Guidance system and method for surgical procedures with improved feedback

• US 20040106916A1
• Filed: 07/16/2003
• Published: 06/03/2004
• Est. Priority Date: 03/06/2002
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: Z-KAT, Inc.
• Inventors: Quaid, Arthur E., Abovitz, Rony A.
• Granted Patent: US 7,831,292 B2
• Time in Patent Office: Days
• US Class Current: 606/1
• CPC Class Codes: A61B 17/3403 Needle locating or guiding means guides for suture needles A61B17/0482; guiding or tracking by nuclear magnetic resonance G01R33/285
• CPC Class Codes: A61B 2017/00115 with audible or visual output with imaging means A61B90/37, A61B34/20
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/3405 using mechanical guide means
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• 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 2090/031 torque limiting
• CPC Class Codes: A61B 2090/061 for measuring dimensions, e.g. length
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/0818 Redundant systems, e.g. using two independent measuring systems and comparing the signals
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/372 Details of monitor hardware
• 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 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 34/77 : Manipulators with motion or force scaling
• CPC Class Codes: A61B 90/03 : Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61B 90/10 : for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: G06F 3/033 : Pointing devices displaced or positioned by the user , e.g. mice, trackballs, pens or joysticks; Accessories therefor digitisers characterised by the transducing means G06F3/041
• CPC Class Codes: G06F 3/0346 : with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Abstract

It is often desirable to define objects with respect to images of an anatomy displayed using an image guided surgery system. For non-trivial objects, or those with complicated two or three dimensional forms, it may be difficult to present information in a manner that is simple for a user to understand. The local distance to a surface of interest, such as the surface of the defined object, or to a desired position, the local penetration distance of the surface of interest, or haptic repulsion force, often provides the most useful information for augmenting the interaction of the user with the image guided surgery system. The scalar value of the local distance may be conveyed to the user by visual, audio, tactile, haptic, or other means.

Claims

1. A method for use of a computer-assisted surgery system during a medical procedure, comprising:

receiving information on an object of interest;

tracking the position of a tool;

determining a scalar distance between a current position of said tool and said object of interest; and

providing an indication of said scalar distance to a user of said tool.

2. The method of claim 1, wherein said providing step comprises providing a visual indication of said scalar distance to said user of said tool.

3. The method of claim 2, further comprising, prior to said providing step, selecting a type of visual indication to provide to said user.

4. The method of claim 2, wherein said visual indication is provided by a visual indicator selected from the group consisting of a level meter, a dial, a numerical display, and a graph.

5. The method of claim 2, wherein said providing step comprises providing said visual indication of said scalar distance on a display device associated with a computer-assisted surgery system.

6. The method of claim 2, wherein said providing step comprises providing said visual indication of said scalar distance on a display device disposed on a haptic device associated with said computer-assisted surgery system.

7. The method of claim 2, wherein said providing step comprises providing said visual indication of said scalar distance on a display device disposed on a surgical tool used in proximity to an anatomy of a patient.

8. The method of claim 3, further comprising selecting a color for said visual indication based at least in part on said scalar distance.

9. The method of claim 2, further comprising, prior to said providing step, selecting said visual indication based at least in part on said scalar distance.

10. The method of claim 2, wherein said object of interest comprises a surface of a haptic object defining a desired shape for an anatomy of a patient.

11. The method of claim 2, wherein said object of interest comprises a portion of an anatomy of a patient.

12. The method of claim 2, wherein said object of interest is selected from the group consisting of a curve, a point, a surface, a volume, and a set of desired positions.

13. The method of claim 2, wherein said providing step comprises providing a predetermined visual indication indicating that said scalar distance is within an acceptable range.

14. The method of claim 2, wherein said providing step comprises providing a predetermined visual indication indicating that said scalar distance is in an unacceptable range.

15. The method of claim 1, wherein said providing step comprises providing a tactile indication of said scalar distance to said user of said tool.

16. The method of claim 1, wherein said providing step further comprises causing vibration of a device that is in contact with said user.

17. The method of claim 1, further comprising selecting a type of indication based at least in part on said scalar distance.

18. The method of claim 1, wherein said providing step comprises providing said indication indicating that said scalar distance is within an acceptable range.

19. The method of claim 1, wherein said providing step comprises providing said indication indicating that said scalar distance is in an unacceptable range.

20. The method of claim 1, wherein said object of interest is selected from the group consisting of a curve, a point, a surface, a volume, and a set of desired positions.

21. The method of claim 1, wherein said providing step comprises providing an audio indication of said scalar distance to said user of said tool.

22. The method of claim 21, further comprising, prior to said providing step, selecting a type of audio indication to provide to said user.

23. The method of claim 21, wherein said providing step comprises providing said audio indication of said scalar distance via an audio device associated with a computer-assisted surgery system.

24. The method of claim 21, wherein said providing step comprises providing said audio indication of said scalar distance via an audio device disposed on a haptic device associated with a computer-assisted surgery system.

25. The method of claim 21, wherein said providing step comprises providing said audio indication of said scalar distance via an audio device disposed on a surgical tool used in proximity to an anatomy of a patient.

26. The method of claim 21, further comprising, prior to said providing step, selecting said audio indication based at least in part on said scalar distance.

27. The method of claim 21, wherein said object of interest comprises a surface of a haptic object defining a desired shape for an anatomy of a patient.

28. The method of claim 21, wherein said object of interest comprises a portion of an anatomy of a patient.

29. The method of claim 21, wherein said object of interest is selected from the group consisting of a curve, a point, a surface, a volume, and a set of desired positions.

30. The method of claim 21, wherein said providing step comprises providing a predetermined audio indication indicating that said scalar distance is within an acceptable range.

