Methods and apparatuses for providing a navigational array
First Claim
1. A navigational array for use by a computer-aided surgical navigation system, wherein the navigational array can be positioned for sensing by at least two sensors associated with the computer-aided surgical navigation system in order to determine position and orientation of the array by the system, the navigational array comprising:
- a plurality of fiducial members adapted to be sensed by a computer-aided surgical navigation system;
a non-segmenting common point connecting at least some of the fiducial members, wherein at least one of the fiducial members is out of plane with the other three fiducial members, and wherein a position and orientation associated with the navigational array can be determined from sensing at least three of the fiducial members by a computer-aided surgical navigation system; and
a mount adapted to support the navigational array adjacent to an object;
whereby the physical possibility for all of the fiducial members to be positioned coplanar to at least two sensors in the computer-aided surgical navigation system is precluded, and whereby when two of the fiducial members are positioned collinear to one of the sensors in the computer-aided surgical navigation system, no other of said members are positioned collinear to any other of said sensors.
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Abstract
Methods and apparatuses for providing a navigational array for use with a computer-aided surgical navigation system. A navigational array according to an embodiment of the present invention is configured to provide a plurality of fiducial members comprising portions capable of being sensed by at least two sensors associated with the computer-aided surgical navigation system in order to determine position and orientation of the array by the system. The array can include a non-segmenting common point connecting at least some of the fiducial members, wherein at least one of the fiducial members is out of plane with the other three fiducial members, and wherein a position and orientation associated with the navigational array can be determined from sensing at least three of the fiducial members by a computer-aided surgical navigation system. The array can also include a mount adapted to support the navigational array adjacent to an object, a surgical instrument, or a joint replacement prosthesis; whereby the physical possibility for all of the fiducial members to be positioned coplanar to at least two sensors in the computer-aided surgical navigation system is precluded, and whereby when two of the fiducial members are positioned collinear to one of the sensors in the computer-aided surgical navigation system, no other of said members are positioned collinear to any other of said sensors.
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Citations
42 Claims
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1. A navigational array for use by a computer-aided surgical navigation system, wherein the navigational array can be positioned for sensing by at least two sensors associated with the computer-aided surgical navigation system in order to determine position and orientation of the array by the system, the navigational array comprising:
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a plurality of fiducial members adapted to be sensed by a computer-aided surgical navigation system;
a non-segmenting common point connecting at least some of the fiducial members, wherein at least one of the fiducial members is out of plane with the other three fiducial members, and wherein a position and orientation associated with the navigational array can be determined from sensing at least three of the fiducial members by a computer-aided surgical navigation system; and
a mount adapted to support the navigational array adjacent to an object;
whereby the physical possibility for all of the fiducial members to be positioned coplanar to at least two sensors in the computer-aided surgical navigation system is precluded, and whereby when two of the fiducial members are positioned collinear to one of the sensors in the computer-aided surgical navigation system, no other of said members are positioned collinear to any other of said sensors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for performing a surgical procedure using a navigational array and a computer-aided surgical navigation system, wherein the navigational array can be positioned for sensing by at least two sensors associated with the computer-aided surgical navigation system in order to determine position and orientation of the array by the system, the method comprising:
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(a) mounting a navigational array adjacent to an object, wherein the navigational array comprises;
(i) a plurality of fiducial members adapted to be sensed by the computer-aided surgical navigation system;
(ii) a non-segmenting common point connecting at least some of the fiducial members, wherein at least one of the fiducial members is out of plane with the other three fiducial members, and wherein a position and orientation associated with the navigational array can be determined from sensing at least three of the fiducial members by a computer-aided surgical navigation system;
(iii) a mount adapted to support the navigational array adjacent to an object; and
(iv) whereby the physical possibility for all of the fiducial members to be positioned coplanar to at least two sensors in the computer-aided surgical navigation system is precluded, and whereby when two of the fiducial members are positioned collinear to one of the sensors in the computer-aided surgical navigation system, no other of said members are positioned collinear to any other of said sensors;
