CA2335867C - Fiducial matching by means of fiducial screws - Google Patents

Fiducial matching by means of fiducial screws Download PDF

Info

Publication number
CA2335867C
CA2335867C CA002335867A CA2335867A CA2335867C CA 2335867 C CA2335867 C CA 2335867C CA 002335867 A CA002335867 A CA 002335867A CA 2335867 A CA2335867 A CA 2335867A CA 2335867 C CA2335867 C CA 2335867C
Authority
CA
Canada
Prior art keywords
fiducial
pointer
reference points
implant
bone
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
CA002335867A
Other languages
French (fr)
Other versions
CA2335867A1 (en
Inventor
Doris Traxel
Roger Berger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
AO Technology AG
Original Assignee
AO Technology AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by AO Technology AG filed Critical AO Technology AG
Publication of CA2335867A1 publication Critical patent/CA2335867A1/en
Application granted granted Critical
Publication of CA2335867C publication Critical patent/CA2335867C/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/363—Use of fiducial points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3904—Markers, e.g. radio-opaque or breast lesions markers specially adapted for marking specified tissue
    • A61B2090/3916—Bone tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3925—Markers, e.g. radio-opaque or breast lesions markers ultrasonic
    • A61B2090/3929—Active markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A61B2090/3945—Active visible markers, e.g. light emitting diodes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3954—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI
    • A61B2090/3958—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI emitting a signal
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis

Abstract

The invention relates to a device for the referenced positioning of two reference points (11; 14) situated on a fiducial screw (2) implanted into a bone. Said device comprises (A) a fiducial screw (2) which can be screwed into a bone (1) and has a longitudinal axis (9), a screw shank (10) and a screw head (22) provided with means (12) for receiving an instrument used to screw the fiducial screw (2) in and out;
and B) a pointer (3) provided with at least three means (19) which are not positioned colinearly and emit electromagnetic or acoustic waves, where said pointer (3) has a front end (15), a rear end (16) and a longitudinal axis (9). C) The pointer (3) has means (20) at its front end (15) and the fiducial screw (2) at its head (22) which make it possible for the pointer (3) and the fiducial screw (2) to be joined in the direction of the longitudinal axis (9) and concentrically in relation to said axis (9). D) thanks to the known length (x) of the fiducial screw (2), the known length (y) of the pointer (3) and the means (20) described under C) it is possible to achieve a defined, local coordination between the reference points (11; 14) on the fiducial screw (2) and the means (19) of the pointer (3) emitting electromagnetic or acoustic waves.

Description

FIDUCIAL MATCHING BY MEANS OF FIDUCIAL SCREWS

The invention relates to a device for referencing a fiducial implant and a device for referencing a fiducial implant for insertion into a portion of a body. The invention also relates to a use of at least two fiducial implants suitable for insertion in a body and a use of at least one fiducial implant suitable for insertion into a body.

A problem is frequently encountered in Computer Assisted Surgery in that for instance a computer tomogram of the bones or body parts to be treated is the starting point of the surgical intervention. It may be necessary to identify by position-finding a given point on the bone or body part associated with the surgical instruments and to compare its position with that of the identical point on the computer tomogram.

To achieve minimal injury to the soft parts around the bone, the bone, or also, for instance, a vertebra, shall be operated on without exposing large surfaces of the parts to be treated (minimal invasive technology) Computer assisted surgery is appropriate in this respect. To register the patient's system of coordinates in the operating room as determined by the dynamic reference base of the position finding system with the system of coordinates of the previously recorded tomographic image data, a transformation of coordinates, called "matching", must be carried out.

A more comprehensive description of computer assisted surgery including a matching algorithm suitable for such transformation of coordinates is given in L. P. NOLTE ET AL, CLINICAL EVALUATION OF A SYSTEM FOR PRECISION ENHANCEMENT IN

SPINE SURGERY, CLINICAL BIOMECHANICS, 1995, VOL. 10, No. 6, PP
293-303.
2 One way to match the coordinate system of the patient in the operating room to the patient's image coordinate system is to use mechanical scanning devices such as are illustratively described in the US patent 5,383,454 (Buchholz). However these known procedures are exceedingly time-consuming and presently only of obsolete accuracy.

Another way of matching the patient's system of coordinates in the operating room with the system of coordinates of the image consist in identifying predetermined points using anatomical reference points. Where the body parts are only little exposed, this method also is difficult because of restricted visual access. Frequently an endoscope must be used.

A device for the preoperative determination of position data of parts of endoprostheses of a intermediate bone joint relative to the bone which form the intermediate bone joint is disclosed in DE 29 704 393 AESCULAP. This known device comprises a measuring device for the determination of the position of marking elements within a three-dimensional system of coordinates, a data processing unit and a marking element each for the two bones forming the bone joint. These marking elements consist of a foot screwable into a bone each in the form of a bone screw and a T-shaped top body comprising for markers being apart from each other.

In another method to register the systems of coordinates, so-called fiducial implants are used to unequivocally identify the reference points. Such a method and appropriate apparatus are described in US 4,945,914 (Allen). This method includes the implantation of at least 4 spatially related fiducials.

All these known methods share the drawback of being fairly time-consuming.

2a The objective of the invention is palliation. Its purpose is to create a device and method allowing to create a spatial relationship, for reference points on fiducial screws, between their positions in the physical body's system of coordinates and the positions of the identical reference points in the system of coordinates of the image, while entailing only little injury to the soft tissue around the bone(s) (minimal invasive technology) . The purpose of the device is to define two reference points on a fiducial screw, and as a result the method requires only two implanted fiducial screws.
Furthermore the image may be an x-ray or a digitally stored computer tomogram.

In accordance with one aspect of the present invention, the invention solves the problem using a device for referencing a fiducial implant, comprising: a fiducial implant for insertion into a portion of a body, the implant having first and second spaced apart reference points and a head, the head and the reference points having a known spatial relationship; a pointer having a distal pointer end and at least three emitters configured to emit radiation, the distal pointer end and the at least three emitters having a known spatial relationship; a position finder comprising at least two detectors configured to detect the radiation whereby the position of the at least three emitters in three-dimensional space can be determined; and wherein the head of the implant and the distal pointer end are configured to removably and reproducibly mate to provide a known spatial relationship between the first and second spaced apart reference points of the fiducial implant and the distal pointer end to allow the position of the first and second spaced apart reference points in three dimensional space to be determined.