31. The method of claim 21, wherein said providing step comprises providing a predetermined audio indication indicating that said scalar distance is in an unacceptable range.

32. A computer-assisted surgery system for use during a medical procedure, comprising:

application logic operatively associated with said computer-assisted surgery system and operable to;

receive information on an object of interest;

track the position of a tool;

determine a scalar distance between a current position of said tool and said object of interest; and

provide an indication of said scalar distance to a user of said tool.

33. The system of claim 32, wherein said application logic is further operable to provide a visual indication of said scalar distance to said user of said tool.

34. The system of claim 33, wherein said application logic is further operable to select a type of visual indication to provide to said user.

35. The system of claim 33, wherein said visual indication is provided by a visual indicator selected from the group consisting of a level meter, a dial, a numerical display, and a graph.

36. The system of claim 33, wherein said application logic is further operable to provide said visual indication of said scalar distance on a display device associated with said computer-assisted surgery system.

37. The system of claim 33, wherein said application logic is further operable to provide said visual indication of said scalar distance on a display device disposed on a haptic device associated with said computer-assisted surgery system.

38. The system of claim 33, wherein said application logic is further operable to provide said visual indication of said scalar distance on a display device disposed on a surgical tool used in proximity to an anatomy of a patient.

39. The system of claim 34, wherein said application logic is further operable to select a color for said visual indication based at least in part on said scalar distance.

40. The system of claim 33, wherein said application logic is further operable to select said visual indication based at least in part on said scalar distance.

41. The system of claim 33, wherein said object of interest comprises a surface of a haptic object defining a desired shape for an anatomy of a patient.

42. The system of claim 33, wherein said object of interest comprises a portion of an anatomy of a patient.

43. The system of claim 33, wherein said object of interest is selected from the group consisting of a curve, a point, a surface, a volume, and a set of desired positions.

44. The system of claim 33, wherein said application logic is further operable to provide a predetermined visual indication indicating that said scalar distance is within an acceptable range.

45. The system of claim 33, wherein said application logic is further operable to provide a predetermined visual indication indicating that said scalar distance is in an unacceptable range.

46. The system of claim 32, wherein said application logic is further operable to provide a tactile indication of said scalar distance to said user of said tool.

47. The system of claim 32, wherein said application logic is further operable to cause vibration of a device in contact with said user.

48. The system of claim 32, wherein said application logic is further operable to select a type of indication based at least in part on said scalar distance.

49. The system of claim 32, wherein said application logic is further operable to provide said indication indicating that said scalar distance is within an acceptable range.

50. The system of claim 32, wherein said application logic is further operable to provide said indication indicating that said scalar distance is in an unacceptable range.

51. The system of claim 32, wherein said surface of interest is selected from the group consisting of a curve, a point, a surface, a volume, and a set of desired positions.

52. The system of claim 32, wherein said application logic is further operable to provide an audio indication of said scalar distance to said user of said tool.

53. The system of claim 52, wherein said application logic is further operable to select a type of audio indication to provide to said user.

54. The system of claim 52, wherein said application logic is further operable to provide said audio indication of said scalar distance via an audio device associated with said computer-assisted surgery system.

55. The system of claim 52, wherein said application logic is further operable to provide said audio indication of said scalar distance via an audio device disposed on a haptic device associated with said computer-assisted surgery system.

56. The system of claim 52, wherein said application logic is further operable to provide said audio indication of said scalar distance via an audio device disposed on a surgical tool used in proximity to an anatomy of a patient.

57. The system of claim 52, wherein said application logic is further operable to select said audio indication based at least in part on said scalar distance.

58. The system of claim 52, wherein said object of interest comprises a surface of a haptic object defining a desired shape for an anatomy of a patient.

59. The system of claim 52, wherein said object of interest comprises a portion of an anatomy of a patient.

60. The system of claim 52, wherein said object of interest is selected from the group consisting of a curve, a point, a surface, a volume, and a set of desired positions.

61. The system of claim 52, wherein said application logic is further operable to provide a predetermined audio indication indicating that said scalar distance is within an acceptable range.

62. The system of claim 52, wherein said application logic is further operable to provide a predetermined audio indication indicating that said scalar distance is in an unacceptable range.

63. The system of claim 52, wherein said application logic comprises computer executable software code.

64. The system of claim 32, wherein said computer-assisted surgery system is a haptic device.

65. The system of claim 32, wherein said computer-assisted surgery system comprises a haptic device.

66. A computer readable storage medium storing instructions which when executed by a computer cause the computer to execute the steps of:

receiving information on a object of interest;

tracking the position of a tool;

determining a scalar distance between a current position of said tool and said object of interest; and

providing an indication of said scalar distance to a user of said tool.

67. The computer readable storage medium of claim 66, wherein said indication is a visual indication.

68. The computer readable storage medium of claim 66, wherein said indication is an audio indication.

69. The computer readable storage medium of claim 66, wherein said indication is a tactile indication.

70. The computer readable storage medium of claim 66, further comprising instructions which when executed by said computer cause the computer to execute the step of selecting a type of indication based at least in part on said scalar distance.

71. The computer readable storage medium of claim 66, further comprising instructions which when executed by said computer cause the computer to execute the step of providing said indication indicating that said scalar distance is within an acceptable range.

72. The computer readable storage medium of claim 66, further comprising instructions which when executed by said computer cause the computer to execute the step of providing said indication indicating that said scalar distance is within an unacceptable range.

73. The computer readable storage medium of claim 66, wherein said object of interest is selected from the group consisting of a curve, a point, a surface, a volume, and a set of desired positions.