Integrated surgery method

• US 10,363,102 B2
• Filed: 12/27/2012
• Issued: 07/30/2019
• Est. Priority Date: 12/30/2011
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Abovitz, Rony, Kang, Hyosig
• Primary Examiner(s): Woznicki, Jacqueline
• Application Number:
  US13/728,800
• Publication Number:
  US 20130211421A1
• Time in Patent Office: 2,406 Days
• 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 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: A61B 90/90 Identification means for patients or instruments, e.g. tags
• CPC Class Codes: A61B 90/98 using electromagnetic means, e.g. transponders

Abstract

A method for conducting a medical procedure in an operating room includes the steps of using a first camera-based 3-D motion sensor mounted in a known position and orientation relative to a global coordinate system of the operating room to generate signals related to the 3-D position of a procedure object in the operating room based upon an outer shape of the procedure object relative to the first camera-based 3-D motion sensor; and automatically monitoring progress of the medical procedure with a controller based at least in part upon one or more positions of the procedure object relative to time as compared with a predetermined operational plan for moving the procedure object over time, the one or more positions based at least in part upon the signals from the first camera-based 3-D motion sensor.

Claims

1. A method for conducting a medical procedure in an operating room, comprising:

defining a predetermined operational plan comprising a plurality of positions of a procedure object over time;

assigning a desired time milestone within the procedure for each position of the object in the predetermined operational plan;

using a first camera-based 3-D motion sensor mounted in a known position and orientation in a global coordinate system of the operating room to generate signals related to a 3-D position of the procedure object in the operating room relative to the first camera-based 3-D motion sensor;

automatically monitoring progress of the medical procedure based at least in part upon one or more positions of the procedure object over time, the one or more positions based at least in part upon the signals from the first camera-based 3-D motion sensor;

comparing the one or more positions of the procedure object over time with the desired time milestone within the procedure for each position of the object in the predetermined operational plan;

recording data relating to an actual time for each position of the object in the predetermined operational plan compared with the desired time milestone; and

using the data during or after the procedure to provide a recommendation for a change to a future predetermined operational plan.

2. The method of claim 1, wherein the known position and orientation of the first camera-based 3-D motion sensor in the global coordinate system is based upon signals generated from a second sensor;

and

wherein the second sensor is configured to generate the signals based upon repositioning or reorientation of the first camera-based 3-D motion sensor an established registration position and orientation of the first camera-based 3-D motion sensor in the global coordinate system.

3. The method of claim 2, wherein the second sensor comprises an accelerometer.

4. The method of claim 2, wherein the second sensor comprises a joint encoder.

5. The method of claim 1, further comprising:

detecting a change in the progress of the medical procedure from the predetermined operational plan; and

automatically adapting to the change by comparing the progress with a predefined, modified version of the predetermined operational plan that is in accordance with the change and adopting the predefined, modified version of the predetermined operational plan.

6. The method of claim 5, wherein the predefined, modified version of the predetermined operational plan is based at least in part upon a predetermined workflow logic schema.

7. The method of claim 6, wherein the predetermined workflow logic schema is based at least in part upon previous surgical experience.

8. The method of claim 6, wherein the predetermined workflow logic schema is based at least in part upon input from an expert.

9. The method of claim 8, wherein the expert is located remote to the operating room.

10. The method of claim 9, further comprising providing a video conferencing interface to allow the expert to visualize and communicate with persons located in the operating room.

11. The method of claim 10, further comprising transmitting one or more images from the first camera-based 3-D motion sensor to the expert over the video conferencing interface using a network connection.

12. The method of claim 1, further comprising:

providing one or more instrument identifying sensors coupled to one or more instruments within the operating room, wherein the one or more instrument identifying sensors are operatively coupled to a controller; and

identifying with the controller the one or more instruments based at least in part upon the one or more instrument identifying sensors.

13. The method of claim 12, wherein the one or more instrument identifying sensors comprise RFID tags.

14. The method of claim 1, further comprising:

providing one or more personnel identifying sensors coupled to one or more personnel within the operating room, wherein the one or more personnel identifying sensors are operatively coupled to a controller; and

identifying with the controller the one or more personnel based at least in part upon the one or more personnel identifying sensors.

15. The method of claim 14, wherein the one or more personnel identifying sensors comprise RFID tags.

16. The method of claim 1, further comprising:

providing one or more patient identifying sensors coupled to a patient within the operating room, wherein the one or more patient identifying sensors are operatively coupled to a controller; and

identifying with the controller the patient based at least in part upon the one or more patient identifying sensors.

17. The method of claim 16, wherein the one or more patient identifying sensors comprise RFID tags.

18. The method of claim 1, further comprising providing an instrument tracker configured to monitor a position of a second procedure object in the operating room based upon detection of reflected radiation from one or more markers coupled to the procedure object, the radiation emitted from the instrument tracker.

19. The method of claim 18, wherein the one or more markers comprise reflective spheres or discs.

20. The method of claim 1, wherein the procedure object is selected from the group consisting of:

a surgical instrument, an imaging system component, an instrument table, and an operating table.

21. The method of claim 20, wherein the procedure object is a surgical instrument selected from the group consisting of:

a manual surgical hand tool, an electromechanical surgical hand tool, and a pneumatic surgical hand tool.

22. The method of claim 20, wherein the procedure object is an imaging system component selected from the group consisting of:

an X-ray source;

an X-ray detector; and

X-ray source-detector coupling member;

an ultrasound transducer;

a light source;

a light detector;

a magnetic field source; and

a magnetic field detector.

23. The method of claim 1, further comprising providing an instrument table comprising an object recognition surface operatively coupled to a controller to facilitate identification of objects placed upon the object recognition surface.

24. The method of claim 23, further comprising visually highlighting, by the object recognition surface, one or more items that have been placed upon the object recognition surface.