In accordance with an alternate aspect of the present invention, the invention solves the problem using a device for 2b referencing a fiducial implant for insertion into a portion of a body, the implant having first and second spaced apart reference points and a head, the head and the reference points having a known spatial relationship, the device comprising: a pointer having a distal pointer end and at least three emitters configured to emit radiation, the distal pointer end and the at least three emitters having a known spatial relationship; a position finder comprising at least two detectors configured to detect the radiation whereby the position of the at least three emitters in three-dimensional space can be determined; and wherein the head of the implant and the distal pointer end are configured to removably and reproducibly mate to provide a known spatial relationship between the first and second spaced apart reference points of the fiducial implant and the distal pointer end to allow the position of the first and second spaced apart reference points in three dimensional space to be determined.

In accordance with an alternate aspect of the present invention, there is provided a use of at least two fiducial implants suitable for insertion in a body, each fiducial implant providing at least two spaced apart reference points, for determining the position in three-dimensional space of the at least two spaced apart reference points of each of the at least two fiducial implants and determining the spatial relationship between the spaced apart reference points of the at least two fiducial implants.

In accordance with an alternate aspect of the present invention there is provided a use of at least one fiducial implant suitable for insertion into a body, the fiducial implant having at least two spaced apart reference points and a pointer suitable for associating with the fiducial implant, said pointer having at least three emitters configured to emit radiation, wherein the at least three emitters have a known 2c spatial relationship and the fiducial implant and pointer are oriented along a longitudinal axis for determining the position in three-dimensional space of the at least two spaced apart reference points of the implant associated with the pointer.

In a preferred embodiment of the device of the invention, a pointer filled with marker means is moved in a spatially precisely defined position and orientation relative a fiducial screw fitted with fixed reference points. One reference point is the tip of the fiducial screw and the other reference point is the screw head. The pointer is positioned by inserting a tightly fitting pin at its front end into a corresponding aperture in the head of the fiducial screw. The aperture in the fiducial screw head and hence the pin then are concentric with the longitudinal axis of the fiducial screw , the pin in turn being concentric with the pointer. Accordingly the pointer and the fiducial screw are located in an axis defined by the reference points on the fiducial screw. The pointer position is defined in the direction of this longitudinal axis because the pointer stem adjoining the pin is of a larger diameter than the pin diameter and thereby abuts the screw head. For a given position of the marker means in the system of coordinates, the position of the reference points on the fiducial screw can therefore de ascertained in the same system of coordinates. The marker means may be in the form of emitters/detectors emitting or detecting
3 59-156-3 electromagnetic or acoustic waves. Depending on the kind of emitters/detectors, the marker means position can be ascertained by an appropriate position detector.

The position detector also may be part of a CAS (computer assisted surgery) system and may include an image processing computer software.

The method of the irivention to create a spatial relation between reference points is based on.
the concept that the bone-implanted fiducial screws can be recognized in a three-dimensional image for instance made by computer tomography or in a common x-ray of the bone. If the reference points on the fiducial screws are measiured on the image in terms of a corresponding system of coordinates and if the reference points in the tiducial screws mounted on the physical body are measured by the device of the invention in terms of anothersystem of coordinates, then associating the positions of the reference points in the image with those on the real body makes it possible that any point on the image can be related by a coordinate transformation to the corresponding point in the physical bone, and vice-versa.
By means of the method and the device of the invention, the registration or matching of the systems of coordinates can be implemented by only two fiduciary screws implanted in the body.

ls Ordinarily the term "fiduciary matching" denotes the creation of the spatial relation of reference points on fiducial screws befirveeri their positions in the system of coordinates of the physical bbdy and the positions of the identical reference points in the system of coordinates in the image.

Further advantageous embodiments of the invention are defined in the dependent claims.
Essentially the advantages offered by the invention are that thanks to the device of the invention and using the method of the invention, it suffices to implant only two fiducial screws to fiducially match the coordinate system of the image to the actual system of coordinates, and in that the bone segment receiving the implanted fiducial screws need be exposed only minimally (minimal invasive technology).
The invention and its further developments are elucidated below in relation to several embodiments partly shown in schematic manner.

Fig.1 is a perspective of an embodiment of the device of the invention, and Fig. 2 is a partly sectional side view of an embodiment of the device of the invention.

The embodimenl of the device of the invention shown in Figs.1 and 2 comprises a fiducial screw 2 of longitudinal axis 9 and a pointer 3 having a front end 15, a rear end 16, a cylindrical stem 4 and a grip 5. A cylindrical pin 7 is present at the front end 15, opposite the grip 5, of the pointer 3 and is
4 59-156-3 insertable concentrically as a snug fit into the aperture 12 present in the head 22 of the fiducial screw 2 to receive a tool for screwing in or out the fiducial screw 2. The cross-section of the pin 7 is less than that of the stem 4 of the pointer 3 and as a result the axial position of the inserted pointer 3 is rigorously defined because the shoulder 17 rests on the rear end 13 preferably perpendicular to the longitudinal axis 9 of the fiducial screw 2. This aperture 12 concentric with the longitudinal axis 9 in the head 22 of the fiducial screw 2 may be internally threaded or fitted with a hexagonal socket. If this aperture 12 is internally threaded, the pin 7 of the pointer 3 may be threaded externally to allow a rigid, detachable connection between the pointer 3 and the fiducial screw 2. Because of this concentric assembly of the pointer 3 and the fiducial screw 2, the longitudinal pointer axis 9 coincides with the longitudinal axis 9 of the fiducial screw 2, and as a result the direction of the cylindrical pointer 3 is defined relative to the fiducial screw 2. Three LEDs (light emitting diodes) 6 are mounted at the rear end 16 of the pointer 3 in such mannerthat they are in one plane 18 which is perpendicular to the longitudinal axis 9 of the point 3 and may be located at the rear end 16 of this pointer 3. The LEDs are not collinear.

As shown in Fig. 2, the length (x) between the front end 14 forming one reference point and the is head 22 of the fiducial screw 2', forming the second reference point and the length y between the shoulder 17 and the plane 18 containing the LEDs 6 are precisely determined. Knowing the position of the LEDs 6 relative to a system of coordinates in the room, further the coaxial and concentric alignment of the longitudinal axis 9 of the pointer 3 with the longitudinal axis 9 of the fiducial screw 2 and the axially defined position of the pointer 3 relative to the fiducial screw 2 by means of the shoulder 17 at the stem 4 of the pointer 3 abutting the screw head 22, it is thereby possible to ascertain the locations of the reference points defined by ttie front end 14 and the screw head 22 in the same system of coordinates in the room.

In the embodiment ot`the device of the invention shown in Fig. 1, the LEDs 6 may be powered by a cable 8. Other power supplies such as plain or rechargeable batteries also are possible. If the at least three non-collinear eleci:romagnetic or acoustic wave-generating means 19 are LEDs 6 as shown in the embodiment of the invention of Figs. 1 and 2, the spatial position finding by the LEDs 6 relative to a system of coordinates can be implemented using commercial optical position finders. Such an optical position finder is on the market as OPTOTFtAKT"'.

