KIT FOR A FIDUCIAL MARKER-BASED REGISTRATION OF PREINTERVENTIONAL IMAGE DATA TO AN INTRA-INTERVENTIONAL SCENE

Abstract

A kit for a fiducial marker-based registration of preinterventional image data to an intra-interventional scene is disclosed. The kit comprises: at least one first component, wherein the first component is configured for attachment to a body of a patient, wherein the first component comprises at least one base part of an arresting mechanism, at least one second component, wherein the second component comprises at least one fiducial which is localizable in the preinterventional image data, wherein the second component comprises at least one first counterpart of the arresting mechanism, at least one third component, wherein the third component comprises at least one mounting unit for mounting a spatially localizable tracking object on the third component, wherein the third component comprises at least one second counterpart of the arresting mechanism;
wherein the second component and the third component are selectively attachable to the first component by establishing a releasable mechanical connection between the base part and the first counterpart or between the base part and the second counterpart.

Claims

1. A kit for a fiducial marker-based registration of preinterventional image data to an intra-interventional scene, the kit comprising: at least one first component, wherein the first component is configured for attachment to a body of a patient, wherein the first component comprises at least one base part of an arresting mechanism, at least one second component, wherein the second component comprises at least one fiducial which is localizable in the preinterventional image data, wherein the second component comprises at least one first counterpart of the arresting mechanism, at least one third component, wherein the third component comprises at least one mounting unit for mounting a spatially localizable tracking object on the third component, wherein the third component comprises at least one second counterpart of the arresting mechanism; wherein the second component and the third component are selectively attachable to the first component by establishing a releasable mechanical connection between the base part and the first counterpart or between the base part and the second counterpart.

2. The kit according to claim 1, wherein the first component is a non-invasive component.

3. The kit according to claim 1, wherein the first component comprises at least one adhesive material attachable to a skin site of the patient.

4. The kit according to claim 1, wherein the kit comprises a single one of the first component, a single one of the second component and a single one of the third component.

5. The kit according to claim 1, wherein the arresting mechanism comprises a snap-fit mechanism.

6. The kit according to claim 1, wherein the arresting mechanism comprises a dovetail joint.

7. The kit according to claim 1, wherein the base part has at least one dovetail guide, wherein the dovetail guide is located at at least one first end wall of the first component, wherein the first counterpart and the second counterpart have a dovetail groove, wherein the dovetail groove is located at at least one second end wall of the second component and of the third component.

8. The kit according to claim 1, wherein the arresting mechanism comprises at least one locking mechanism, wherein the locking mechanism is configured to be manually activated and deactivated by a user.

9. The kit according to claim 1, wherein the second component and the third component are both configured to be attachable to the first component by moving the second component and the third component parallel to a skin site of the patient.

10. The kit according to claim 1, wherein the fiducial of the second component is exchangeable.

11. The kit according to claim 1, wherein the second component comprises at least one first portion and at least one second portion, wherein the first portion and the second portion are reversibly assemblable to each other, wherein the first portion comprises at least one first half of a receptacle for one of the fiducials, wherein the second portion comprises at least one second half of the receptacle for one of the fiducials, wherein the fiducials are exchangeable by disassembling the first portion and the second portion.

12. The kit according to claim 1, wherein the second component comprises a plurality of the fiducials, wherein the fiducials are located on different levels of the second component.

13. The kit according to claim 1, wherein the tracking object is selected from the group consisting of: an electromagnetic sensor; an electromagnetic field generator; a transponder; a sensor array; an optical sensor; active optical markers of optical tracking systems; passive optical markers of optical tracking systems; connectors for mechanical tracking; stereotactic devices; inertial tracking systems; ultrasound-based tracking devices; radio-frequency identification system.

14. A method for conducting a fiducial marker-based registration of preinterventional image data to an intra-interventional scene, the method comprising the following steps: a) providing at least one kit according to claim 1; b) attaching the first component to the body of the patient; c) attaching the second component to the first component by establishing the releasable mechanical connection between the base part and the first counterpart; d) acquiring preinterventional image data via the first component and the second component and localizing the fiducial of the second component in the preinterventional image data; e) removing the second component from the first component by releasing the mechanical connection between the base part and the first counterpart; f) mounting the tracking object onto the third component via the mounting unit; g) attaching the third component to the first component by establishing a releasable mechanical connection between the base part and the second counterpart; h) using information obtained from the first component, the second component and the third component and information obtained from medical imaging to generate supportive information for physicians during a medical intervention; and i) removing the third component from the first component by releasing the mechanical connection between the base part and the second counterpart.

