Adjustable universal surgical platform

• US 20070106305A1
• Filed: 11/07/2006
• Published: 05/10/2007
• Est. Priority Date: 11/07/2005
• Status: Active Grant

• Current Assignee: Vanderbilt University
• Original Assignee: Vanderbilt University
• Inventors: Labadie, Robert, Fitzpatrick, J., Konrad, Peter, Kao, Changquing
• Granted Patent: US 7,794,469 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• 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 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/207 Divots for calibration
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/3916 Bone tissue
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers

Abstract

A surgical platform usable for performing a surgical procedure. In one embodiment, the surgical platform comprises a base portion configured to receive at least one probe; a plurality of adjustable legs configured to support the base portion, each adjustable legs having a first end portion and an opposite, second end potion defining a length therebetween; and at least one movable portion configured to adjust the length of at least one adjustable leg.

Claims

1. A surgical platform, comprising:

a. a ring structure having a first end portion, and an opposite, second end portion, and a body portion therebetween, wherein the body portion defines a housing extending between the first and second end portions;

b. a ball joint configured to be received in the housing of the ring structure and be rotatable around its center, wherein the ball joint defines at least one bore for accommodating a probe therethrough; and

c. a plurality of leg assemblies, each leg assembly comprising;

(i). a first leg member having a joint portion detachably connected to the ring structure, an exteriorly threaded shank portion extending away from the joint portion, and an axis through the joint portion and the exteriorly threaded shank portion;

(ii). a second leg member having a joint portion, an exteriorly threaded shank portion extending away from the joint portion, and an axis through the joint portion and the exteriorly threaded shank portion; and

(iii). a sleeve member having a first end portion and an opposite, second end portion defining a sleeve body therebetween, and an axis through the sleeve body, wherein the sleeve body defines a chamber interiorly threaded for engaging with the first and second leg members, respectively,

wherein as assembled, the threaded shank portions of the first and second leg members are received in the chamber through the first and second end portions of the sleeve member, respectively, such that the axes of the first and second leg members are substantially coincident with the axis of the sleeve member, and the first and second leg members are movable back and forth along the axis of the sleeve member when the sleeve member is being rotated around its axis, thereby adjusting a leg length defined between the joint portion of the first leg member and the joint portion of the second leg member.

2. The surgical platform of claim 1, further comprising a locking knob located at the body portion of the ring structure and adapted for adjustably locking the ball joint against movement relative to the ring structure.

3. The surgical platform of claim 1, wherein the joint portion of the first leg member of each leg assembly is connected to the ring structure through a one-dimension motion joint mechanism.

4. The surgical platform of claim 3, wherein the ring structure has a plurality of tabs extending radially away from the body portion of the ring structure, each tab defining a hole therein, wherein the joint portion of the first leg member of each leg assembly comprises a forked structure having a pair of spaced parallel plates, each plate defining a hole therein, and wherein as assembled, the forked structure of the first leg member of each leg assembly is pivotally connected to a corresponding tab of the ring structure by a pivotal member passing through the holes of the pair of spaced parallel plates of the forked structure of the first leg member of the leg assembly and the corresponding tab of the ring structure such that the leg assembly is rotatable around the pivotal member.

5. The surgical platform of claim 3, wherein the ring structure has a plurality of pairs of tabs extending radially away from the body portion of the ring structure, each tab defining a hole therein, wherein the joint portion of the first leg member of each leg assembly comprises a plate defining a hole therein, and wherein as assembled, the plate of the first leg member of each leg assembly is pivotally connected to a corresponding pair of tabs of the ring structure by a pivotal member passing through the holes of the corresponding pair of tabs of the ring structure and the plates of the first leg member of the leg assembly such that the leg assembly is rotatable around the pivotal member.

6. The surgical platform of claim 1, wherein the joint portion of the first leg member of each leg assembly is connected to the ring structure through a socket-ball joint mechanism.

7. The surgical platform of claim 6, wherein the ring structure has a plurality of sockets formed in the second end portion, wherein the joint portion of the first leg member of each leg assembly comprises a ball joint, and wherein as assembled, the ball joint of the first leg member of each leg assembly is received by a corresponding socket of the ring structure such that the leg assembly is rotatable around the center of the ball joint.

8. The surgical platform of claim 1, wherein the ring structure has a first plurality of tabs extending radially and outward from the body portion of the ring structure, each tab defining a hole therein, and a second plurality of sockets formed at the second end portion.

9. The surgical platform of claim 8, wherein the plurality of leg assemblies comprise a plurality of first leg assemblies and a plurality of second leg assemblies, wherein the joint portion of the first leg member of each first leg assembly comprises a forked structure having a pair of spaced parallel plates, each plate defining a hole therein, and wherein the joint portion of the first leg member of each second leg assembly comprises a ball joint.