(b) sensing a portion of at least three of the fiducial members by a computer-aided surgical navigation system; and
(c) determining a position associated with the object based in part on sensing the portions of the at least three of the fiducial members. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. An apparatus for use by a computer-aided surgical navigation system, wherein the apparatus can be positioned for sensing by at least two sensors associated with the computer-aided surgical navigation system in order to determine position and orientation of the apparatus by the system, the system comprising:
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(a) a surgical instrument; and
(b) a navigational array comprising;
(i) a plurality of fiducial members adapted to be sensed by the computer-aided surgical navigation system;
(ii) a non-segmenting common point connecting at least some of the fiducial members, wherein at least one of the fiducial members is out of plane with the other three fiducial members, and wherein a position and orientation associated with the navigational array can be determined from sensing at least three of the fiducial members by a computer-aided surgical navigation system;
(iii) a mount adapted to support the navigational array adjacent to the surgical instrument; and
(iv) whereby the physical possibility for all of the fiducial members to be positioned coplanar to at least two sensors in the computer-aided surgical navigation system is precluded, and whereby when two of the fiducial members are positioned collinear to one of the sensors in the computer-aided surgical navigation system, no other of said members are positioned collinear to any other of said sensors. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25)
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26. A method for performing a surgical procedure using an apparatus and a computer-aided surgical navigation system, wherein the apparatus can be positioned for sensing by at least two sensors associated with the computer-aided surgical navigation system in order to determine position and orientation of the apparatus by the system, the method comprising:
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(a) mounting a navigational array adjacent to a surgical instrument, wherein the navigational array comprises;
(i) a plurality of fiducial members adapted to be sensed by the computer-aided surgical navigation system;
(ii) a non-segmenting common point connecting at least some of the fiducial members, wherein at least one of the fiducial members is out of plane with the other three fiducial members, and wherein a position and orientation associated with the navigational array can be determined from sensing at least three of the fiducial members by a computer-aided surgical navigation system;
(iii) a mount adapted to support the navigational array adjacent to the surgical instrument; and
(iv) whereby the physical possibility for all of the fiducial members to be positioned coplanar to at least two sensors in the computer-aided surgical navigation system is precluded, and whereby when two of the fiducial members are positioned collinear to one of the sensors in the computer-aided surgical navigation system, no other of said members are positioned collinear to any other of said sensors;
(b) sensing a portion of at least three of the fiducial members by a computer-aided surgical navigation system; and
(c) determining a position associated with the surgical instrument based in part on sensing the portions of the at least three of the fiducial members. - View Dependent Claims (27, 28, 29, 30, 31, 32, 33, 34)
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35. A surgical method for locating a position of a joint replacement prosthesis associated with a navigational array using a computer-aided surgical navigation system, wherein the navigational array can be positioned for sensing by at least two sensors associated with the computer-aided surgical navigation system in order to determine position and orientation of the array by the system, the method comprising:
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(a) providing a navigational array, wherein the navigational array comprises;
(i) a plurality of fiducial members adapted to be sensed by the computer-aided surgical navigation system;
(ii) a non-segmenting common point connecting at least some of the fiducial members, wherein at least one of the fiducial members is out of plane with the other three fiducial members, and wherein a position and orientation associated with the navigational array can be determined from sensing at least three of the fiducial members by a computer-aided surgical navigation system;
(iii) a mount adapted to support the navigational array adjacent to a joint replacement prosthesis; and
(iv) whereby the physical possibility for all of the fiducial members to be positioned coplanar to at least two sensors in the computer-aided surgical navigation system is precluded, and whereby when two of the fiducial members are positioned collinear to one of the sensors in the computer-aided surgical navigation system, no other of said members are positioned collinear to any other of said sensors;
(b) mounting the navigational array adjacent to a joint replacement prosthesis;
(c) sensing a portion of at least three of the fiducial members by a computer-aided surgical navigation system;
(d) determining a position associated with the joint replacement prosthesis based in part on sensing the portions of the at least three of the fiducial members; and
(e) mounting the joint replacement prosthesis to another corresponding joint replacement prosthesis for a joint replacement. - View Dependent Claims (36, 37, 38, 39, 40, 41, 42)
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Specification