When the fiducial screw 2 of Fig. I is screwed into a bone 1, the sites of the reference points defined by the front end 14 and the screw head 22 of the physical fiducial screws 2 can be registered, i.e. matched in the two particuilarsystems of coordinates with the sites of same reference points recorded at another time for instance by computer tomography in a 3D image S Moreover an embodiiment of the device of the invention additionally may comprise a position finder 24 which inside the room includes at least two sensors 23 detecting the electromagnetic or acoustic waves emitted by the means 19.

______ =

Claims (24)

Claims What is claimed is:
1. A device for referencing a fiducial implant, comprising:
a fiducial implant for insertion into a portion of a body, the implant having first and second spaced apart reference points and a head, the head and the reference points having a known spatial relationship; a pointer having a distal pointer end and at least three emitters configured to emit radiation, the distal pointer end and the at least three emitters having a known spatial relationship; a position finder comprising at least two detectors configured to detect the radiation whereby the position of the at least three emitters in three-dimensional space can be determined; and wherein the head of the implant and the distal pointer end are configured to removably and reproducibly mate to provide a known spatial relationship between the first and second spaced apart reference points of the fiducial implant and the distal pointer end to allow the position of the first and second spaced apart reference points in three-dimensional space to be determined.
2. The device of claim 1, wherein the body is a bone, and further comprising a processor configured to perform a coordinate transformation to match the position of each reference point in three-dimensional space with a corresponding position of the respective reference point in a stored image of the bone.
3. The device of claim 2, further comprising at least a second fiducial implant for insertion in the bone, the second implant having a head and at least third and fourth reference points, wherein the head of the second implant and the distal pointer end are configured to removably and reproducibly mate to provide a known spatial relationship between the third and fourth reference points and the distal pointer end to allow the position of the third and fourth reference points in three-dimensional space to be determined.
4. The device of claim 3, wherein the processor is configured to match the positions in three-dimensional space of the third and fourth reference points with the positions of the respective reference points in the stored image of the bone and further wherein the processor is configured to perform a coordinate transformation whereby the position of a selected point on the bone can be matched with the corresponding position of the selected point in the image of the bone.
5. The device of claim 1, wherein the head of the fiducial implant comprises a cavity and the distal pointer end of the pointer comprises a pin configured to be received within the cavity to provide the known spatial relationship between the reference points and the first end of the pointer.
6. The device of claim 5, wherein the distal pointer end of the pointer comprises a shoulder adjoining the pin, the shoulder having a diameter larger than a diameter of the pin and being configured to abut the head of the implant when the pin is received within the cavity.
7. The device of claim 6, wherein the fiducial implant is a fiducial screw and the pointer can be used to screw in or screw out the fiducial screw when the pin is received within the cavity.
8. The device of claim 1, wherein the radiation comprises electromagnetic radiation or acoustic waves.
9. The device of claim 1, wherein the fiducial implant and pointer are arranged along a longitudinal axis and the at least three emitters are arranged in a plane perpendicular to the longitudinal axis.
10. Use of at least two fiducial implants suitable for insertion in a body, each fiducial implant providing at least two spaced apart reference points, for determining the position in three-dimensional space of the at least two spaced apart reference points of each of the at least two fiducial implants and determining the spatial relationship between the spaced apart reference points of the at least two fiducial implants, wherein one of said fiducial implants is part of a device that further comprises a pointer having a distal end and at least three emitters configured to emit radiation, the distal end and the at least three emitters having a known spatial relationship, and a detector; wherein said distal end is configured for removable association with each of the fiducial implants individually to reproducibly provide a known spatial relationship between the reference points and the distal end and wherein said detector is for detecting radiation emitted from said emitters to determine the position of the at least three emitters in three-dimensional space to allow the position of each reference point in three-dimensional space to be determined.
11. The use according to claim 10, wherein the body is a bone.
12. The use according to claim 11, further comprising a use of at least one image showing the bone and at least two of the fiducial implants following insertion.
13. The use according to claim 12, wherein one of said fiducial implants is part of a device that further comprises a processor for performing a coordinate transformation to match the positions of the reference points in three-dimensional space with corresponding positions of the reference points in the image.
14. The use according to claim 13, wherein said image is a digitally recorded computer three-dimensional computer tomogram.
15. Use of at least one fiducial implant suitable for insertion into a body, the fiducial implant having at least two spaced apart reference points and a pointer suitable for associating with the fiducial implant, said pointer having at least three emitters configured to emit radiation, wherein the at least three emitters have a known spatial relationship and the fiducial implant and pointer are oriented along a longitudinal axis for determining the position in three-dimensional space of the at least two spaced apart reference points of the implant associated with the pointer.
16. The use according to claim 15, wherein the pointer has a distal end for association with one of the fiducial implants to removably and reproducibly provide a known spatial relationship between the spaced apart reference points of the implant associated with the distal end and the distal end for detecting the radiation to determine the position of the at least three emitters in three-dimensional space to allow the position of each spaced apart reference point of the implant associated with the distal end to be determined in three-dimensional space; wherein the association of each of the fiducial implants to be referenced may be repeated.
17. The use according to claim 15, wherein the body is a bone.
18. The use according to claim 17, further comprising a use of at least one image showing the bone and at least two of the fiducial implants following insertion.
19. The use according to claim 18, wherein said fiducial implant is part of a device that further comprises a processor for performing a coordinate transformation to match the positions of the reference points in three-dimensional space with corresponding positions of the reference points in the image.
20. The device of claim 1, wherein the head of the fiducial implant is one of the first and second spaced apart reference points of the fiducial implant.
21. A device for referencing a fiducial implant for insertion into a portion of a body, the implant having first and second spaced apart reference points and a head, the head and the reference points having a known spatial relationship, the device comprising: a pointer having a distal pointer end and at least three emitters configured to emit radiation, the distal pointer end and the at least three emitters having a known spatial relationship; a position finder comprising at least two detectors configured to detect the radiation whereby the position of the at least three emitters in three-dimensional space can be determined; and wherein the head of the implant and the distal pointer end are configured to removably and reproducibly mate to provide a known spatial relationship between the first and second spaced apart reference points of the fiducial implant and the distal pointer end to allow the position of the first and second spaced apart reference points in three-dimensional space to be determined.
22. The device of claim 21, wherein the implant is a screw configured to be screwed into a bone.
23. The use according to claim 11, wherein at least one of the fiducial implants is a screw suitable for screwing the at least one screw into the bone.
24. The use according to claim 15, wherein the body is a bone and at least one of the fiducial implants is a screw suitable for screwing the at least one screw into the bone.
CA002335867A 1998-06-22 1998-06-22 Fiducial matching by means of fiducial screws Expired - Lifetime CA2335867C (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CH1998/000269 WO1999066853A1 (en) 1998-06-22 1998-06-22 Fiducial matching by means of fiducial screws

