Flow control in computer-assisted surgery based on marker positions

• US 10,383,693 B2
• Filed: 08/29/2018
• Issued: 08/20/2019
• Est. Priority Date: 03/17/2010
• Status: Active Grant

• Current Assignee: Brainlab AG
• Original Assignee: Brainlab AG
• Inventors: Schmoll, Rainer, Flossmann, Sven, Schaal, Alexander, Besinger, Axel, Manus, Johannes
• Primary Examiner(s): Lin, Jason
• Application Number:
  US16/116,008
• Publication Number:
  US 20180368923A1
• Time in Patent Office: 356 Days
• Field of Search: None
• 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 2034/254 being adapted depending on the stage of the surgical procedure
• 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 2090/368 changing the image on a display according to the operator's position
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• 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

Abstract

The invention is in particular directed to a data processing method for use in computer-assisted surgery, comprising the following steps: a) providing marker data which describe a spatial arrangement of at least one marker device and/or a change in a relative spatial arrangement of at least two marker devices (5, 6, 7); b) providing condition data which describe a condition for the spatial arrangement of at least one marker device and/or a condition for the change in the relative spatial arrangement of the at least two marker devices (5, 6, 7); and c) controlling a control flow of the data processing method on the basis of the marker data and the condition data.

Claims

1. A method of directing a control flow of an associated navigation system in computer-assisted surgery responsive to direct manual manipulation of a single marker device, the method comprising:

providing marker data which describe a temporal series of detected positions of a single marker device as a temporal and spatial movement pattern of the detected positions of the single marker device, wherein the movement pattern is generated by the direct manual manipulation of the single marker device;

providing condition data comprising an instruction pattern defining one or more predetermined conditions of the temporal and spatial movement pattern of the detected positions of the single marker device;

determining, based on the marker data and the condition data, whether the temporal and spatial movement pattern of the detected positions of the single marker device fulfill the one or more predetermined conditions; and

in accordance with determining the fulfilment of the one or more predetermined conditions, selectively generating a first control flow instruction for use by the associated navigation system to control the control flow of the associated navigation system, wherein the associated navigation system is responsive to receiving the selectively generated first control flow instruction to modify an order in which steps of the control flow are executed by a computer of the associated navigation system to initiate following a first sequence of steps of the control flow, or

in accordance with determining the non-fulfilment of the one or more predetermined conditions, selectively generating a second control flow instruction for use by the associated navigation system to control the control flow of the associated navigation system, wherein the associated navigation system is responsive to receiving the selectively generated second control flow instruction to modify the order in which the steps of the control flow are executed by the computer of the associated navigation system to initiate following a second sequence of steps of the control flow, the second sequence of steps of the control flow being different than the first sequence of steps of the control flow.

2. The method according to claim 1, wherein the one or more predetermined conditions of the temporal and spatial movement pattern comprises a condition for a movement which implies that the single marker devices has to perform a translational movement during at least a part of the movement.

3. The method according to claim 1, wherein the one or more predetermined conditions of the temporal and spatial movement pattern comprises a condition for the motion state of the single marker device, said motion state comprising one or more of:

velocity;

acceleration;

direction of velocity of the single marker device; and

remaining in a static status for a predetermined length of time.

4. The method according to claim 1, wherein the condition data comprise a time-dependent condition.

5. The method according to claim 1, wherein the condition data comprise a condition derived from a distance between at least two marker devices.

6. The method according to claim 1, wherein the condition data comprise a condition for an identity of the single marker device.

7. The method according to claim 1, wherein:

the detected positions of the single marker device are defined in an associated grid divided into a plurality of predetermined geometric divisions; and

the condition data comprise conditions for a presence or an absence of a set of marker devices in a plurality of regions.

8. The method according to claim 1, wherein:

the condition data comprise a condition for a sequence of positions of the single marker device; and

a condition for controlling the control flow is a control flow history.