10. The surgical platform of claim 9, wherein as assembled, the forked structure of the first leg member of each first leg assembly is pivotally connected to a corresponding tab of the ring structure by a pivotal member passing through the holes of the pair of spaced parallel plates of the forked structure of the first leg member of the leg assembly and the corresponding tab of the ring structure, and the ball joint of the first leg member of each leg assembly is received by a corresponding socket of the ring structure, respectively.

11. The surgical platform of claim 1, wherein the joint portion of the first leg member 140 of each leg assembly is connected to the ring structure through a ring-type clamp with a threaded locking nut.

12. The surgical platform of claim 1, further comprising a plurality of support members detachably mounted onto an anatomical structure, each support members having a ball portion.

13. The surgical platform of claim 12, wherein the joint portion of the second leg member of each leg assembly comprises a forked structure having a pair of spaced plates and a securing member adjustably mounted onto the pair of spaced plates, each plate defining a hole for accommodating the ball portion of a support member to form a socket-ball joint mechanism therein, and wherein as assembled, the pair of spaced plates of the forked structure of the second leg member of each leg assembly is connected to the ball portion of a corresponding support member through the socket-ball joint mechanism and secured thereto by adjusting the securing member such that the second leg member of the leg assembly is rotatable around the center of the ball portion of the corresponding support member.

14. The surgical platform of claim 12, wherein each support member comprises a trackable fiducial marker.

15. The surgical platform of claim 1, wherein the plurality of leg assemblies 130 are equiangularly apart from each other.

16. The surgical platform of claim 1 made from one or more metallic materials or from one or more plastic materials.

17. A surgical platform, comprising:

a. a ring structure having a first end portion, an opposite, second end portion, and a body portion therebetween, wherein the body portion defines a housing extending between the first and second end portions;

b. a ball joint configured to be received in the housing of the ring structure and be rotatable around the center of the ball joint, wherein the ball joint defines at least one bore for accommodating a probe therethrough; and

c. a plurality of leg assemblies connected to the ring structure, each leg assembly comprising;

(i). a first leg member and a second leg member, each of the first and second leg members having a joint portion and a shank portion extending from the joint portion, respectively; and

(ii). a sleeve member having a first end portion and an opposite, second end portion defining a sleeve body therebetween, and an axis through sleeve body, wherein the sleeve body defines a chamber,

wherein as assembled, the shank portions of the first and second leg members are received by the chamber through the first and second end portions of the sleeve member, respectively, such that the first and second leg members and the sleeve member are coaxial, and at least one of the first and second leg members is movable back and forth along the axis of the sleeve member when the sleeve member is rotated around the axis, thereby adjusting a leg length defined between the joint portion of the first leg member and the joint portion of the second leg member.

18. The surgical platform of claim 17, further comprising a locking knob located at the body portion of the ring structure and adapted for adjustably locking the ball joint against movement relative to the ring structure.

19. The surgical platform of claim 17, wherein at least one of the shank portions of the first and second leg member is exteriorly threaded, and wherein the chamber of the sleeve member has at least one interiorly threaded portion proximate to one of the first and second ends of the sleeve member for engaging with the at least one of the shank portions of the first and second leg member.

20. The surgical platform of claim 17, wherein the joint portion of the first leg member of each leg assembly is connected to the ring structure through a motion joint mechanism.

21. The surgical platform of claim 17, wherein the joint portion of the first leg member of each leg assembly is connected to the ring structure through a socket-ball joint mechanism.

22. The surgical platform of claim 17, wherein the joint portion of the first leg member of each leg assembly is connected to the ring structure through a ring-type clamp with a threaded locking nut.

23. The surgical platform of claim 17, further comprising a plurality of support members detachably mounted onto an anatomical structure, wherein each of the plurality of support members has a ball portion.

24. The surgical platform of claim 23, wherein the joint portion of the second leg member of each leg assembly comprises a forked structure having a pair of spaced parallel plates and a securing member adjustably mounted onto the pair of spaced parallel plates, each plate defining a hole for accommodating the ball portion of a support member to form a socket-ball joint mechanism therein, and wherein as assembled, the pair of spaced parallel plates of the forked structure of the second leg member of each leg assembly is connected to the ball portion of a corresponding support member through the socket-ball joint mechanism and secured thereto by adjusting the securing member such that the second leg member of the leg assembly is rotatable around the center of the ball portion of the corresponding support member.