Publications (2)

Publication Number Publication Date
CA2335867A1 CA2335867A1 (en) 1999-12-29
CA2335867C true CA2335867C (en) 2008-12-30

Family

ID=4551338

Family Applications (1)

Application Number Title Priority Date Filing Date
CA002335867A Expired - Lifetime CA2335867C (en) 1998-06-22 1998-06-22 Fiducial matching by means of fiducial screws

Country Status (12)

Country Link
US (1) US6694168B2 (en)
EP (1) EP1089669B1 (en)
JP (1) JP4132009B2 (en)
AT (1) ATE389364T1 (en)
AU (1) AU742207B2 (en)
CA (1) CA2335867C (en)
DE (1) DE59814196D1 (en)
DK (1) DK1089669T3 (en)
ES (1) ES2304794T3 (en)
PT (1) PT1089669E (en)
WO (1) WO1999066853A1 (en)
ZA (1) ZA994101B (en)

Families Citing this family (62)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6695848B2 (en) 1994-09-02 2004-02-24 Hudson Surgical Design, Inc. Methods for femoral and tibial resection
US8603095B2 (en) 1994-09-02 2013-12-10 Puget Bio Ventures LLC Apparatuses for femoral and tibial resection
US6669653B2 (en) * 1997-05-05 2003-12-30 Trig Medical Ltd. Method and apparatus for monitoring the progress of labor
DE60232316D1 (en) * 2001-02-27 2009-06-25 Smith & Nephew Inc DEVICE FOR TOTAL KNEE CONSTRUCTION
US20050113846A1 (en) * 2001-02-27 2005-05-26 Carson Christopher P. Surgical navigation systems and processes for unicompartmental knee arthroplasty
US7547307B2 (en) * 2001-02-27 2009-06-16 Smith & Nephew, Inc. Computer assisted knee arthroplasty instrumentation, systems, and processes
US8062377B2 (en) 2001-03-05 2011-11-22 Hudson Surgical Design, Inc. Methods and apparatus for knee arthroplasty
FR2828801B1 (en) * 2001-08-27 2004-07-02 Surgiview Sa DEVICE FOR CONTROLLING THE POSITION OF A TRANSMITTER OF A THREE-DIMENSIONAL LOCATION SYSTEM
DE10202091B4 (en) * 2002-01-21 2005-09-08 Siemens Ag Device for determining a coordinate transformation
WO2003068090A1 (en) * 2002-02-11 2003-08-21 Smith & Nephew, Inc. Image-guided fracture reduction
US7787934B2 (en) 2002-07-29 2010-08-31 Medtronic, Inc. Fiducial marker devices, tools, and methods
US7720522B2 (en) * 2003-02-25 2010-05-18 Medtronic, Inc. Fiducial marker devices, tools, and methods
US20040030237A1 (en) * 2002-07-29 2004-02-12 Lee David M. Fiducial marker devices and methods
US20040019265A1 (en) * 2002-07-29 2004-01-29 Mazzocchi Rudy A. Fiducial marker devices, tools, and methods
WO2004070655A2 (en) * 2003-02-04 2004-08-19 Vanderbilt University Apparatus and methods of determining marker orientation in fiducial registration
JP4563377B2 (en) * 2003-02-25 2010-10-13 イメージ・ガイディッド・ニューロロジクス・インコーポレーテッド Fiducial marker device, tool and method
WO2004107959A2 (en) * 2003-05-30 2004-12-16 Schaerer Mayfield Usa, Inc. Stylus for surgical navigation system
US7862570B2 (en) 2003-10-03 2011-01-04 Smith & Nephew, Inc. Surgical positioners
EP1673026A2 (en) * 2003-10-06 2006-06-28 Smith & Nephew, Inc. Modular navigated portal
US7764985B2 (en) 2003-10-20 2010-07-27 Smith & Nephew, Inc. Surgical navigation system component fault interfaces and related processes
WO2005063139A1 (en) * 2003-12-30 2005-07-14 Depuy International Ltd An instrument system for use in a surgical procedure
US7815645B2 (en) * 2004-01-14 2010-10-19 Hudson Surgical Design, Inc. Methods and apparatus for pinplasty bone resection
US8021368B2 (en) * 2004-01-14 2011-09-20 Hudson Surgical Design, Inc. Methods and apparatus for improved cutting tools for resection
US8114083B2 (en) * 2004-01-14 2012-02-14 Hudson Surgical Design, Inc. Methods and apparatus for improved drilling and milling tools for resection
US8287545B2 (en) 2004-01-14 2012-10-16 Hudson Surgical Design, Inc. Methods and apparatus for enhanced retention of prosthetic implants
US20060030854A1 (en) * 2004-02-02 2006-02-09 Haines Timothy G Methods and apparatus for wireplasty bone resection
US7857814B2 (en) * 2004-01-14 2010-12-28 Hudson Surgical Design, Inc. Methods and apparatus for minimally invasive arthroplasty
JP2007523696A (en) * 2004-01-16 2007-08-23 スミス アンド ネフュー インコーポレーテッド Computer-aided ligament balancing in total knee arthroplasty
US20070073306A1 (en) * 2004-03-08 2007-03-29 Ryan Lakin Cutting block for surgical navigation
US7641660B2 (en) * 2004-03-08 2010-01-05 Biomet Manufacturing Corporation Method, apparatus, and system for image guided bone cutting
WO2005104978A1 (en) * 2004-04-21 2005-11-10 Smith & Nephew, Inc. Computer-aided methods, systems, and apparatuses for shoulder arthroplasty
US20060190011A1 (en) * 2004-12-02 2006-08-24 Michael Ries Systems and methods for providing a reference plane for mounting an acetabular cup during a computer-aided surgery
WO2006060631A1 (en) * 2004-12-02 2006-06-08 Smith & Nephew, Inc. Systems, methods, and apparatus for automatic software flow using instrument detection during computer-aided surgery
US20060161051A1 (en) * 2005-01-18 2006-07-20 Lauralan Terrill-Grisoni Method of computer-assisted ligament balancing and component placement in total knee arthroplasty
US20060189867A1 (en) * 2005-02-22 2006-08-24 Ian Revie Probe
US20070073136A1 (en) * 2005-09-15 2007-03-29 Robert Metzger Bone milling with image guided surgery
US7835784B2 (en) * 2005-09-21 2010-11-16 Medtronic Navigation, Inc. Method and apparatus for positioning a reference frame
US7662183B2 (en) * 2006-01-24 2010-02-16 Timothy Haines Dynamic spinal implants incorporating cartilage bearing graft material
WO2007124338A1 (en) * 2006-04-19 2007-11-01 Xoran Technologies, Inc. Ct scanner with untracked markers
US20080033286A1 (en) * 2006-08-02 2008-02-07 Civco Medical Instruments Co., Inc. Fiducial marker for imaging localization and method of using the same
US8784425B2 (en) * 2007-02-28 2014-07-22 Smith & Nephew, Inc. Systems and methods for identifying landmarks on orthopedic implants
WO2008105874A1 (en) 2007-02-28 2008-09-04 Smith & Nephew, Inc. Instrumented orthopaedic implant for identifying a landmark
CN101621966B (en) 2007-02-28 2013-06-19 史密夫和内修有限公司 System and method for identifying a landmark
US20080234572A1 (en) * 2007-03-23 2008-09-25 Civco Medical Instruments Co., Inc. Fiducial marker with absorbable connecting sleeve and absorbable spacer for imaging localization
FR2920084B1 (en) * 2007-08-24 2010-08-20 Endocontrol IMAGING SYSTEM FOR MONITORING A SURGICAL TOOL IN AN OPERATIVE FIELD
US20090105584A1 (en) * 2007-10-18 2009-04-23 Civco Medical Instruments Co., Inc. Fiducial marker deployment system using single stick neeedle and method of use
US9220514B2 (en) 2008-02-28 2015-12-29 Smith & Nephew, Inc. System and method for identifying a landmark
US9031637B2 (en) * 2009-04-27 2015-05-12 Smith & Nephew, Inc. Targeting an orthopaedic implant landmark
US8945147B2 (en) 2009-04-27 2015-02-03 Smith & Nephew, Inc. System and method for identifying a landmark
US8086734B2 (en) 2009-08-26 2011-12-27 International Business Machines Corporation Method of autonomic representative selection in local area networks
USD674093S1 (en) 2009-08-26 2013-01-08 Smith & Nephew, Inc. Landmark identifier for targeting a landmark of an orthopaedic implant
WO2011153468A2 (en) 2010-06-03 2011-12-08 Smith & Nephew, Inc. Orthopaedic implants
US8890511B2 (en) 2011-01-25 2014-11-18 Smith & Nephew, Inc. Targeting operation sites
DE102011100723A1 (en) * 2011-05-06 2012-11-08 Eads Deutschland Gmbh Marker element for referencing spatial position or orientation to structure in spatial position referencing system, has multiple indicator elements for determining defined point
CA2834940A1 (en) 2011-05-06 2012-11-15 Smith & Nephew, Inc. Targeting landmarks of orthopaedic devices
BR112013032144A2 (en) 2011-06-16 2016-12-13 Smith & Nephew Inc surgical alignment using references
US20140081659A1 (en) 2012-09-17 2014-03-20 Depuy Orthopaedics, Inc. Systems and methods for surgical and interventional planning, support, post-operative follow-up, and functional recovery tracking
US9161799B2 (en) 2013-01-28 2015-10-20 Warsaw Orthopedic, Inc. Surgical implant system and method
WO2015144246A1 (en) * 2014-03-28 2015-10-01 Brainlab Ag Instrument for creating an artificial landmark on a surface of a bone and medical navigation system
US10492755B2 (en) * 2016-07-13 2019-12-03 Carestream Health, Inc. Calibration phantom comprising a reflectance calibration target and a plurality of radio-opaque markers
US10799300B2 (en) 2018-10-18 2020-10-13 Warsaw Orthopedic, Inc. Spinal implant system and method
US20210153959A1 (en) * 2019-11-26 2021-05-27 Intuitive Surgical Operations, Inc. Physical medical element affixation systems, methods, and materials

