Six degree of freedom alignment display for medical procedures

• US 20040152970A1
• Filed: 01/30/2003
• Published: 08/05/2004
• Est. Priority Date: 01/30/2003
• Status: Active Grant

• Current Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Original Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Inventors: Hunter, Mark, Rutz, Greg, Lyon, Torsten
• Granted Patent: US 7,660,623 B2
• Time in Patent Office: Days
• US Class Current: 600/424
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/025 Joint distractors
• CPC Class Codes: A61B 17/15 Guides therefor arrangements for guiding straight saw blades in general B23D51/025
• CPC Class Codes: A61B 17/1703 using imaging means, e.g. by X-rays
• CPC Class Codes: A61B 17/175 for preparing the femur for hip prosthesis insertion
• CPC Class Codes: A61B 17/1757 for the spine
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/0256 for the spine
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• 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 2034/108 Computer aided selection or customisation of medical implants or cutting guides
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2072 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 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 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/376 : using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/3983 : Reference marker arrangements for use with image guided surgery
• 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
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 90/10 : for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61F 2/32 : for the hip
• CPC Class Codes: A61F 2/34 : Acetabular cups
• CPC Class Codes: A61F 2/36 : Femoral heads ; Femoral endoprostheses
• CPC Class Codes: A61F 2/441 : made of inflatable pockets or chambers filled with fluid, e.g. with hydrogel
• CPC Class Codes: A61F 2/4425 : made of articulated components
• CPC Class Codes: A61F 2/4607 : of hip femoral endoprostheses
• CPC Class Codes: A61F 2/4609 : of acetabular cups
• CPC Class Codes: A61F 2/4657 : Measuring instruments used for implanting artificial joints for surgical instruments A61B90/06
• CPC Class Codes: A61F 2/48 : Operating or control means, e.g. from outside the body, control of sphincters
• CPC Class Codes: A61F 2002/30471 : connected by a hinged linkage mechanism, e.g. of the single-bar or multi-bar linkage type
• CPC Class Codes: A61F 2002/30476 : locked by an additional locking mechanism
• CPC Class Codes: A61F 2002/305 : Snap connection
• CPC Class Codes: A61F 2002/30517 : using a locking plate
• CPC Class Codes: A61F 2002/30538 : for adjusting angular orientation
• CPC Class Codes: A61F 2002/30548 : for adjusting fluid pressure
• CPC Class Codes: A61F 2002/30565 : having spring elements
• CPC Class Codes: A61F 2002/30578 : having apertures, e.g. for receiving fixation screws
• CPC Class Codes: A61F 2002/30579 : with mechanically expandable devices, e.g. fixation devices
• CPC Class Codes: A61F 2002/30586 : having two or more inflatable pockets or chambers
• CPC Class Codes: A61F 2002/30624 : Hinged joint, e.g. with transverse axle restricting the movement
• CPC Class Codes: A61F 2002/30649 : Ball-and-socket joints
• CPC Class Codes: A61F 2002/30668 : Means for transferring electromagnetic energy to implants
• CPC Class Codes: A61F 2002/3067 : for data transfer
• CPC Class Codes: A61F 2002/30677 : Means for introducing or releasing pharmaceutical products, e.g. antibiotics, into the body
• CPC Class Codes: A61F 2002/3069 : Revision endoprostheses
• CPC Class Codes: A61F 2002/449 : comprising multiple spinal implants located in different intervertebral spaces or in different vertebrae
• CPC Class Codes: A61F 2002/4632 : using computer-controlled surgery, e.g. robotic surgery
• CPC Class Codes: A61F 2002/4635 : using minimally invasive surgery
• CPC Class Codes: A61F 2002/4666 : for measuring force, pressure or mechanical tension
• CPC Class Codes: A61F 2002/4668 : for measuring angles
• CPC Class Codes: A61F 2002/467 : for measuring fluid pressure
• CPC Class Codes: A61F 2002/4681 : by applying mechanical shocks, e.g. by hammering
• CPC Class Codes: A61F 2220/0025 : Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
• CPC Class Codes: A61F 2220/0091 : connected by a hinged linkage mechanism, e.g. of the single-bar or multi-bar linkage type
• CPC Class Codes: A61F 2250/0001 : Means for transferring electromagnetic energy to implants
• CPC Class Codes: A61F 2250/0002 : for data transfer
• CPC Class Codes: A61F 2250/0006 : for adjusting angular orientation
• CPC Class Codes: A61F 2250/0013 : for adjusting fluid pressure
• CPC Class Codes: G16Z 99/00 : Subject matter not provided for in other main groups of this subclass
• CPC Class Codes: Y02A 90/10 : Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

A display and navigation system for use in guiding a medical device to a target in a patient includes a tracking sensor, a tracking device and display. The tracking sensor is associated with the medical device and is used to track the medical device. The tracking device tracks the medical device with the tracking sensor. The display includes indicia illustrating at least five degree of freedom information and indicia of the medical device in relation to the five degree of freedom information.