15. The method according to claim 14, wherein step h) comprises determining a position of a medical device relative to the tracking object thereby establishing the intra-interventional scene.

Description

SHORT DESCRIPTION OF THE FIGURES

[0130] Further details of the invention may be derived from the following disclosure of preferred embodiments. The features of the embodiments may be realized in an isolated way or in any combination. The invention is not restricted to the embodiments. The embodiments are schematically depicted in the figures. Identical reference numbers in the figures refer to identical elements or functionally identical elements or elements corresponding to each other with regard to their functions.

[0131] In the Figures:

[0132] FIGS. 1A to 1B show an exemplary embodiment of a kit according to the present invention in two different perspective views;

[0133] FIGS. 2A to 2D show an exemplary embodiment of a first component of a kit according to the present invention in perspective views (FIGS. 2A, 2C, 2D) and in a cross-section view (FIG. 2B);

[0134] FIGS. 3A to 3D show an exemplary embodiment of a third component of a kit according to the present invention in different perspective views;

[0135] FIGS. 4A to 4B show a first portion of an exemplary embodiment of a second component of a kit according to the present invention in different perspective views; and

[0136] FIGS. 5A to 5B show a second portion of an exemplary embodiment of a second component of a kit according to the present invention in different perspective views.

[0137] These Figures and the various features comprised therein will be elucidated in a combined fashion below.

DETAILED DESCRIPTION OF THE EMBODIMENTS

[0138] FIGS. 1A to 1B show an exemplary embodiment of a kit 110 according to the present invention in two different perspective views.

[0139] The kit 110 comprises at least one first component 112 configured for attachment to a body of a patient. Further, the kit 110 comprises at least one second component 114 and at least one third component 116. The second component 114 and the third component 116 are selectively attachable to the first component 112. Thus, the second component 114 is attachable to the first component 112. This scenario is illustrated in FIG. 1A. Alternatively, the third component 116 is attachable to the first component 112. This scenario is illustrated in FIG. 1B. A tracking object 200 may be mounted onto the third component 116.

[0140] Further details of the first component 112, the second component 114 and the third component 116 are given in the subsequent Figures. Thus, reference is made to the description below.

[0141] FIGS. 2A to 2D show an exemplary embodiment of a first component of a kit according to the present invention in perspective views (FIGS. 2A, 2C, 2D) and in a cross-section view (FIG. 2B);

[0142] The first component 112 is configured for attachment to a body of a patient. Specifically, the first component may be a non-invasive component 118. Thus, the first component 112 may have at least one adhesive material 120 such as a plaster 122. The first component 112 may specifically be configured to stay on the body of the patient for at least 24 hours. The first component 112 has a base part 124 of an arresting mechanism 126 as will further be described below. The first component 112 may have a front side 128 and an opposing rear side 130. The adhesive material 120 may be arranged on the front side 128 and the base part 124 may be arranged on the rear side 130. As illustrated in FIG. 2C, the front side 128 may comprise a flat surface 132 configured for attachment of the adhesive material 120.

[0143] Both, the second component 114 and the third component 116, may be configured to be mounted on the first component 112 by performing a linear movement in a direction parallel to a direction of extension 134 of the first component 112. The direction of extension 134 may thus be equivalent to a sliding direction 144 of the second component 114 and of the third component 116 relative to the first component 112.

[0144] The arresting mechanism 126 may comprise a snap-fit mechanism 136. Specifically, the base part 124 of the arresting mechanism may comprise at least one receptacle 138 having a receptacle shape 140. The receptacle 138 may extend over a whole surface of the first component 112. The receptacle 138 may extend along the sliding direction 144. As illustrated in FIG. 2A, the receptacle 138 may have an introducing end 146 from which a counterpart of the base part 124 can be threaded into the receptacle 138. An opposing end 148 may have a width w.sub.o being smaller than a width w.sub.i of the introducing end 146. Specifically, the receptacle 138 may have a square basic shape. Thus, the receptacle 138 may have a rectangular receptacle 150 with a neighboring channel-shaped receptacle 152. As can specifically be seen in the cross-sectional view of FIG. 2B, the first component 112 may have at least one protrusion 154. The protrusion 154 may be configured to be enclosed by a snap-in hook as will further be described below in more detail. The protrusion 154 may be located at the opposing end 148 of the receptacle 138. Further, the introducing end 146 may comprise at least one receptacle 156.

