Systems and methods for surgical navigation

• US 10,499,997 B2
• Filed: 01/02/2018
• Issued: 12/10/2019
• Est. Priority Date: 01/03/2017
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Weinstein, Jeremy, Danilchenko, Andrei, de la Barrera, Jose Luis Moctezuma
• Primary Examiner(s): Beccia, Christopher J
• Application Number:
  US15/860,057
• Publication Number:
  US 20180185100A1
• Time in Patent Office: 707 Days
• 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 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/252 indicating steps of a surgical procedure
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/368 changing the image on a display according to the operator's position
• CPC Class Codes: A61B 2090/372 Details of monitor hardware
• CPC Class Codes: A61B 2090/373 using light, e.g. by using optical scanners
• CPC Class Codes: A61B 2090/395 with marking agent for marking skin or other tissue
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 2090/502 Headgear, e.g. helmet, spectacles
• 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 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61F 2/461 : of knees
• CPC Class Codes: A61F 2002/4633 : for selection of endoprosthetic joints or for pre-operative planning

Abstract

System and methods for surgical navigation providing mixed reality visualization are provided. The mixed reality visualization depicts virtual images in conjunction with real objects to provide improved visualization to users.

Claims

1. A method of calibrating registration of a HMD coordinate system and a localizer coordinate system, the HMD coordinate system being associated with a head-mounted display and the localizer coordinate system being associated with a surgical navigation localizer, said method comprising the steps of:

obtaining a registration of the HMD coordinate system and the localizer coordinate system such that images displayed by the head-mounted display can be associated with real objects tracked by the localizer;

indicating a registration error to a user using at least one real calibration marker viewable by the user and at least one virtual calibration marker image displayed to the user, wherein the at least one virtual calibration marker image has a congruency with the at least one real calibration marker so that the at least one virtual calibration marker image is capable of being aligned with the at least one real calibration marker whereby a magnitude of misalignment is indicative of the registration error; and

calibrating the registration of the HMD coordinate system and the localizer coordinate system to reduce the registration error by receiving input from the user associated with adjusting a position of the at least one virtual calibration marker image relative to the at least one real calibration marker to better align the at least one virtual calibration marker image with the at least one real calibration marker.

2. The method of claim 1, wherein the at least one real calibration marker is tracked by the localizer.

3. The method of claim 1, wherein at least one real object is tracked by the localizer, the at least one real object having a predetermined spatial relationship to the at least one real calibration marker.

4. The method of claim 1, wherein the method is started in response to the user directing a viewing direction of the user toward the real calibration markers, wherein the head-mounted display is configured to be worn by the user.

5. The method of claim 1, wherein receiving input from the user comprises receiving input that defines coordinates of the at least one virtual calibration marker image in the localizer coordinate system.

15. The method of claim 1, wherein the at least one real calibration marker is tracked by the localizer and wherein the method is started in response to the user directing a viewing direction of the user toward the real calibration markers, wherein the head-mounted display is configured to be worn by the user.

16. The method of claim 1, wherein at least one real object is tracked by the localizer, the at least one real object having a predetermined spatial relationship to the at least one real calibration marker and wherein the method is started in response to the user directing a viewing direction of the user toward the real calibration markers, wherein the head-mounted display is configured to be worn by the user.

6. A method of calibrating registration of a HMD coordinate system and a localizer coordinate system, the HMD coordinate system being associated with a head-mounted display and the localizer coordinate system being associated with a surgical navigation localizer, said method comprising the steps of:

registering the HMD coordinate system and the localizer coordinate system such that images displayed by the head-mounted display can be associated with real objects tracked by the localizer;

indicating a registration error to the user using a plurality of real calibration markers viewable by the user and a plurality of virtual calibration marker images displayed to the user, wherein the virtual calibration marker images have a congruency with the real calibration markers so that the virtual calibration marker images are capable of being aligned with the real calibration markers whereby a magnitude of misalignment is indicative of the registration error; and

calibrating the registration of the HMD coordinate system and the localizer coordinate system to reduce the registration error by receiving input from the user associated with adjusting positions of the virtual calibration marker images relative to the real calibration markers to better align the virtual calibration marker images with the real calibration markers.

7. The method of claim 6, wherein the at least one real calibration marker is tracked by the localizer.

8. The method of claim 6, wherein at least one real object is tracked by the localizer, the at least one real object having a predetermined spatial relationship to the at least one real calibration marker.

9. The method of claim 6, wherein the step of registering is performed in response to the user directing the head-mounted display toward the real calibration markers.

10. The method of claim 6, wherein the step of registering is performed in response to the user directing the head-mounted display toward the real calibration markers so that the real calibration markers are within images captured by a camera comprised in the head-mounted display.

11. The method of claim 6, wherein the step of registering is performed in response to one or more position sensors comprised in the surgical navigation localizer sensing tracking markers comprised in a registration device, wherein the registration device further comprises the real calibration markers.

12. The method of claim 6, wherein receiving input from the user comprises receiving input that alters coordinates of the virtual calibration marker images in the localizer coordinate system.

13. The method of claim 12, wherein receiving input from the user comprises receiving input that alters the coordinates by incremental amounts in any one or more of three directions corresponding to x, y and/or z-axes of the localizer coordinate system.

14. The method of claim 6, wherein the real calibration markers are similar to registration markers used in registering the HMD coordinate system and the localizer coordinate system.

17. The method of claim 6, wherein the at least one real calibration marker is tracked by the localizer and wherein the step of registering is performed in response to the user directing the head-mounted display toward the real calibration markers.

18. The method of claim 6, wherein at least one real object is tracked by the localizer, the at least one real object having a predetermined spatial relationship to the at least one real calibration marker and wherein the step of registering is performed in response to the user directing the head-mounted display toward the real calibration markers.