9. The method according to claim 1, wherein the condition data describe a pattern which represents a predetermined condition for a set of marker devices, the predetermined condition being at least one of:

a condition for a motion state of a marker device of the set of marker devices;

a condition for a distance between marker devices of the set of marker devices;

a condition for a position of a marker device of the set of marker devices; and

a condition for a presence or an absence of a marker device of the set of marker devices in a region.

10. The method according to claim 1, wherein controlling the control flow comprises determining a control flow statement depending on whether the marker data meet the condition defined by the condition data and in accordance with respective assignments between a plurality of different conditions and a plurality of different control flow statements.

11. A method for use in computer-assisted surgery comprising the data processing method of claim 1, wherein providing the marker data comprises:

detecting one or more of a spatial arrangement of the single marker device and a change in a relative spatial arrangement of at least two marker devices by a marker detection device; and

generating the marker data based on a result of the detecting.

12. The method according to claim 1, wherein:

the selectively generating the second control flow instruction in accordance with the determining the non-fulfilment of the one or more predetermined conditions comprises;

selectively generating a query control flow instruction, wherein the associated navigation system is responsive to receiving the selectively generated query control flow instruction to modify the order in which the steps of the control flow are executed by the computer of the associated navigation system to initiate following the second sequence of steps of the control flow to generate a signal presenting a query to a user of the single marker device; and

the selectively generating the first control flow instruction in accordance with the determining the fulfilment of the one or more predetermined conditions comprises;

selectively generating a query response control flow instruction, wherein the associated navigation system is responsive to receiving the selectively generated query response control flow instruction to modify the order in which the steps of the control flow are executed by the computer of the associated navigation system to initiate following the first sequence of steps of the control flow to generate a signal representing a response by the user of the single marker device to the signal presenting the query.

13. The method according to claim 12, wherein:

the selectively generating the query control flow instruction comprises generating a first control flow statement causing the associated navigation system to present to the user of the single marker device a number of options for continuing a workflow; and

the selectively generating the query response control flow instruction comprises generating a second control flow statement causing the associated navigation system to execute an option selected by the user of the single marker device.

14. The method according to claim 12, wherein:

the selectively generating the query control flow instruction comprises generating a first control flow statement causing the associated navigation system to present to the user of the single marker device a query for approval by the user of an instruction proposed by the computer of the associated navigation system; and

the selectively generating the query response control flow instruction comprises generating a second control flow statement causing the associated navigation system to selectively execute the proposed instruction responsive to the approval by the user of the single marker device.

15. The method according to claim 1, wherein:

the providing the marker data comprises providing marker data which describes detected positions of the single marker device defined in an associated grid divided into a plurality of predetermined geometric divisions; and

the providing the condition data comprises providing condition data comprising an instruction pattern defining a condition for a presence of the single marker device in a spatial region comprising at least one of the plurality of predetermined geometric divisions.

16. A navigation system for computer-assisted surgery, comprising:

a computer comprising a processor and a non-transitory computer readable storage medium;

a single marker device;

a detection device for detecting the position of the single marker device; and

a program stored in the non-transitory computer readable storage medium, the program being executable by the computer to perform a method directing a control flow of the navigation system responsive to direct manual manipulation of the marker device, the method comprising;

providing marker data which describe a temporal series of positions of the single marker device detected by the detection device as a temporal and spatial movement pattern of the detected positions of the single marker device, wherein the movement pattern is generated by the manipulation of the single marker device;

providing condition data comprising an instruction pattern defining one or more predetermined conditions of the temporal and spatial movement pattern of the detected positions of the single marker device;

determining, based on the marker data and the condition data, whether the temporal and spatial movement pattern of the detected positions of the single marker device fulfill the one or more predetermined conditions; and

in accordance with determining the fulfilment of the one or more predetermined conditions, selectively generating a first control flow instruction to control the control flow of the navigation system, wherein the navigation system is responsive to the selectively generated first control flow instruction to modify an order in which steps of the control flow are executed by the computer of the navigation system to initiate following a first sequence of steps of the control flow, or

in accordance with determining the non-fulfilment of the one or more predetermined conditions, selectively generating a second control flow instruction to control the control flow of the navigation system, wherein the navigation system is responsive to receiving the selectively generated second control flow instruction to modify the order in which the steps of the control flow are executed by the computer of the navigation system to initiate following a second sequence of steps of the control flow, the second sequence of steps of the control flow being different than the first sequence of steps of the control flow.

