On-board tool tracking system and methods of computer assisted surgery

• US 10,219,811 B2
• Filed: 06/27/2012
• Issued: 03/05/2019
• Est. Priority Date: 06/27/2011
• Status: Active Grant

• Current Assignee: Board of Regents of the University of Nebraska
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Haider, Hani, Al-Shawi, Ibrahim, Barrera, Osvaldo Andres
• Primary Examiner(s): Coley, Zade
• Assistant Examiner(s): Weiss, Jessica
• Application Number:
  US14/128,213
• Publication Number:
  US 20140236159A1
• Time in Patent Office: 2,442 Days
• Field of Search: 606130, 606 79- 85, 606 86 R
• CPC Class Codes: A61B 17/142 with reciprocating saw blades, e.g. with cutting edges at the distal end of the saw blades
• CPC Class Codes: A61B 17/1626 Control means; Display units
• CPC Class Codes: A61B 17/1675 for the knee
• CPC Class Codes: A61B 17/1703 using imaging means, e.g. by X-rays
• CPC Class Codes: A61B 17/1764 for the knee
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/366 using projection of images directly onto the body
• CPC Class Codes: A61B 2090/371 with simultaneous use of two cameras
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 34/32 operating autonomously
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

A number of improvements are provided relating to computer aided surgery utilizing an on tool tracking system. The various improvements relate generally to both the methods used during computer aided surgery and the devices used during such procedures. Other improvements relate to the structure of the tools used during a procedure and how the tools can be controlled using the OTT device. Still other improvements relate to methods of providing feedback during a procedure to improve either the efficiency or quality, or both, for a procedure including the rate of and type of data processed depending upon a CAS mode.

Claims

1. An on tool tracking and guidance device, comprising:

a housing having a surface for releasable engagement with a portion of a hand held surgical tool;

a display on the housing;

a first camera and a second camera in an arrangement within the housing on either side of a central longitudinal axis of the housing whereby each of the first camera and the second camera provide an image output containing an extracorporeal surgical field selected for a computer assisted surgery procedure;

an electronic image processor within the housing configured to receive the image output from each of the first and second cameras and perform an image processing operation using the image output from each of the first and second cameras to provide an image guided navigation output for use in the computer assisted surgery procedure and;

a projector within the housing positioned to provide an output visible within the extracorporeal surgical field containing information related to the image guided navigation output for use in the computer assisted surgery procedure.

2. The device of claim 1 wherein a field of view of the first camera and a field of view the second camera are from 70 mm to 200 mm from the first and second cameras.

3. The device of claim 1 wherein a field of view of the first camera and a field of view the second camera are from 50 mm to 250 mm from the first and second cameras.

4. The device of claim 1 wherein the surface for releasable engagement with the portion of the hand held surgical tool is shaped to form a complementary curve with the portion of the hand held surgical tool selected for engagement with the housing.

5. The device of claim 1 wherein a visual axis of the first camera and a visual axis of the second camera are inclined at an angle of between 0°

to 20°

relative to the central longitudinal axis of the housing.

6. The device of claim 1 wherein the projector output is projected from the housing so as to appear within the extracorporeal surgical field in front of an active element of the hand held surgical tool when the hand held surgical tool attached to the housing.

7. The device of claim 1 wherein the projector output is projected from the housing so as to appear within the extracorporeal surgical field on or near an active element associated with the hand held surgical tool when the hand held surgical tool is attached to the housing.

8. The device of claim 1 wherein the projector output is adapted for projection on a portion of the patient'"'"'s anatomy, or on or within a surgical field surface in a surgical scene.

9. The device of claim 8 wherein the portion of the patient'"'"'s anatomy is a bone.

10. The device of claim 8 wherein the adapted projector output is adjusted for the curvature, roughness or condition of the patient'"'"'s anatomy.

11. The device of claim 1 wherein the projector is positioned in the housing above a horizontal plane that contains the first camera and the second camera.

12. The device of claim 1 wherein the projector is positioned in the housing below a horizontal plane that contains the first camera and the second camera.

13. The device of claim 1 wherein the display is configured to provide a visual output comprising information related to the image guided navigation output for use in the computer assisted surgery procedure.

14. The device of claim 1 wherein the display is a touch screen configured as an input device for the on tool tracking and guidance device.

15. The device of claim 1 wherein the projector is positioned within the housing on an inclined base.

16. The device of claim 1 wherein the projector is a pico projector.

17. The device of claim 1 wherein the projector output visible within the extracorporeal surgical field is provided in the form of laser.

18. The device of claim 1 wherein the surface for releasable engagement is selected so that when the on tool tracking and guidance device is engaged and in use with the hand held surgical tool, the first and second cameras and the projector are positioned above an active element of the hand held surgical tool.

19. The device of claim 1 wherein the surface for releasable engagement is selected so that when the on tool tracking and guidance device is engaged and in use with the hand held surgical tool, the cameras and the projector are positioned below or to one side of an active element of the hand held surgical tool.

20. The device of claim 1 further comprising:

a communication element within the housing configured to provide information related to the image guided navigation output to a component separate from the housing.

21. The device of claim 20 wherein the communication element provides information wirelessly to and from the component separate from the housing.

22. The device of claim 20 wherein the communication element provides information via a wired connection to the component separate from the housing.

23. The device of claim 20 wherein the component separate from the housing is a computer containing instructions in computer readable media related to the use of the image guided navigation output for use in the computer assisted surgery procedure.

24. The device of claim 1 further comprising:

a communication element within the housing configured to receive and provide instructions to the projector to produce the projector output visible within the extracorporeal surgical field, the projector output further comprising at least one visually perceptible indication related to a computer assisted surgery processing step performed using the image guided navigation output from the electronic image processor.