A Single Image Registration Method for Image Guided Interventions
The purpose of this invention is to determine the three-dimensional position and orientation of an effector (a needle, probe, etc.) relative to a subject using single cross sectional images (e.g. from a CT or MRI scanner). Minimally invasive image guided interventions are an attractive option for localized therapy delivery and diagnostic biopsy. These percutaneous (i.e. through the skin) procedures can reduce surgical morbidity, decrease patient recovery time/hospital stay duration, and reduce patient discomfort. Specific applications include prostate biopsy and therapy delivery, percutaneous access to the spine, and percutaneous liver biopsy. By performing these procedures under active image guidance (i.e. in a CT or MRI scanner), we gain several additional advantages over ?blind? percutaneous placement. First, we can directly visualize and confirm when the needle/probe has reached the desired target. In addition, we can use image guidance to avoid other sensitive structures (such as vascular tissue). Finally, in soft tissues, such as the liver, we can update our target/trajectory as the tissue deforms. When active image guidance is combined with a robotically positioned and controlled end effector, we gain several additional advantages. We are able to execute well-controlled, planned movements with little risk of inadvertent motion. In addition, when using imaging modalities that involve ionizing radiation (such as CT), robotic positioning of the effector can reduce or eliminate physician exposure. We have developed a method for image guided effector placement that requires no immobilization of the patient or fiducial implantation. A localization module, integrated with a robotically positioned and controlled end effector, allows for localization of the effector in the image space using a single cross-sectional image. In comparison with existing techniques, advantages of our method include: 1. We can directly locate the end effector with a single cross sectional image ? allowing for rapid confirmation of effector position. This is an important safety advantage (i.e. we can be certain of our position and trajectory both before and after inserting a needle/probe). 2. No external frames or calibration procedures are required. All registration is based only upon information contained in single cross-sectional images. This allows our system to be fast and relatively uncomplicated. 3. The system is minimally invasive - reducing patient discomfort, complications, and recovery time. There is no need to immobilize the patient with a stereotactic frame or to implant fiducial markers. In a theoretical analysis, we have shown that our registration method maintains high localization accuracy and error attenuation over a large range of positions and orientations. Experimentally, the average error in needle tip location over 63 trials was 470 ?m; 95% of the errors were below 1.0mm. This method is a fast, accurate, and easily implemented registration method for cross sectional image guided stereotaxis. Description (Set) Proposed Use (Set) This invention has a variety of applications. These include: 1. Percutaneous access to the spine (and other bony structures) 2. Prostate biopsy and therapy delivery 3. Percutaneous liver biopsy 4. Stereotactic brain biopsy and therapy delivery 5. Localized injection of drugs and other therapeutic agents Patent (Set) 7,225,012 B2Patents:
US 7,225,012
Inventor(s): Susil, Robert C.
Type of Offer: Licensing
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