Claims

1. A display for use in guiding a medical device to a target in a patient during a medical procedure, said display comprising:

a first indicia illustrated on said display identifying a first degree of freedom information;

a second indicia illustrated on said display identifying a second degree of freedom information;

a third indicia illustrated on said display identifying a third degree of freedom information;

a fourth indicia illustrated on said display identifying a fourth degree of freedom information; and

a fifth indicia illustrated on said display identifying a fifth degree of freedom information, wherein said first, second, third, fourth, and fifth indicias are illustrated on said display to assist in guiding the medical device to the target.

2. The display as defined in claim 1 further comprising a sixth indicia illustrated on said display identifying a sixth degree of freedom of information.

3. The display as defined in claim 1 wherein the indicia is illustrated in a coordinate system selected from a group comprising a Cartesian coordinate system, a spherical coordinate system, a polar coordinate system, and a combination thereof.

4. The display as defined in claim 2 wherein the first, second, and third indicia are X, Y, and Z axes, respectively, and the fourth, fifth, and sixth indicia are rotation about the X, Y, and Z axes, respectively.

5. The display as defined in claim 1 wherein at least one indicia illustrates a safe zone in relation to said corresponding degree of freedom information.

6. The display as defined in claim 5 wherein each indicia illustrates a safe zone.

7. The display as defined in claim 5 wherein said safe zone is illustrated by way of color, audible tones, cross-hatching and a combination thereof.

8. The display as defined in claim 1 further comprising an indicia of a tip portion of the medical device and an indicia of a hind portion of the medical device illustrated on said display depicting the relative position and orientation of the medical device.

9. The display as defined in claim 8 wherein the tip is represented by cross-hairs and the hind is represented by a circle.

10. The display as defined in claim 4 wherein said X axis is represented by a horizontal axis, said Y axis is represented by a vertical axis crossing said X axis, and said Z axis is represented by a separate axis having an arrow identifying the position along the Z axis.

11. The display as defined in claim 10 wherein rotation about the X axis is illustrated by a straight bar graph having an arrow identifying the amount of rotation, wherein the rotation about the Y axis is illustrated by a straight bar graph having an arrow illustrating the amount of rotation about the Y axis and the rotation about the Z axis is illustrated by an arcuate bar graph having an arrow illustrating the rotation about the Z axis.

12. The display as defined in claim 1 wherein the medical procedure is selected from an orthopedic procedure, a spinal procedure, a neurovascular procedure, a cardiovascular procedure, a soft tissue procedure, and a combination thereof.

13. The display as defined in claim 1 wherein said medical device is selected from a group comprising a medical instrument, a surgical implant, and a combination thereof.

14. The display as defined in claim 13 wherein said medical instrument is selected from a group comprising a catheter, a reamer, a drill, a cutting block, a saw, an impactor, a biopsy needle, a delivery needle, and a combination thereof.

15. The display as defined in claim 13 wherein said implant is selected from a group comprising an orthopedic implant, a spinal implant, a cardiovascular implant, a neurovascular implant, a soft tissue implant, and a combination thereof.

16. The display as defined in claim 1 further comprising a target/trajectory indicia identifying the target/trajectory for the medical device.

17. The display as defined in claim 16 further comprising indicia of a second target/trajectory identifying a second target/trajectory.

18. The display as defined in claim 1 further comprising at least one of an image of the patient superimposed on said display and one of a model of the patient superimposed on said display.

19. The display as defined in claim 1 wherein said display includes multiple displays.

20. The display as defined in claim 1 wherein of said first, second, third, fourth and fifth indicia are simultaneously illustrated on said display.

21. The display as defined in claim 1 wherein said display assists in the control of a surgical robot used during the medical procedure.

22. The display as defined in claim 16 wherein said target indicia is an origin.

23. A navigation system for use in guiding a medical device to a target in a patient during a medical procedure, said navigation system comprising:

a tracking sensor associated with the medical device and operable to be used to track the medical device;

a tracking device operable to track the medical device with the tracking sensor; and

a display having indicia illustrating at least five degrees of freedom information and indicia of the medical device in relation to said at least five degree of freedom information.

24. The navigation system as defined in claim 23 wherein said tracking sensor is attached to the medical device.

25. The navigation system as defined in claim 24 wherein said tracking sensor is removably attached to the medical device.

26. The navigation system as defined in claim 23 wherein said tracking sensor is an electromagnetic tracking sensor.

27. The navigation system as defined in claim 23 wherein said tracking sensor is selected from a group comprising an electromagnetic sensor, an optical sensor, an optical reflector, an electromagnetic transmitter, a conductive sensor, an acoustic sensor, and combinations thereof.