Family Cites Families (157)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3821469A (en) 1972-05-15 1974-06-28 Amperex Electronic Corp Graphical data device
DE2443558B2 (en) 1974-09-11 1979-01-04 Siemens Ag, 1000 Berlin Und 8000 Muenchen Device for puncturing internal organs and vessels
US3983474A (en) 1975-02-21 1976-09-28 Polhemus Navigation Sciences, Inc. Tracking and determining orientation of object using coordinate transformation means, system and process
US4146924A (en) 1975-09-22 1979-03-27 Board Of Regents For Education Of The State Of Rhode Island System for visually determining position in space and/or orientation in space and apparatus employing same
DE2718804C3 (en) 1977-04-27 1979-10-31 Karlheinz Prof. Dr. 3000 Hannover Renner Device for positioning control of patients and / or radiation sources
US4182312A (en) 1977-05-20 1980-01-08 Mushabac David R Dental probe
FR2416480A1 (en) 1978-02-03 1979-08-31 Thomson Csf RADIANT SOURCE LOCATION DEVICE AND STEERING TRACKING SYSTEM INCLUDING SUCH A DEVICE
DE7805301U1 (en) 1978-02-22 1978-07-06 Howmedica International, Inc. Zweigniederlassung Kiel, 2300 Kiel Distal aiming device for locking nailing
US4204225A (en) 1978-05-16 1980-05-20 Wisconsin Alumni Research Foundation Real-time digital X-ray subtraction imaging
US4341220A (en) 1979-04-13 1982-07-27 Pfizer Inc. Stereotactic surgery apparatus and method
US4419012A (en) 1979-09-11 1983-12-06 Elliott Brothers (London) Limited Position measuring system
DE2948986C2 (en) 1979-12-05 1982-10-28 Siemens AG, 1000 Berlin und 8000 München Medical examination facility
US4638798A (en) 1980-09-10 1987-01-27 Shelden C Hunter Stereotactic method and apparatus for locating and treating or removing lesions
US4358856A (en) 1980-10-31 1982-11-09 General Electric Company Multiaxial x-ray apparatus
AU7986682A (en) 1981-02-12 1982-08-19 New York University Apparatus for stereotactic surgery
NL8101722A (en) 1981-04-08 1982-11-01 Philips Nv CONTOUR METER.
FI64282C (en) 1981-06-04 1983-11-10 Instrumentarium Oy DIAGNOSISPARATUR FOER BESTAEMMANDE AV VAEVNADERNAS STRUKTUR OC SAMMANSAETTNING
US4465069A (en) 1981-06-04 1984-08-14 Barbier Jean Y Cranial insertion of surgical needle utilizing computer-assisted tomography
US4437161A (en) 1981-06-29 1984-03-13 Siemens Gammasonics Inc. Medical imaging apparatus
US4396945A (en) 1981-08-19 1983-08-02 Solid Photography Inc. Method of sensing the position and orientation of elements in space
US4473074A (en) 1981-09-28 1984-09-25 Xanar, Inc. Microsurgical laser device
US4613942A (en) 1982-02-19 1986-09-23 Chen Richard M Orientation and control system for robots
US4485815A (en) 1982-08-30 1984-12-04 Kurt Amplatz Device and method for fluoroscope-monitored percutaneous puncture treatment
US4457311A (en) 1982-09-03 1984-07-03 Medtronic, Inc. Ultrasound imaging system for scanning the human back
DE3370280D1 (en) 1982-12-27 1987-04-23 Toshiba Kk Superposed image display device
US4651732A (en) 1983-03-17 1987-03-24 Frederick Philip R Three-dimensional light guidance system for invasive procedures
US4613866A (en) 1983-05-13 1986-09-23 Mcdonnell Douglas Corporation Three dimensional digitizer with electromagnetic coupling
US4618978A (en) 1983-10-21 1986-10-21 Cosman Eric R Means for localizing target coordinates in a body relative to a guidance system reference frame in any arbitrary plane as viewed by a tomographic image through the body
US4753528A (en) 1983-12-13 1988-06-28 Quantime, Inc. Laser archery distance device
US4841967A (en) 1984-01-30 1989-06-27 Chang Ming Z Positioning device for percutaneous needle insertion
US4674057A (en) 1984-02-14 1987-06-16 Lockheed Corporation Ultrasonic ranging control system for industrial robots
US4571834A (en) 1984-02-17 1986-02-25 Orthotronics Limited Partnership Knee laxity evaluator and motion module/digitizer arrangement
US4583538A (en) 1984-05-04 1986-04-22 Onik Gary M Method and apparatus for stereotaxic placement of probes in the body utilizing CT scanner localization
US4649504A (en) 1984-05-22 1987-03-10 Cae Electronics, Ltd. Optical position and orientation measurement techniques
FR2565481B1 (en) 1984-06-06 1988-11-18 Oreal PROCESS FOR ASSESSING VARIATIONS, OVER TIME, IN THE CHARACTERISTICS OF A ZONE OR OF AN ENTIRE PERSON, INSTALLATION FOR IMPLEMENTING THE METHOD AND APPLICATIONS OF SUCH A PROCESS
US4672564A (en) 1984-11-15 1987-06-09 Honeywell Inc. Method and apparatus for determining location and orientation of objects
US4821206A (en) 1984-11-27 1989-04-11 Photo Acoustic Technology, Inc. Ultrasonic apparatus for positioning a robot hand
US4592352A (en) 1984-11-30 1986-06-03 Patil Arun A Computer-assisted tomography stereotactic system
US4782239A (en) 1985-04-05 1988-11-01 Nippon Kogaku K. K. Optical position measuring apparatus
CH671873A5 (en) 1985-10-03 1989-10-13 Synthes Ag
US4729098A (en) 1985-06-05 1988-03-01 General Electric Company System and method employing nonlinear interpolation for the display of surface structures contained within the interior region of a solid body
SE447848B (en) 1985-06-14 1986-12-15 Anders Bengtsson INSTRUMENTS FOR SEATING SURFACE TOPOGRAPHY
US4743771A (en) 1985-06-17 1988-05-10 View Engineering, Inc. Z-axis height measurement system
US4805615A (en) 1985-07-02 1989-02-21 Carol Mark P Method and apparatus for performing stereotactic surgery
US4737032A (en) 1985-08-26 1988-04-12 Cyberware Laboratory, Inc. Surface mensuration sensor
IL76517A (en) 1985-09-27 1989-02-28 Nessim Igal Levy Distance measuring device
US4794262A (en) 1985-12-03 1988-12-27 Yukio Sato Method and apparatus for measuring profile of three-dimensional object
US4742815A (en) 1986-01-02 1988-05-10 Ninan Champil A Computer monitoring of endoscope
US4776749A (en) 1986-03-25 1988-10-11 Northrop Corporation Robotic device
EP0239409A1 (en) 1986-03-28 1987-09-30 Life Technology Research Foundation Robot for surgical operation
US4760851A (en) 1986-03-31 1988-08-02 Faro Medical Technologies Inc. 3-dimensional digitizer for skeletal analysis
SE469321B (en) 1986-04-14 1993-06-21 Joenkoepings Laens Landsting SET AND DEVICE TO MAKE A MODIFIED THREE-DIMENSIONAL IMAGE OF AN ELASTIC DEFORMABLE PURPOSE
US4763652A (en) 1986-04-16 1988-08-16 Northgate Research, Inc. Aiming system for kidney stone disintegrator
