Sensor based tracking tool for medical components

• US 10,144,637 B2
• Filed: 11/25/2014
• Issued: 12/04/2018
• Est. Priority Date: 11/25/2014
• Status: Active Grant

• Current Assignee: Synaptive Medical (Barbados) Inc.
• Original Assignee: Synaptive Medical (Barbados) Inc.
• Inventors: Bai, Yanhui, Piron, Cameron, Wood, Michael, Vuong, Thanh, Dyer, Kelly, Sela, Gal, Panther, Alex
• Primary Examiner(s): CHAO, ELMER M
• Application Number:
  US15/525,478
• Publication Number:
  US 20170327371A1
• Time in Patent Office: 1,470 Days
• CPC Class Codes: A61B 2017/3407 including a base for support on the body
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/256 having a database of accessory information, e.g. including context sensitive help or scientific articles
• CPC Class Codes: A61B 2090/101 for stereotaxic radiosurgery
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 8/56 Details of data transmission or power supply
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: B81B 7/02 containing distinct electrical or optical devices of particular relevance for their function, e.g. microelectro-mechanical systems [MEMS] B81B7/04 takes precedence
• CPC Class Codes: H04W 4/029 Location-based management or tracking services
• CPC Class Codes: H04W 4/38 for collecting sensor information

Abstract

A medical navigation system is provided. The medical navigation system includes a computing device having a processor coupled to a memory, a wireless communication component and a display for displaying an image. The medical navigation system further includes a sensor module attached to a medical device. The sensor module includes a housing for housing components of the sensor module and for attaching to the medical device, a processor housed in the housing, a memory coupled to the processor, a wireless communication component coupled to the processor, a battery coupled to the processor, and a sensor coupled to the processor. The sensor generates a signal to be transmitted wirelessly via the sensor module wireless communication component and receivable by the computing device wireless communication component, the signal representing movement of the medical device.

Claims

1. A medical navigation system, comprising:

a computing device having a processor coupled to a memory, a wireless communication component and a display for displaying an image;

a sensor module attached to a medical device, the sensor module including;

a housing for housing components of the sensor module and for attaching to the medical device, the housing including a fastening device to removably attach the sensor module to a surface of the medical device;

a processor housed in the housing;

a memory coupled to the processor;

a wireless communication component coupled to the processor;

a battery coupled to the processor;

a sensor coupled to the processor, the sensor including at least one of an accelerometer and a gyroscope;

wherein the sensor is configured to generate a signal representing movement of the medical device, the wireless communication component of the sensor module being configured to transmit the signal wirelessly;

a first set of tracking markers configured to be temporarily coupled to the medical device; and

a camera coupled to the computing device for detecting a location of the first set of tracking markers, the sensor module being free of any markers detectable by the camera;

wherein the computing device is configured to;

receive the signal from the sensor module via the wireless communication component of the computing device;

determine the initial position of the medical device based on the location of the first set of tracking markers detected by the camera and not based on the signal from the sensor module;

display an initial position of the medical device on the display;

when a line of sight from the camera to the first set of tracking markers is not available, update the display to reflect movement of the medical device subsequent to the initial position, using only the signal from the sensor module and not based on detection of any tracking markers by the camera; and

when the line of sight from the camera to the first set of tracking markers becomes available, further update the display, to reflect further movement of the medical device when the first set of tracking markers are detectable by the camera, based on detection of the first set of tracking markers by the camera and not based on the signal from the sensor module.

2. The medical navigation system according to claim 1, wherein the fastening device is selected from the group consisting of a latch, a hook, Velcro, and a sticker and the movement further comprises real-time tracking of the medical device.

3. The medical navigation system according to claim 1, wherein the gyroscope is selected from the group consisting of a MEMS gyroscope, a laser gyroscope, and a nano-gyroscope and the accelerometer is selected from the group consisting of a laser accelerometer, a nano-accelerometer, and a MEMS accelerometer.

4. The medical navigation system according to claim 1, wherein the sensor module includes a three axis X-Y-Z sensor.

5. The medical navigation system according to claim 1, wherein the computing device wireless communication component and the sensor module wireless communication component both use a protocol selected from the group consisting of Bluetooth, Wifi, iRDA (Infrared)and Zigbee.

6. The medical navigation system according to claim 1, wherein the medical device is selected from the group consisting of a positioning device arm, an access port, and a pointer.

7. The medical navigation system according to claim 1, wherein there is a plurality of medical devices and a plurality of sensor modules attached to the plurality of medical devices.

8. The medical navigation system according to claim 7, wherein one of the medical devices is a positioning device arm, and there is a plurality of sensor modules attached to the positioning device arm.

9. The medical navigation system according to claim 1, further comprising:

a calibration block configured to be temporarily coupled at a known relationship to the medical device, a second set of tracking markers being mounted on the calibration block at known positions, the camera being configured for detecting a location of the second set of tracking markers;

wherein the computing device is further configured to calculate position of the sensor module relative to a tip of the medical device, based on the known positions of the second set of tracking markers relative to the calibration block, the location of the second set of tracking markers detected by the camera, the known geometry of the medical device, and the known relationship between the calibration block and the medical device when coupled thereto.

10. A method of establishing and monitoring a position of a medical device, the method for use on a computing device of a medical navigation system, the computing device having a processor coupled to a memory, a wireless communication component, a display for displaying an image and a camera for detecting location of tracking markers, the method comprising:

establishing an initial position of the medical device in space by;

receiving from the camera a signal representing a location in space of a first set of tracking markers temporarily placed on the medical device; and

determining the initial position of the medical device based on the location of the first set of tracking markers detected by the camera;

displaying on the display the initial position of the medical device;

receiving via the wireless communication component a signal representing movement of the medical device, the signal including information provided by an accelerometer and a gyroscope housed in a housing of a sensor module attached to the medical device, the housing including a fastening device to removably attach the sensor module to a surface of the medical device, the sensor module being free of any markers detectable by the camera; and

when a line of sight from the camera to the first set of tracking markers is not available, updating the display to reflect movement of the medical device, subsequent to the initial position, based on only the signal representing movement of the medical device received from the sensor module and not based on detection of any tracking markers by the camera; and

when the line of sight from the camera to the first set of tracking markers becomes available, further updating the display, to reflect further movement of the medical device when the first set of tracking markers are detectable by the camera, based on detection of the first set of tracking markers by the camera and not based on the signal from the sensor module.

11. The method according to claim 10, further comprising:

receiving from the camera a signal representing a location in space of a second set of tracking markers mounted on a calibration block at known positions, the calibration block being temporarily coupled to the medical device at a known relationship; and

calculating position of the sensor module relative to a tip of the medical device, based on the known positions of the second set of tracking markers relative to the calibration block the location of the second set of tracking markers detected by the camera, the known geometry of the medical device, and the known relationship between the calibration block and the medical device when coupled thereto.

12. The method according to claim 10, wherein there is a plurality of medical devices and a plurality of sensor modules attached to the plurality of medical devices.

13. The method according to claim 12, wherein one of the medical devices is a positioning device arm, and there is a plurality of sensor modules attached to the positioning device arm.