28. The navigation system as defined in claim 23 wherein said tracking device is an electromagnetic tracking device.

29. The navigation system as defined in claim 23 wherein said tracking device is selected from a group comprising an electromagnetic tracking device, an optical tracking device, a conductive tracking device, an acoustic tracking device, and combinations thereof.

30. The navigation system as defined in claim 23 further comprising an imaging device operable to generate image data of a region of the patient.

31. The navigation system as defined in claim 30 wherein said imaging device is selected from a group comprising a C-arm fluoroscopic imager, a magnetic resonance imager (MRI), a computed tomography (CT) imager, and a positron emission tomography (PET) imager, an isocentric fluoroscopy imager, a bi-plane fluoroscopy imager, an ultrasound imager, a multi-slice computed tomography (MSCT) imager, a high-frequency ultrasound (HIFU) imager, an optical coherence tomography (OCT) imager, an intra-vascular ultrasound imager (IVUS), a 2D, 3D or 4D ultrasound imager, an intra-operative CT imager, an intra-operative MRI imager, and a single photon emission computer tomography (SPECT) imager.

32. The navigation system as defined in claim 23 wherein said navigation system as an image-less based navigation system wherein said image-less navigation system is operable to generate a model representing a region of the patient.

33. The navigation system as defined in claim 23 further comprising a dynamic reference frame attached to the patient and operable to be used to track movement of the patient relative to said tracking device.

34. The navigation system as defined in claim 23 wherein the medical device is a medical instrument or implant.

35. The navigation system as defined in claim 34 wherein said medical instrument is selected from a group comprising a catheter, a reamer, a drill, a cutting block, a saw, an impactor, a biopsy needle, a delivery needle, and combinations thereof.

36. The navigation system as defined in claim 34 wherein said implant is selected from a group comprising an orthopedic implant, a spinal implant, a cardiovascular implant, a neurovascular implant, a soft tissue implant, or a combination thereof.

37. The navigation system as defined in claim 23 wherein said display further includes indicia illustrating a sixth degree of freedom information.

38. The navigation system as defined in claim 37 wherein the first, second, and third indicia are X, Y, and Z axes, respectively, and the fourth, fifth, and sixth indicia are rotation about the X, Y, and Z axes, respectively.

39. The navigation system as defined in claim 23 wherein at least one indicia illustrates a safe zone in relation to said corresponding degree of freedom information.

40. The navigation system as defined in claim 23 wherein said indicia of the medical device includes indicia identifying a tip portion and indicia identifying a hind portion of the medical device.

41. The navigation system as defined in claim 40 wherein said tip includes indicia of crosshairs and said hind includes indicia of a circle.

42. The navigation system as defined in claim 23 wherein said medical device is a device having at least a first component and a second component where placement of said first component is dependent upon placement of said second component and wherein said display is operable to display proper position of said first component relative to said second component.

43. The navigation system as defined in claim 23 wherein the medical procedure is selected from an orthopedic procedure, a spinal procedure, a neurovascular procedure, a cardiovascular procedure, a soft tissue procedure, and a combination thereof.

54. The method as defined in claim 41 wherein selecting the target further includes selecting a center of a joint.

44. A method for navigating and displaying a medical device during a medical procedure, said method comprising:

selecting a target for navigating the medical device to;

displaying the target in a coordinate system;

tracking the medical device; and

displaying the medical device in relation to the target with at least five degrees of freedom information.

45. The method as defined in claim 44 further comprising displaying indicia of the at least five degree of freedom information.

46. The method as defined in claim 44 further comprising selecting a safe zone for at least one of the degrees of freedom coordinate.

47. The method as defined in claim 46 further comprising selecting a safe zone for each degree of freedom coordinate.

48. The method as defined in claim 44 further comprising selecting a type of coordinate system.

49. The method as defined in claim 44 further comprising aligning the medical device with the target using the five degree of freedom information.

50. The method as defined in claim 44 further comprising

selecting a second target that is positioned in relation to the first target for a second medical device;

and

displaying the second target in the coordinate system.

51. The method as defined in claim 50 further comprising:

tracking the second medical device; and

displaying the second medical device in relation to the second target with the at least five degree of freedom information.

52. The method as defined in claim 51 further comprising aligning the second medical instrument with the second target.

53. The method as defined in claim 52 further comprising:

determining if the alignment of the first medical device and the second medical device are correct; and

realigning the first and/or medical device if necessary.

55. The method as defined in claim 44 wherein selecting the target further includes selecting a target based upon an articulating plane of a joint.

56. The method as defined in claim 44 wherein selecting the target further includes selecting an area between a first vertebra and a second vertebra for placement of an implant.

57. The method as defined in claim 44 wherein selecting the target further includes selecting a site within an artery.