Instrument guidance system for spinal and other surgery
First Claim
1. An apparatus for stereotactic surgery on a spine comprising:
- a guidance fixture including an instrument guide for moving a surgical instrument along a constrained trajectory;
a mounting device including a longitudinal rail and a plurality of clamps for securing the longitudinal rail to the spine;
an adjustment mechanism for adjusting a location and an orientation of the constrained trajectory relative to the mounting device; and
a signaling device for providing signals related to the location and the orientation of the constrained trajectory.
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Accused Products
Abstract
A method and apparatus for positioning a surgical instrument during stereotactic surgery on a body, for example, during spinal surgery or general surgery. A mounting device is attached to a bone structure of the body, for example, by attaching a rail to the spine for spinal surgery, or a mounting plate and a rod attached to the mounting plate. In spinal surgery, the rail is attached to the spine by clamping the rail to two spinous processes and adjusting the separation of the two spinous processes to match the separation of the two processes in three-dimensional scanned image, thereby matching a curvature of the spine with a corresponding curvature of the spine in the image. Multiple of fiducial points are located on the body in relation to the mounting device. An adjustable guidance fixture that includes an instrument guide for guiding the surgical instrument along a constrained trajectory relative to the instrument guide is attached to the mounting device. A location and orientation of the instrument guide is tracked and a position of the constrained trajectory in the three-dimensional image is computed. The guidance fixture is adjusted relative to the mounting device using a first constrained motion followed by a second constrained motion, so that the constrained trajectory of the instrument guide passes through the target.
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Citations
29 Claims
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1. An apparatus for stereotactic surgery on a spine comprising:
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a guidance fixture including an instrument guide for moving a surgical instrument along a constrained trajectory;
a mounting device including a longitudinal rail and a plurality of clamps for securing the longitudinal rail to the spine;
an adjustment mechanism for adjusting a location and an orientation of the constrained trajectory relative to the mounting device; and
a signaling device for providing signals related to the location and the orientation of the constrained trajectory.
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2. An apparatus for stereotactic surgery on a body, comprising:
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a guidance fixture, including (a) an instrument guide for moving a surgical instrument along a constrained trajectory relative to the instrument guide, (b) an adjustable portion supporting the instrument guide, including a base having a central axis and an adjustment mechanism coupled between the base and the instrument guide, wherein a configuration of the adjustment mechanism determines an orientation of the instrument guide relative to the central axis of the base, and (c) a signaling device for providing a signal representation of the configuration of the adjustment mechanism; and
a mounting device coupled to the guidance fixture for attaching the guidance fixture to the body, the mounting device including an attachment portion for rigid attachment to a bone structure of the body. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method for stereotactic spinal surgery comprising:
attaching a longitudinal rail to a spine;
registering the longitudinal rail, including locating a plurality of anatomical fiducial points on the spine in relation to the longitudinal rail;
providing an adjustable guidance fixture that includes an instrument guide for guiding the surgical instrument along a constrained trajectory relative to the instrument guide;
attaching the adjustable guidance fixture to the longitudinal rail;
tracking a location and an orientation of the instrument guide relative to the longitudinal rail; and
adjusting the orientation of the instrument guide such the constrained trajectory passes through a target in the body. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29)
Specification