Abstract: A patient is secured to a subject support (10). A stereotaxic wand (40) is inserted into a tool guide (60). The wand has a tip portion (44), a portion extending along a pointing axis (46) of the wand, an offset portion (42) which is offset from the pointing axis of the wand, and at least two wand emitters (48, 50), mounted in alignment with the pointing axis of the wand. The two emitters selectively emit wand signals which are received by three receivers (14) mounted to a frame assembly (12). The tool guide includes a bore (66) extending along a guide axis. The bore is configured for selectively receiving a tool and the tip portion of the wand. An entry point and a trajectory are identified by the surgeon with the wand in the guide. More specifically, a trajectory and location of the wand are superimposed on a diagnostic image on a monitor (30).

Abstract: A fiducial positioning cup (86) has a hemispherical well (92) in its top and a central bore (94) from a bottom of the hemispherical well (92) to a base of the positioning cup (86). The fiducial cup (86) is then attached to the skin (88) of a patient. A needle (110) is passed through the fiducial positioning cup (86) to mark an area of the patient's skin (88) with a tattoo (112). Fiducials (84) are secured in the fiducial positioning cups (86). Magnetic resonance or other diagnostic images are taken. Once the images are taken, the fiducials (84) and fiducial positioning cups (86) are removed. The tattoo mark (112) remains. The fiducial positioning cups (86) are reattached when a stereotactic procedure is to be performed. The needle (110) is passed through the fiducial cups (86) and a tip of the needle (110) is aligned with the tattooed mark (112) on the patient's skin (88). The fiducial cup (86) is then lowered and centered over the tattooed mark (112).

Abstract: A position signaling is usable in connection with an image guided surgery system. A plurality of infrared emitters are mounted on a reference object. The reference object is in turn attached to the rocker arm of a head clamp. The head clamp includes a frame and a first head engaging pin secured to one side of the frame. The rocker arm includes two head engaging pins and is movable in relation to the frame. The image guided surgery system uses the signals provided by the infrared emitters to determine and account for movement of the patient's head.

Abstract: An interventionalist or operator uses a variety of apparatus 30 including tools, tool guides, and pointers in a procedure on a region of interest. The region of interest was previously the subject of a diagnostic imaging procedure to generate three dimensional diagnostic image data, selective slices or other portions of which are displayable on video monitors 34. The position of the apparatus 30 in operator space is determined by actuating emitters 32, receiving the emitted signals with receivers 12, and calculating the position of the pointer in operator space. A pair of radio translucent constructions 14, 16 each carry a plurality of radiopaque markers 18 which are positioned adjacent the region of interest. Two or more projection images are taken through the region of interest and the radiopaque markers using a movable x-ray tube 22 and radiation detector 24.

Abstract: A surgical guide for use with an image guided surgery includes first and second surfaces. At least three signaling devices such as infrared emitters are disposed on the first surface, and a cylindrical mounting boss is disposed on the second surface. A guide aperture is perpendicular to the first and second surfaces and extends between them. The guide aperture is configured to support a surgical tool such as a biopsy needle. A sleeve may be placed in the aperture to support additional tools.

Abstract: A patient is secured to a subject support (10). A stereotaxic wand (40) is inserted into a tool guide (60). The wand has a tip portion (44), a portion extending along a pointing axis (46) of the wand, an offset portion (42) which is offset from the pointing axis of the wand, and at least two wand emitters (48, 50), mounted in alignment with the pointing axis of the wand. The two emitters selectively emit wand signals which are received by three receivers (14) mounted to a frame assembly (12). The tool guide includes a bore (66) extending along a guide axis. The bore is configured for selectively receiving a tool and the tip portion of the wand. An entry point and a trajectory are identified by the surgeon with the wand in the guide. More specifically, a trajectory and location of the wand are superimposed on a diagnostic image on a monitor (30).

Abstract: A patient is secured to a subject support (10). A stereotaxic wand (40) is inserted into a tool guide (60). The wand has a tip portion (44), a portion extending along a pointing axis (46) of the wand, an offset portion (42) which is offset from the pointing axis of the wand, and at least three wand emitters (48, 50, 52), mounted in alignment with the pointing axis of the wand. The three emitters selectively emit infrared light which is received by two CCD cameras (14) mounted to a frame assembly (12). The tool guide includes a bore (76) extending along a guide axis. The bore is configured for selectively receiving a tool and the tip portion of the wand. An entry point and a trajectory are identified by the surgeon with the wand in the guide. More specifically, a trajectory and location of the wand are superimposed on a diagnostic image on a monitor (30).

Abstract: A patient is secured to a subject support (10). A stereotaxic wand (40) is inserted into a tool guide (60). The wand has a tip portion (44), a portion extending along a pointing axis (46) of the wand, an offset portion (42) which is offset from the pointing axis of the wand, and at least two wand emitters (48, 50), mounted in alignment with the pointing axis of the wand. The two emitters selectively emit wand signals which are received by three receivers (14) mounted to a frame assembly (12). The tool guide includes a bore (66) extending along a guide axis. The bore is configured for selectively receiving a tool and the tip portion of the wand. An entry point and a trajectory are identified by the surgeon with the wand in the guide. More specifically, a trajectory and location of the wand are superimposed on a diagnostic image on a monitor (30).

Abstract: A patient's head is anchored (16) at one end of a patient support (10). An array of receivers (50) are mounted on a frame (12) which is fixed to the patient support. The frame carries at least one reference transmitter (52). A wand (42) has at least two emitters (44, 46) mounted thereto. By measuring relative travel time of the signals from the wand emitters to the receiver array and comparing the travel time with travel time over a known distance from the reference transmitter to one or more of the receivers, the position of the wand in a coordinate system of the patient support is determined (80). A three-dimensional array of diagnostic image data was taken through the anchored portion of the patient and at least three markers (114) affixed to the patient. By positioning the wand on the markers after the patient is secured to the patient support, a transform (110) between the patient support coordinate system and the image data coordinate system is derived.