Patient and procedure customized fixation and targeting devices for stereotactic frames

• US 10,417,357 B2
• Filed: 07/29/2016
• Issued: 09/17/2019
• Est. Priority Date: 03/08/2012
• Status: Active Grant

• Current Assignee: Neutar, LLC
• Original Assignee: Neutar, LLC
• Inventors: Franklin, Ronald J., Franck, Joel I., Haer, Frederick C.
• Primary Examiner(s): Fairchild, Mallika D
• Application Number:
  US15/223,127
• Publication Number:
  US 20160335380A1
• Time in Patent Office: 1,145 Days
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/104 Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/108 Computer aided selection or customisation of medical implants or cutting guides
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2063 Acoustic tracking systems, e.g. using ultrasound
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2090/0812 indicating loosening or shifting of parts of an instrument, signaling maladjustment of parts
• CPC Class Codes: A61B 2090/101 for stereotaxic radiosurgery
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/3762 using computed tomography systems [CT]
• CPC Class Codes: A61B 2090/3975 active
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• 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 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/14 Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61N 5/1039 using functional images, e.g. PET or MRI
• CPC Class Codes: G06F 30/20 : Design optimisation, verification or simulation optimisation, verification or simulation of circuit designs G06F30/30
• CPC Class Codes: Y10T 29/49826 : Assembling or joining

Abstract

Provided herein are methods and apparatuses for performing precise medical procedures. Provided are methods of providing unitary positioning interfaces for stereotactic devices or medical devices. The methods include implanting emitters in a patient, scanning the patient using any suitable scanning technique, determining orientation and location data of the emitters and any suitable anatomic structures, generating a digital image, and fabricating a solid physical model from the digital image. Also provided herein are methods of verifying medical treatments and systems for performing medical procedures.

Claims

1. A system for targeting and verifying a medical procedure, comprising:

at least one screen for displaying a visual representation of the medical procedure;

at least one interface device for receiving data from at least one user;

at least one processor in communication with the at least one screen and the at least one interface device; and

at least one computer-readable medium in communication with the at least one processor, having stored thereon instructions that, when executed by the at least one processor, cause the at least one processor to;

determine, from at least one three-dimensional image of at least a portion of a patient'"'"'s anatomy, location and orientation data of at least one anatomical reference point, at least one external reference point, and at least one target point;

generate, from at least a portion of the location and orientation data, a frame coordinate map and a customized patient reference map;

position a predetermined stereotactic frame coordinate map over the three-dimensional image such that the frame coordinate map is aligned with the at least one anatomical point;

rotate the frame coordinate map about the at least one anatomical point such that the frame coordinate map coincides with the customized patient reference map;

generate, from the coincident frame coordinate map and customized patient reference map, a customized digital model comprising the at least one target point, the at least one anatomical reference point, and at least one customized positioning interface device, the customized positioning device being unique to the patient;

display the customized digital model on at least one screen; and

simulate a medical procedure on the customized digital model, wherein the simulation comprises displaying, on at least one screen, at least one trajectory of a medical device or medical treatment to the at least one target point.

2. The system of claim 1, wherein the instructions further cause the at least one processor to fabricate, from the customized digital model, at least one customized positioning interface device.

3. The system of claim 2, wherein the at least one customized positioning interface device is a fixation post.

4. The system of claim 1, wherein the step of simulating the medical procedure comprises allowing a user to input information.

5. The system of claim 1, wherein the step of simulating the medical procedure comprises superimposing or placing the customized digital model on or in the three-dimensional image.

6. The system of claim 1, wherein the instructions further cause the at least one processor to obtain the three-dimensional image.

7. The system of claim 6, wherein the three-dimensional image is provided by one of a CT scan, a T1-weighted MRI scan, a T2-weighted MRI scan, and a PET scan.

8. The system of claim 1, wherein the at least one external reference point is an anchor implanted in the patient'"'"'s body.

9. The system of claim 8, wherein the anchor is a detectable emitter.

10. The system of claim 9, wherein the detectable emitter is an active emitter or a passive emitter.

11. The system of claim 1, wherein the at least one anatomical reference point is at least one of the anterior commissure, posterior commissure, and mid-commissural point.

12. The system of claim 1, wherein the customized digital model further comprises at least one surgical entry point.

13. The system of claim 1, wherein the customized digital model further comprises at least one stereotactic targeting device and at least one fiducial registration device.