US5078140A (en) 1986-05-08 1992-01-07 Kwoh Yik S Imaging device - aided robotic stereotaxis system
US4822163A (en) 1986-06-26 1989-04-18 Robotic Vision Systems, Inc. Tracking vision sensor
US4791934A (en) 1986-08-07 1988-12-20 Picker International, Inc. Computer tomography assisted stereotactic surgery system and method
US4733969A (en) 1986-09-08 1988-03-29 Cyberoptics Corporation Laser probe for determining distance
US4743770A (en) 1986-09-22 1988-05-10 Mitutoyo Mfg. Co., Ltd. Profile-measuring light probe using a change in reflection factor in the proximity of a critical angle of light
US4761072A (en) 1986-09-30 1988-08-02 Diffracto Ltd. Electro-optical sensors for manual control
US4750487A (en) 1986-11-24 1988-06-14 Zanetti Paul H Stereotactic frame
DE3703422A1 (en) 1987-02-05 1988-08-18 Zeiss Carl Fa OPTOELECTRONIC DISTANCE SENSOR
US4745290A (en) 1987-03-19 1988-05-17 David Frankel Method and apparatus for use in making custom shoes
US4762016A (en) 1987-03-27 1988-08-09 The Regents Of The University Of California Robotic manipulator having three degrees of freedom
US4875478A (en) 1987-04-10 1989-10-24 Chen Harry H Portable compression grid & needle holder
US4793355A (en) 1987-04-17 1988-12-27 Biomagnetic Technologies, Inc. Apparatus for process for making biomagnetic measurements
US4733661A (en) 1987-04-27 1988-03-29 Palestrant Aubrey M Guidance device for C.T. guided drainage and biopsy procedures
DE3717871C3 (en) 1987-05-27 1995-05-04 Georg Prof Dr Schloendorff Method and device for reproducible visual representation of a surgical intervention
US4836778A (en) 1987-05-26 1989-06-06 Vexcel Corporation Mandibular motion monitoring system
JPH02503519A (en) 1987-05-27 1990-10-25 サージカル　ナビゲーション　テクノロジース　インコーポレーティッド（アン　アフィリエイティッド　カンパニー　オブ　ソファマー　ダンネク　グループ　インコーポレーティッド） Method and apparatus for reproducibly optically displaying surgical procedures
US4835710A (en) 1987-07-17 1989-05-30 Cincinnati Milacron Inc. Method of moving and orienting a tool along a curved path
US4829373A (en) 1987-08-03 1989-05-09 Vexcel Corporation Stereo mensuration apparatus
US4991579A (en) * 1987-11-10 1991-02-12 Allen George S Method and apparatus for providing related images over time of a portion of the anatomy using fiducial implants
US5027818A (en) 1987-12-03 1991-07-02 University Of Florida Dosimetric technique for stereotactic radiosurgery same
EP0326768A3 (en) 1988-02-01 1991-01-23 Faro Medical Technologies Inc. Computer-aided surgery apparatus
US5251127A (en) 1988-02-01 1993-10-05 Faro Medical Technologies Inc. Computer-aided surgery apparatus
US4987488A (en) 1988-03-07 1991-01-22 George Berci Video system for visualizing microsurgical images with enhanced depth of field
US4869247A (en) 1988-03-11 1989-09-26 The University Of Virginia Alumni Patents Foundation Video tumor fighting system
US4970666A (en) 1988-03-30 1990-11-13 Land Development Laboratory, Inc. Computerized video imaging system for creating a realistic depiction of a simulated object in an actual environment
DE3814246A1 (en) 1988-04-27 1989-11-09 Siemens Ag MEDICAL EXAMINATION SYSTEM WITH AN IMAGING DEVICE
US5050608A (en) 1988-07-12 1991-09-24 Medirand, Inc. System for indicating a position to be operated in a patient's body
US4896673A (en) 1988-07-15 1990-01-30 Medstone International, Inc. Method and apparatus for stone localization using ultrasound imaging
US5099846A (en) 1988-12-23 1992-03-31 Hardy Tyrone L Method and apparatus for video presentation from a variety of scanner imaging sources
WO1990008505A1 (en) 1989-01-24 1990-08-09 Dolphin Imaging Systems Inc. Method and apparatus for generating cephalometric images
US5197476A (en) 1989-03-16 1993-03-30 Christopher Nowacki Locating target in human body
US5257998A (en) 1989-09-20 1993-11-02 Mitaka Kohki Co., Ltd. Medical three-dimensional locating apparatus
DE69026196T2 (en) 1989-11-08 1996-09-05 George S Allen Mechanical arm for an interactive, image-controlled, surgical system
US5047036A (en) 1989-11-17 1991-09-10 Koutrouvelis Panos G Stereotactic device
US5080662A (en) 1989-11-27 1992-01-14 Paul Kamaljit S Spinal stereotaxic device and method
US5107839A (en) 1990-05-04 1992-04-28 Pavel V. Houdek Computer controlled stereotaxic radiotherapy system and method
US5295483A (en) 1990-05-11 1994-03-22 Christopher Nowacki Locating target in human body
US5086401A (en) 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
US5198877A (en) 1990-10-15 1993-03-30 Pixsys, Inc. Method and apparatus for three-dimensional non-contact shape sensing
US5207223A (en) 1990-10-19 1993-05-04 Accuray, Inc. Apparatus for and method of performing stereotaxic surgery
ATE196234T1 (en) 1990-10-19 2000-09-15 Univ St Louis LOCALIZATION SYSTEM FOR A SURGICAL PROBE FOR USE ON THE HEAD
US5059789A (en) 1990-10-22 1991-10-22 International Business Machines Corp. Optical position and orientation sensor
US5662111A (en) 1991-01-28 1997-09-02 Cosman; Eric R. Process of stereotactic optical navigation
US6167295A (en) 1991-01-28 2000-12-26 Radionics, Inc. Optical and computer graphic stereotactic localizer
FR2675977B1 (en) 1991-04-26 1997-09-12 Inst Nat Audiovisuel METHOD FOR MODELING A SHOOTING SYSTEM AND METHOD AND SYSTEM FOR PRODUCING COMBINATIONS OF REAL IMAGES AND SYNTHESIS IMAGES.
US5279309A (en) 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
US5249581A (en) * 1991-07-15 1993-10-05 Horbal Mark T Precision bone alignment
US5211165A (en) 1991-09-03 1993-05-18 General Electric Company Tracking system to follow the position and orientation of a device with radiofrequency field gradients
US5300080A (en) 1991-11-01 1994-04-05 David Clayman Stereotactic instrument guided placement
US5274551A (en) 1991-11-29 1993-12-28 General Electric Company Method and apparatus for real-time navigation assist in interventional radiological procedures
US5230623A (en) 1991-12-10 1993-07-27 Radionics, Inc. Operating pointer with interactive computergraphics
US5631973A (en) 1994-05-05 1997-05-20 Sri International Method for telemanipulation with telepresence
DE4211274C1 (en) 1992-04-03 1993-04-15 Siemens Ag, 8000 Muenchen, De Medical treatment unit e.g. for bone fractures - produces marking on monitor to indicate different positions of radiation beam in region to be treated
US5603318A (en) 1992-04-21 1997-02-18 University Of Utah Research Foundation Apparatus and method for photogrammetric surgical localization