[0145] The arresting mechanism 126 may further comprise a dovetail joint 158. This is specifically illustrated in FIGS. 2C and 2D. Specifically, the base part 124 may have at least one dovetail guide 160 with at least one longitudinal protrusion 162. The longitudinal protrusion 162 may have a trapezoidal shape. Specifically, the dovetail guide 160 may be located at one first end wall 164 of the first component 112 being parallel to a sliding direction of the second component 114 and the third component 116.

[0146] FIGS. 3A to 3D show an exemplary embodiment of a third component 116 of a kit 110 according to the present invention in different perspective views.

[0147] The third component 116 may exemplarily have a rectangular ground shape. Specially, the third component 116 may have a flat shape wherein a length I exceeds a thickness t at least by a factor of 2. The third component 116 may have a front side 166 and an opposing rear side 168.

[0148] A more detailed view of the rear side 168 is illustrated in FIGS. 3A to 3C. The third component 116 is attachable to the first component 112 such as illustrated in FIG. 2A to 2D. Thus, reference is made to description of FIGS. 2A to 2D above. The third component 116 comprises at least one second counterpart 170 of the arresting mechanism 126. Specifically, the second counterpart 170 may be located on the rear side 168.

[0149] As outlined above with regard to the first component as illustrated in FIGS. 2A to 2D, the arresting mechanism 126 comprises the snap-fit mechanism 136. Specifically, the second counterpart 170 may comprise at least one protrusion 172 having a protrusion shape 174. Specifically, the second counterpart 170 may comprise three of the protrusions 172, two outer protrusions 176 and one intermediate protrusion 178. The intermediate protrusion 178 may extend along a whole surface of the third component 116. The intermediate protrusion 178 may extend along the sliding direction 144. As illustrated in FIG. 3A, the intermediate protrusion 178 may have an introducing intermediate protrusion end 180 from which the second counterpart 170 can be threaded into the receptacle 138 of the first component 112 as illustrated in FIGS. 2A to 2D. The introducing intermediate protrusion end 180 may have a snap-in hook 182. The snap-in hook 182 may be configured to enclose the protrusion 154 of the base part 124 of the first component 112 as illustrated in FIGS. 2A to 2D. Further, the intermediate protrusion 178 may have at least one protrusion 184 located at an opposing end 188 of the introducing intermediate protrusion end 180. The protrusion 184 may be configured to be received in the receptacle 156 of the base part 124 of the first component 112 as illustrated in FIGS. 2A to 2D. The two outer protrusions 176 may have a length l.sub.op which is shorter than a length l.sub.ip of the intermediate protrusion 178. Each of the two outer protrusions 176 may be fixedly connected to the third component 116. To the contrary, the intermediate protrusion 178 may be fixedly connected to the third component 116 in a middle section 190 of the intermediate protrusion 178. As specifically illustrated in FIG. 3C, the opposing end 188 may have a distance d to a surface 192 of the third component 116. Thus, the protrusion 184 may have play to snap into the receptacle 156 of the base part 124 of the first component 112 as illustrated in FIGS. 2A to 2D. Accordingly, the snap-in hook 182 has a distanced to a surface 192 of the third component 116. Thus, snap-in hook 182 may have play to enclose the protrusion 154 of the base part 124 of the first component 112 as illustrated in FIGS. 2A to 2D.

[0150] As outlined above with regard to FIGS. 2A to 2D, the arresting mechanism 126 may further comprise the dovetail joint 158. This is specifically illustrated in FIGS. 3A to 3C. Specifically, the second counterpart 170 may have at least one dovetail groove 194 with at least one longitudinal slot 196. The longitudinal slot 196 may have a trapezoidal shape. Specifically, the dovetail groove 194 may be located at one second end wall 198 of the third component 116 being parallel to the sliding direction 144 of the third component 116.

[0151] In FIG. 3D, the front side 166 of the third component 116 is illustrated. The third component 116 may comprise a mounting unit 202 for the tracking object 200, such as illustrated in FIG. 1B. The mounting unit 202 may exemplarily comprise holes 204 for screws. Other embodiments may be feasible.

[0152] FIGS. 4A to 4B show a first portion 206 of an exemplary embodiment of a second component 114 of a kit 110 according to the present invention in different perspective views.

