Other

Vanderbilt University

University of Rochester

Robert J Maciunas

George S Allen

Robert L Galloway

J Michael Fitzpatrick

Calvin R Maurer, Jr

Charles A Edwards, Ii

Martin R Zink

Jennifer J McCrory

John Michael Fitzpatrick

Hsuan Chang

Wayne A Bass

Venkateswara R Mandava

M Robert Willcott

An image of a patient taken through X-ray computed tomography or the like is registered to physical measurements taken on the patient's body. Different parts of the patient's body are given different numerical weights; for example, if bone measurements are deemed to be more accurate than skin measurements, the bones can be given a higher weight than the skin. The weights are used in an iterative registration process to determine a rigid body transformation function. The transformation function is used in robot-assisted surgical procedures, stereotactic procedures or the like.

Apparatus and method for registration of images to physical space using a weighted combination of points and surfaces

An implantable fiducial marker having a sealed cavity for the introduction of an imaging agent that provides imaging capability in several modes, including Computed Tomographic imaging (CT) and Magnetic Resonance Imaging (MRI) is disclosed. The marker may be permanent, or it may be temporary and readily detachable from its anchor site. Combinations or agents imageable under CT scanning are combined with agents imageable under MRI scanning.

Fiducial marker

An A-mode ultrasound transducer is tracked in three-dimensions by an optical position tracking system as the transducer is scanned over the skin to generate measurements of bone surface distance from the transducer. A processor correlates the ultrasound data with position and orientation data to generate a three-dimensional physical space model of the bone surface which is registered with an image space model of the bone surface generated from a tomographic image to produce an alignment of the two models. The ultrasound transducer is replaced by an instrument which is also optically tracked. The alignment is used to translate instrument position in physical space to a position in image space for generation on a monitor of a composite display of the instrument and the tomographic image. This composite display can be used to guide positioning and orienting the instrument in physical space with respect to sites of interest observed in the tomographic image on the display.

Apparatus and method for bone surface-based registration of physical

An interactive system for guiding the use of a surgical tool uses at least one imaging technique, such as CT scanning. A mechanical arm has a fixed base at a first end and a tool holder that holds the surgical tool at a second end. A display displays one or more images from the image space of a patient's anatomy. A computer is coupled to the display and the mechanical arm. The computer tracks the location of the surgical tool through physical space, performs a transforming rotation of the physical space to the image space, and causes the display to display the location of the surgical tool within the image space.

Interactive image-guided surgical system for displaying images

The present invention pertains to a fiducial implant for the human body that is detectable by an imaging system. The invention is comprised of a first portion and a second portion. The first portion is configured to be detected by an imaging system when place beneath the skin. The second portion is configured for fixed attachment to a bone beneath the skin without penetrating entirely through the bone and without penetrating entirely through the bone and without fracturing the bone. The first portion is sufficiently large and comprised of a material for detection by an imaging system, and sufficiently small to avoid the distortion of the skin when placed at an interface between the skin and the bone. The first portion also has at least a portion which is spherical and defines a surface for cooperating with a tool for securing the second portion to the bone. Additionally, the placement of n fiducial implants, where n.gtoreq.4 and an integer, into a portion of anatomy of the human body allows for the recreation of a particular image slice of the portion of the anatomy taken by an imaging system with respect to a first time period, at subsequent imaging sessions and also with different scan modalities. This provides a doctor with the ability to accurately follow the progress of the portion of the anatomy of interest. Moreover, the existence of an fiducial implants allows a target to be identified within the portion of anatomy relative to an external coordinate system. The portion of anatomy with the target may then be operated on, for instance, robotically, or precisely irradiated.

Method and apparatus for imaging the anatomy

Interactive image-guided surgical system

Growing community of inventors

Pittsford, NY, United States of America

Robert J Maciunas