US5389101A (en) 1992-04-21 1995-02-14 University Of Utah Apparatus and method for photogrammetric surgical localization
US6122341A (en) 1992-06-12 2000-09-19 Butler; William E. System for determining target positions in the body observed in CT image data
US5325855A (en) 1992-08-07 1994-07-05 Memorial Hospital For Cancer And Allied Diseases Flexible intraoperative radiation imaging camera
DE4233978C1 (en) * 1992-10-08 1994-04-21 Leibinger Gmbh Body marking device for medical examinations
US5732703A (en) 1992-11-30 1998-03-31 The Cleveland Clinic Foundation Stereotaxy wand and tool guide
US5309913A (en) 1992-11-30 1994-05-10 The Cleveland Clinic Foundation Frameless stereotaxy system
US5517990A (en) 1992-11-30 1996-05-21 The Cleveland Clinic Foundation Stereotaxy wand and tool guide
US5799099A (en) 1993-02-12 1998-08-25 George S. Allen Automatic technique for localizing externally attached fiducial markers in volume images of the head
DE4304570A1 (en) 1993-02-16 1994-08-18 Mdc Med Diagnostic Computing Device and method for preparing and supporting surgical procedures
US5483961A (en) 1993-03-19 1996-01-16 Kelly; Patrick J. Magnetic field digitizer for stereotactic surgery
EP1219259B1 (en) 1993-04-22 2003-07-16 Image Guided Technologies, Inc. System for locating relative positions of objects
FR2709656B1 (en) 1993-09-07 1995-12-01 Deemed Int Sa Installation for computer-assisted microsurgery operation and methods implemented by said installation.
WO1995015729A1 (en) * 1993-12-10 1995-06-15 Wang Mattew Y Automatic technique for localizing externally attached fiducial markers in volume images of the head
US6120465A (en) 1994-01-24 2000-09-19 Radionics Software Applications, Inc. Virtual probe for a stereotactic digitizer for use in surgery
DE4417944A1 (en) 1994-05-21 1995-11-23 Zeiss Carl Fa Process for correlating different coordinate systems in computer-assisted, stereotactic surgery
US5829444A (en) 1994-09-15 1998-11-03 Visualization Technology, Inc. Position tracking and imaging system for use in medical applications
US5803089A (en) 1994-09-15 1998-09-08 Visualization Technology, Inc. Position tracking and imaging system for use in medical applications
AU3950595A (en) 1994-10-07 1996-05-06 St. Louis University Surgical navigation systems including reference and localization frames
US5588430A (en) 1995-02-14 1996-12-31 University Of Florida Research Foundation, Inc. Repeat fixation for frameless stereotactic procedure
US6259943B1 (en) 1995-02-16 2001-07-10 Sherwood Services Ag Frameless to frame-based registration system
DE19506197A1 (en) * 1995-02-23 1996-09-05 Aesculap Ag Method and device for determining the location of a body part
US6246898B1 (en) 1995-03-28 2001-06-12 Sonometrics Corporation Method for carrying out a medical procedure using a three-dimensional tracking and imaging system
US5617857A (en) 1995-06-06 1997-04-08 Image Guided Technologies, Inc. Imaging system having interactive medical instruments and methods
US5729129A (en) 1995-06-07 1998-03-17 Biosense, Inc. Magnetic location system with feedback adjustment of magnetic field generator
JP3568280B2 (en) 1995-07-12 2004-09-22 富士写真フイルム株式会社 Surgical operation support system
KR19990029038A (en) 1995-07-16 1999-04-15 요아브 빨띠에리 Free aiming of needle ceramic
US6256529B1 (en) 1995-07-26 2001-07-03 Burdette Medical Systems, Inc. Virtual reality 3D visualization for surgical procedures
DE19536180C2 (en) * 1995-09-28 2003-05-08 Brainlab Ag Methods and devices for locating an instrument
US5769861A (en) 1995-09-28 1998-06-23 Brainlab Med. Computersysteme Gmbh Method and devices for localizing an instrument
US6351659B1 (en) 1995-09-28 2002-02-26 Brainlab Med. Computersysteme Gmbh Neuro-navigation system
US5682886A (en) 1995-12-26 1997-11-04 Musculographics Inc Computer-assisted surgical system
US5711299A (en) 1996-01-26 1998-01-27 Manwaring; Kim H. Surgical guidance method and system for approaching a target within a body
US5735278A (en) 1996-03-15 1998-04-07 National Research Council Of Canada Surgical procedure with magnetic resonance imaging
US6167145A (en) 1996-03-29 2000-12-26 Surgical Navigation Technologies, Inc. Bone navigation system
US5799055A (en) 1996-05-15 1998-08-25 Northwestern University Apparatus and method for planning a stereotactic surgical procedure using coordinated fluoroscopy
CH690707A5 (en) * 1996-06-10 2000-12-29 Leica Mikroskopie Sys Ag Markers for position detection with electrical or electronic light-transmitting elements
US6167296A (en) 1996-06-28 2000-12-26 The Board Of Trustees Of The Leland Stanford Junior University Method for volumetric image navigation
US5980535A (en) * 1996-09-30 1999-11-09 Picker International, Inc. Apparatus for anatomical tracking
US5810008A (en) 1996-12-03 1998-09-22 Isg Technologies Inc. Apparatus and method for visualizing ultrasonic images
US6205411B1 (en) 1997-02-21 2001-03-20 Carnegie Mellon University Computer-assisted surgery planner and intra-operative guidance system
US5880976A (en) 1997-02-21 1999-03-09 Carnegie Mellon University Apparatus and method for facilitating the implantation of artificial components in joints
DE29704393U1 (en) * 1997-03-11 1997-07-17 Aesculap Ag Device for preoperative determination of the position data of endoprosthesis parts
EP0926998B8 (en) 1997-06-23 2004-04-14 Koninklijke Philips Electronics N.V. Image guided surgery system
EP0929267B1 (en) 1997-07-03 2008-09-10 Koninklijke Philips Electronics N.V. Image-guided surgery system
US6226548B1 (en) 1997-09-24 2001-05-01 Surgical Navigation Technologies, Inc. Percutaneous registration apparatus and method for use in computer-assisted surgical navigation
WO1999023452A1 (en) 1997-11-04 1999-05-14 Synthes Ag Chur Device for referencing a system of co-ordinates
US6021343A (en) 1997-11-20 2000-02-01 Surgical Navigation Technologies Image guided awl/tap/screwdriver
US6149592A (en) 1997-11-26 2000-11-21 Picker International, Inc. Integrated fluoroscopic projection image data, volumetric image data, and surgical device position data
US6011987A (en) * 1997-12-08 2000-01-04 The Cleveland Clinic Foundation Fiducial positioning cup
US6298262B1 (en) 1998-04-21 2001-10-02 Neutar, Llc Instrument guidance for stereotactic surgery