17. The navigation system according to claim 16, wherein the program stored in the non-transitory computer readable storage medium is executable by the computer to perform:

providing the marker data as marker data which describes detected positions of the single marker device defined in an associated grid divided into a plurality of predetermined geometric divisions; and

providing the condition data as condition data comprising an instruction pattern defining a condition for a presence of the single marker device in a spatial region comprising at least one of the plurality of predetermined geometric divisions.

18. A non-transitory computer-readable storage medium storing a program which, when running on a computer or when loaded onto a computer, causes the computer to perform a data processing method for use in computer-assisted surgery, for directing a control flow of an associated navigation system responsive to direct manual manipulation of a single marker device, comprising:

providing marker data which describe a temporal series of detected positions of a single marker device as a temporal and spatial movement pattern of the detected positions of the single marker device, wherein the movement pattern is generated by the direct manual manipulation of the single marker device;

providing condition data comprising an instruction pattern defining one or more predetermined conditions of the temporal and spatial movement pattern of the detected positions of the single marker device;

determining, based on the marker data and the condition data, whether the temporal and spatial movement pattern of the detected positions of the single marker device fulfill the one or more predetermined conditions; and

in accordance with determining the fulfilment of the one or more predetermined conditions, selectively generating a first control flow instruction for use by the associated navigation system to control the control flow of the associated navigation system, wherein the associated navigation system is responsive to receiving the selectively generated first control flow instruction to modify an order in which steps of the control flow are executed by a computer of the associated navigation system to initiate following a first sequence of steps of the control flow, or

in accordance with determining the non-fulfilment of the one or more predetermined conditions, selectively generating a second control flow instruction for use by the associated navigation system to control the control flow of the associated navigation system, wherein the associated navigation system is responsive to receiving the selectively generated second control flow instruction to modify the order in which the steps of the control flow are executed by the computer of the associated navigation system to initiate following a second sequence of steps of the control flow, the second sequence of steps of the control flow being different than the first sequence of steps of the control flow.

19. The non-transitory computer-readable storage medium storing a program according to claim 18 which, when running on the computer or when loaded onto the computer, causes the computer to perform the data processing method further comprising:

providing the marker data as marker data which describes detected positions of the single marker device defined in an associated grid divided into a plurality of predetermined geometric divisions; and

providing the condition data as condition data comprising an instruction pattern defining a condition for a presence of the single marker device in a spatial region comprising at least one of the plurality of predetermined geometric divisions.

20. A computer comprising:

a processor; and

a non-transitory computer-readable storage medium storing a program, the program being executable by the processor to perform a method directing a control flow of an associated navigation system responsive to direct manual manipulation of a single marker device, the method executable by the processor comprising;

providing marker data which describe a temporal series of detected positions of the single marker device as a temporal and spatial movement pattern of the detected positions of the single marker device, wherein the movement pattern is generated by the manipulation of the single marker device;

providing condition data comprising an instruction pattern defining one or more predetermined conditions of the temporal and spatial movement pattern of the detected positions of the single marker device;

determining, based on the marker data and the condition data, whether the temporal and spatial movement pattern of the detected positions of the single marker device fulfill the one or more predetermined conditions; and

in accordance with determining the fulfilment of the one or more predetermined conditions, selectively generating a first control flow instruction for use by the associated navigation system to control the control flow of the associated navigation system, wherein the associated navigation system is responsive to receiving the selectively generated first control flow instruction to modify an order in which steps of the control flow are executed by a computer of the associated navigation system to initiate following a first sequence of steps of the control flow, or

in accordance with determining the non-fulfilment of the one or more predetermined conditions, selectively generating a second control flow instruction for use by the associated navigation system to control the control flow of the associated navigation system, wherein the associated navigation system is responsive to receiving the selectively generated second control flow instruction to modify the order in which the steps of the control flow are executed by the computer of the associated navigation system to initiate following a second sequence of steps of the control flow, the second sequence of steps of the control flow being different than the first sequence of steps of the control flow.

