer-implemented medical method for acquiring the position of points for navigated surgery, the method comprising the following steps:
acquiring, at the processor and on the basis of detecting a first tracked device, first point position data for each of at least two points, wherein the first point position data comprise point position information describing a three-dimensional position of the point within a first co-ordinate system assigned to the first tracked device; acquiring, at the processor, first co-ordinate transformation data for each of at least two points, wherein the first co-ordinate transformation data comprise co-ordinate transformation information describing a transformation of the three-dimensional position of the point from the first co-ordinate system to a second co-ordinate system; acquiring, at the processor, second co-ordinate transformation data for each of at least two points, wherein the second co-ordinate transformation data comprise co-ordinate transformation information describing a transformation of the three-dimensional position of the point from the second co-ordinate system to a third co-ordinate system assigned to a second tracked device; and determining, by the processor and on the basis of the first and second co-ordinate transformation data, second point position data for each of at least two points, wherein the second point position data comprise point position information describing the three-dimensional position of the point within the third co-ordinate system,
wherein the second point position data of at least one of the at least two points are determined on the basis of the second co-ordinate transformation data of at least one other of the at least two points.

2 . The method according to claim 10 , wherein the second co-ordinate system is spatially invariant relative to a surgical operating area, at least during the time required to determine the position of each of the points within the third co-ordinate system, and is a co-ordinate system assigned to a camera array of a medical tracking system.

3 . The method according to claim 1 , wherein the second co-ordinate transformation data for at least one of the at least two points are stored.

4 . The method according to claim 10 , further comprising the step of determining, by the processor possible differences in the second co-ordinate transformation data for at least two of the at least two points.

5 . The method according to claim 10 , further comprising the step of determining mean second co-ordinate transformation data if any differences in the second co-ordinate transformation data are found, wherein the mean second co-ordinate transformation data are determined on the basis of second co-ordinate transformation data for at least two of the at least two points, and wherein the second point position data are determined on the basis of the mean second co-ordinate transformation data.

6 . The method according to claim 5 , wherein the mean second co-ordinate transformation data are determined on the basis of mathematical algorithms used to compensate for the error influences which cause said differences.

7 . The method according to claim 4 , further comprising the step of evaluating, by the processor and on the basis of the determined differences in the second co-ordinate transformation data for at least two of the at least two points, possible changes in the position of the third co-ordinate system relative to the second co-ordinate system during the point position acquisition procedure.

8 . The method according to claim 4 , further comprising at least one of the steps of:
determining, by the processor, at least one outlying second co-ordinate transformation on the basis of a comparison of second co-ordinate transformation data for at least three points; weighting, by the processor, the at least one outlying second co-ordinate transformation or replacing it with a different second co-ordinate transformation; indicating, by the processor, that a point position acquisition procedure is to be repeated for at least the point exhibiting the outlying second co-ordinate transformation.

9 . (canceled)

10 . A computer-implemented medical method for acquiring the position of points for navigated surgery, the method comprising executing, on a processor of a computer, the steps of:
acquiring, at the processor and on the basis of detecting a first tracked device, first point position data for each of at least two points, wherein the first point position data comprise point position information describing a three-dimensional position of the point within a first co-ordinate system assigned to the first tracked device; acquiring, at the processor, first co-ordinate transformation data for each of at least two points, wherein the first co-ordinate transformation data comprise co-ordinate transformation information describing a transformation of the three-dimensional position of the point from the first co-ordinate system to a second co-ordinate system; acquiring, at the processor, second co-ordinate transformation data for each of at least two points, wherein the second co-ordinate transformation data comprise co-ordinate transformation information describing a transformation of the three-dimensional position of the point from the second co-ordinate system to a third co-ordinate system assigned to a second tracked device; and determining, by the processor and on the basis of the first and second co-ordinate transformation data, second point position data for each of at least two points, wherein the second point position data comprise point position information describing the three-dimensional position of the point within the third co-ordinate system, wherein the second point position data of at least one of the at least two points are determined on the basis of the second co-ordinate transformation data of at least one other of the at least two points.

11 . A non-transitory computer-readable program storage-medium storing a computer program which, when executed on a processor of a computer or loaded into the memory of a computer, causes the computer to perform a computer-implemented medical method for acquiring the position of points for navigated surgery, the method comprising the following steps:
acquiring, at the processor and on the basis of detecting a first tracked device, first point position data for each of at least two points, wherein the first point position data comprise point position information describing a three-dimensional position of the point within a first co-ordinate system assigned to the first tracked device; acquiring, at the processor, first co-ordinate transformation data for each of at least two points, wherein the first co-ordinate transformation data comprise co-ordinate transformation information describing a transformation of the three-dimensional position of the point from the first co-ordinate system to a second co-ordinate system; acquiring, at the processor, second co-ordinate transformation data for each of at least two points, wherein the second co-ordinate transformation data comprise co-ordinate transformation information describing a transformation of the three-dimensional position of the point from the second co-ordinate system to a third co-ordinate system assigned to a second tracked device; and determining, by the processor and on the basis of the first and second co-ordinate transformation data, second point position data for each of at least two points, wherein the second point position data comprise point position information describing the three-dimensional position of the

Assignees

• Brainlab Ag

Inventors

• Haimerl Martin
• Schubert Mario

Classifications

• G06F19/324

  Physics · mapped topic

• A61B2034/2068

  using pointers, e.g. pointers having reference marks for determining coordinates of body points · CPC title

• A61B34/20 Primary

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

• G06F19/3406

  Physics · mapped topic

• G16Z99/00

  Subject matter not provided for in other main groups of this subclass · CPC title