Also Published As

Publication number Publication date
EP1089669A1 (en) 2001-04-11
CA2335867A1 (en) 1999-12-29
ES2304794T3 (en) 2008-10-16
AU7755298A (en) 2000-01-10
DK1089669T3 (en) 2008-06-30
AU742207B2 (en) 2001-12-20
PT1089669E (en) 2008-06-30
EP1089669B1 (en) 2008-03-19
US6694168B2 (en) 2004-02-17
ZA994101B (en) 2000-01-10
JP2002518127A (en) 2002-06-25
US20010010004A1 (en) 2001-07-26
DE59814196D1 (en) 2008-04-30
ATE389364T1 (en) 2008-04-15
JP4132009B2 (en) 2008-08-13
WO1999066853A1 (en) 1999-12-29

Similar Documents

Publication Publication Date Title
CA2335867C (en) Fiducial matching by means of fiducial screws
US6988009B2 (en) Implant registration device for surgical navigation system
US6932823B2 (en) Detachable support arm for surgical navigation system reference array
US7029477B2 (en) Surgical instrument and positioning method
US6925339B2 (en) Implant registration device for surgical navigation system
EP1430841B1 (en) Surgical instrument
US20040172044A1 (en) Surgical instrument and method of positioning same
EP2320809B1 (en) A device for manipulating a bone or bone fragment or a surgical instrument, tool or implant and a method for positioning such a device
US20060281991A1 (en) Fiducial marker holder system for surgery
JP2004237100A (en) Surgical instrument
JP2002500916A (en) A device for calibrating and verifying the accuracy of surgical instruments
WO2004100767A2 (en) Fiducial marker holder system for surgery
JP4709996B2 (en) Bone tracking device fixation member
MXPA00011403A (en) Fiducial matching by means of fiducial screws

Legal Events

Date Code Title Description
EEER Examination request
MKEX Expiry

Effective date: 20180622

MKEX Expiry

Effective date: 20180622