[0153] The first portion 206 comprises a first counterpart 208 of the arresting mechanism 126. The first counterpart 208 and the second counterpart 170 may be equally formed. Thus, with regard to the first counterpart 208 reference can be made to the description of FIGS. 3A to 3D above.

[0154] The arresting mechanism 126 comprises the snap-fit mechanism 136. Specifically, the first counterpart 208 may have at least one protrusion 172 having the protrusion shape 174. Specifically, the first counterpart 208 may comprise three of the protrusions 172, the two outer protrusions 176 and the one intermediate protrusion 178.

[0155] As outlined above with regard to FIGS. 2A to 2D, the arresting mechanism 126 may further comprise the dovetail joint 158. This is specifically illustrated in FIGS. 3A to 3C. Specifically, the second counterpart 170 may have at least one dovetail groove 194 with at least one longitudinal slot 196. The longitudinal slot 196 may have a trapezoidal shape. Specifically, the dovetail groove 194 may be located at one second end wall 198 of the third component 116 being parallel to the sliding direction 144 of the third component 116. Further, the arresting mechanism 126 may further comprise the dovetail joint 158. Specifically, the first counterpart 208 may have the at least one dovetail groove 194 with the at least one longitudinal slot 196.

[0156] The first portion 206 may be connectable to a second portion 210 which is exemplarily illustrated in FIGS. 5A and 5B. The first portion 206 may comprise at least one first half 212 of a receptacle 214 for one of the fiducials 216. Exemplarily, the fiducials 216 may have a spherical shape and may be made of steel. The fiducials 216 may be located on different levels of the second component 114. Thus, the receptacles 214 may have different distances d to a rear side 218 of the second component 114. As exemplarily illustrated in FIG. 4B, some of the first halves 212 may have a distance d.sub.1 to the rear side 218 and some of the first halves 212 may have a distance d.sub.2 to the rear side 218 wherein the distance d.sub.1 is larger than the distance d.sub.2.

[0157] The first portion 206 and the second portion 210 may be reversibly assemblable to each other. The fiducials 216 may be exchangeable by disassembling the first portion 206 and the second portion 210.

[0158] FIGS. 5A to 5B show a second portion 210 of an exemplarily embodiment of a second component 114 of a kit 110 according to the present invention in different perspective views. The second portion 210 is designed complementarily to the first portion 206 of the second component 114. Thus, reference is made to the description of FIGS. 4A and 4B above. The receptacles 214 may protrude from an outer surface 222 of the second component 114.

[0159] The second portion 210 may comprise at least one second half 220 of the receptacle 214 for one or more of the fiducials 216. In a closed state of the first portion 206 and the second portion 210 the fiducials may be enclosed by the first half 212 and the second half 220.

LIST OF REFERENCE NUMBERS

[0160] 110 kit [0161] 112 first component [0162] 114 second component [0163] 116 third component [0164] 118 non-invasive component [0165] 120 adhesive material [0166] 122 plaster [0167] 124 base part [0168] 126 arresting mechanism [0169] 128 front side [0170] 130 rear side [0171] 132 flat surface [0172] 134 direction of extension [0173] 136 snap-fit mechanism [0174] 138 receptacle [0175] 140 receptacle shape [0176] 142 surface [0177] 144 sliding direction [0178] 146 introducing end [0179] 148 opposing end [0180] 150 rectangular receptacle [0181] 152 channel-shaped receptacle [0182] 154 protrusion [0183] 156 receptacle [0184] 158 dovetail joint [0185] 160 dovetail guide [0186] 162 longitudinal protrusion [0187] 164 first end wall [0188] 166 front side [0189] 168 rear side [0190] 170 second counterpart [0191] 172 protrusion [0192] 174 protrusion shape [0193] 176 outer protrusion [0194] 178 intermediate protrusion [0195] 180 introducing intermediate protrusion end [0196] 182 snap-in hook [0197] 184 protrusion [0198] 188 opposing end [0199] 190 middle section [0200] 192 surface [0201] 194 dovetail groove [0202] 196 longitudinal slot [0203] 198 second end wall [0204] 200 tracking object [0205] 202 mounting unit [0206] 204 hole [0207] 206 first portion [0208] 208 first counterpart [0209] 210 second portion [0210] 212 first half [0211] 214 receptacle [0212] 216 fiducial [0213] 218 rear side [0214] 220 second half [0215] 222 outer surface