21. The computer according to claim 20, wherein the program stored in the non-transitory computer-readable storage medium is executable by the processor to perform the method further comprising:

providing the marker data as marker data which describes detected positions of the single marker device defined in an associated grid divided into a plurality of predetermined geometric divisions; and

providing the condition data as condition data comprising an instruction pattern defining a condition for a presence of the single marker device in a spatial region comprising at least one of the plurality of predetermined geometric divisions.

22. A method of directing a control flow of an associated navigation system in computer-assisted surgery responsive to manipulation of a single marker device, the method comprising:

providing marker data which describes detected positions of the single marker device as a spatial and/or temporal movement pattern of positions of the single marker device, the detected positions of the single marker device being defined relative to an associated grid divided into a plurality of predetermined geometric divisions;

providing condition which describe a predetermined condition for the spatial and/or temporal movement pattern of positions of the single marker device relative to a spatial region comprising at least one of the plurality of predetermined geometric divisions of the associated grid;

determining, based on the marker data and the condition data, whether the spatial and/or temporal movement pattern of the detected positions of the single marker device fulfill the predetermined condition; and

responsive to determining the fulfilment of the predetermined condition, selectively generating a first control flow instruction for use by the associated navigation system to control the control flow of the associated navigation system, wherein the associated navigation system is responsive to receiving the selectively generated first control flow instruction to modify an order in which steps of the control flow are executed by a computer of the associated navigation system to initiate following a first sequence of steps of the control flow;

or

responsive to determining the non-fulfilment of the predetermined condition, selectively generating a second control flow instruction for use by the associated navigation system to control the control flow of the associated navigation system, wherein the associated navigation system is responsive to receiving the selectively generated second control flow instruction to modify the order in which the steps of the control flow are executed by the computer of the associated navigation system to initiate following a second sequence of steps of the control flow, the second sequence of steps of the control flow being different than the first sequence of steps of the control flow.

23. A navigation system for computer-assisted surgery, comprising:

a computer comprising a processor and a non-transitory computer readable storage medium;

a single marker device;

a detection device for detecting the position of the single marker device; and

a program stored in the non-transitory computer readable storage medium, the program being executable by the computer to perform a method directing a control flow of the navigation system responsive to direct manual manipulation of the marker device, the method comprising;

providing marker data which describes detected positions of the single marker device as a spatial and/or temporal movement pattern of positions of the single marker device, the detected positions of the single marker device being defined relative to an associated grid divided into a plurality of predetermined geometric divisions;

providing condition which describe a predetermined condition for the spatial and/or temporal movement pattern of positions of the single marker device relative to a spatial region comprising at least one of the plurality of predetermined geometric divisions of the associated grid;

determining, based on the marker data and the condition data, whether the spatial and/or temporal movement pattern of the detected positions of the single marker device fulfill the predetermined condition; and

responsive to determining the fulfilment of the predetermined condition, selectively generating a first control flow instruction for use by the associated navigation system to control the control flow of the associated navigation system, wherein the associated navigation system is responsive to receiving the selectively generated first control flow instruction to modify an order in which steps of the control flow are executed by a computer of the associated navigation system to initiate following a first sequence of steps of the control flow;

or

responsive to determining the non-fulfilment of the predetermined condition, selectively generating a second control flow instruction for use by the associated navigation system to control the control flow of the associated navigation system, wherein the associated navigation system is responsive to receiving the selectively generated second control flow instruction to modify the order in which the steps of the control flow are executed by the computer of the associated navigation system to initiate following a second sequence of steps of the control flow, the second sequence of steps of the control flow being different than the first sequence of steps of the control flow.