| US 7,359,746 B2 | ||
| Image guided interventional method and apparatus | ||
| Louis K. Arata, Mentor, Ohio (US) | ||
| Assigned to Z-Kat, Inc., Ft. Lauderdale, Fla. (US); and Biomet Inc., Warsaw, Ind. (US) | ||
| Filed on Sep. 09, 2003, as Appl. No. 10/658,110. | ||
| Claims priority of provisional application 60/409339, filed on Sep. 09, 2002. | ||
| Prior Publication US 2004/0127788 A1, Jul. 01, 2004 | ||
| Int. Cl. A61B 5/05 (2006.01) | ||
| U.S. Cl. 600—424 [606/130; 600/426; 600/427] | 16 Claims |
| 1. A method for displaying information during an interventional procedure, comprising:
scanning a scanner calibrator to acquire an image of said scanner calibrator, said scanner calibrator comprising at least
one fiducial and said image of said scanner calibrator comprising a representation of said at least one fiducial;
determining a position relative to a tracking system of the scanner calibrator when the image of the scanner calibrator was
acquired;
determining a position relative to the tracking system of a scanner tracker fixed to a scanner;
determining a transform (Tc) between said scanner calibrator and said scanner tracker from the determined positions of the scanner calibrator and the
scanner tracker;
calculating a transform (Ti) that maps a location relative to the tracking system of said at least one fiducial to a position of said representation
of said at least one fiducial in the image of the scanner calibrator;
calculating a transform (Ts) between said scanner tracker and said image of said scanner calibrator based at least in part on said determined transform
(Tc) between said scanner calibrator and said scanner tracker and said calculated transform (Ti) mapping said location of said at least one fiducial to said position of said representation of said at least one fiducial
in the image of the scanner calibrator;
scanning at least a portion of an anatomy of a patient to acquire a plurality of anatomical images of said portion of said
anatomy;
determining a position relative to the tracking system of a patient tracker associated with the patient;
calculating a transform (Tp) between said patient tracker and said scanner tracker;
determining a transform (Tr) between said patient tracker and said plurality of anatomical images based at least in part on said transform (Tp) between said patient tracker and said scanner tracker and at least in part on said transform (Ts) between said scanner tracker and said image of said scanner calibrator;
determining a transform (Tt) between an instrument used in said interventional procedure and said patient tracker;
calculating a transform (Tn) between said instrument and said plurality of anatomical images based at least in part on said determined transform (Tl) between said instrument and said patient tracker and said determined transform (Tr) between said patient tracker and said plurality of anatomical images; and
displaying an updated current position of said instrument on at least one of said plurality of anatomical images based at
least in part on said calculated transform (Tn) between said instrument and said plurality of anatomical images.
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