25. The surgical platform of claim 23, wherein each support member comprises a trackable fiducial marker.

26. The surgical platform of claim 17 made from one or more metallic materials or from one or more plastic materials.

27. A surgical platform, comprising:

a. a ring structure;

b. a ball joint housed in the ring structure, wherein the ball joint defines at least one bore for accommodating a probe therethrough; and

c. a plurality of leg assemblies, each leg assembly comprising;

(i). a leg member having a joint portion connected to the ring structure and an exteriorly threaded shank portion extending away from the joint portion, and an axis through the joint portion and the exteriorly threaded shank portion;

(ii). a foot member having a ball joint and a foot portion extending away from ball joint; and

(iii). a sleeve member having a first end portion and an opposite, second end portion defining a sleeve body therebetween, and an axis through the sleeve body, wherein the sleeve body defines a chamber extending from the first end portion to the second end portion, and wherein the chamber is formed with an interiorly threaded portion proximate to the first end portion for engaging with the leg member, and a housing at the second end portion for accommodating the ball joint of the foot member,

wherein as assembled, the ball joint of the foot member is received in the housing of the chamber of the sleeve member, the joint portion of the leg member is connected to the ring structure, the threaded portion of the leg member is received by the threaded portion of the chamber of the sleeve member such that the axis of the leg member is substantially coincident with the sleeve axis and the leg member is movable back and forth along the sleeve axis when the sleeve member is being rotated around the sleeve axis, thereby adjusting a leg length defined between the joint portion of the leg member and the second end portion of the sleeve member.

28. The surgical platform of claim 27, wherein the joint portion of the leg member of each leg assembly is connected to the ring structure through a motion joint mechanism.

29. The surgical platform of claim 27, wherein the joint portion of the leg member of each leg assembly is connected to the ring structure through a socket-ball joint mechanism.

30. The surgical platform of claim 27, wherein the joint portion of the leg member of each leg assembly is connected to the ring structure through a ring-type clamp with a threaded locking nut.

31. The surgical platform of claim 27, wherein the foot portion of the foot member has a first portion proximate to the ball joint and a second portion extending from the first portion, wherein the first portion and the second portion defines an angle, θ

, in a range of about 90-180 degree.

32. The surgical platform of claim 31, wherein the angle θ

defined between the first portion and the second portion of the foot member is substantially about 120 degree.

33. The surgical platform of claim 27, further comprising a plurality of posts, each post mounted onto a base and adapted for supporting a corresponding foot member on the base.

34. The surgical platform of claim 33, wherein each of the plurality of posts is configured to support a trackable fiducial marker.

35. The surgical platform of claim 27, wherein the plurality of leg assemblies is equiangularly apart from each other.

36. The surgical platform of claim 27 made from one or more metallic materials or from one or more plastic materials.

37. A surgical platform, comprising:

a. a base portion configured to receive at least one probe;

b. a plurality of adjustable legs configured to support the base portion, each adjustable legs having a first end portion and an opposite, second end potion defining a length therebetween; and

c. at least one movable portion configured to adjust the length of at least one adjustable leg.

38. The surgical platform of claim 37, wherein the at least one movable portion comprises a sleeve member.

39. The surgical platform of claim 38, wherein the sleeve member has a first end portion and an opposite, second end portion defining a sleeve body therebetween, the sleeve body defining a chamber therein.

40. The surgical platform of claim 39, wherein each adjustable leg comprises a first leg member and a second leg member, each leg member having a joint portion and a shank portion extending from the joint portion, wherein the shank portions of the first and second leg members are received in the chamber of the sleeve member through the first and second end portion of the sleeve member, respectively, such that the joint portions of the first and second leg members are corresponding to the first and second end portion of the corresponding adjustable leg, respectively.

41. The surgical platform of claim 40, wherein at least one of the shank portions of the first and second leg member is exteriorly threaded, and wherein the chamber of the sleeve member has at least one interiorly threaded portion proximate to one of the first and second ends of the sleeve member for engaging with the at least one of the shank portions of the first and second leg member.

42. The surgical platform of claim 38, further comprising a plurality of foot members, each foot member comprising a joint means for connecting the foot member to a corresponding leg member by the second end portion of the leg member.

43. The surgical platform of claim 42, wherein a joint means comprises a ball joint.

44. The surgical platform of claim 37, further comprising means for detachably mounting the plurality of adjustable legs onto a plurality of support members detachably mounted onto an anatomical structure.

45. The surgical platform of claim 44, wherein each support member comprises a trackable fiducial marker.

46. The surgical platform of claim 37, wherein the base portion comprising a ring structure.

47. The surgical platform of claim 46, wherein the first end portion of each adjustable leg is connected to the ring structure through a motion joint.

48. The surgical platform of claim 46, wherein the first end portion of each of adjustable leg is connected to the ring structure through a socket-ball joint mechanism.

49. The surgical platform of claim 46, wherein the first end portion of each adjustable leg is connected to the ring structure through a ring-type clamp with a threaded locking nut.

50. The surgical platform of claim 46, further comprising means for accommodating a probe.

51. The surgical platform of claim 50, wherein the accommodating means comprises a ball joint adapted for adjusting the trajectory of the probe.

52. A method of performing a surgical procedure with a surgical platform having a ring structure, a ball joint housed by the ring structure and a plurality of leg assemblies placed on a site of interest for supporting the ring structure, and a probe having a working end and accommodated by the ball joint, comprising the steps of:

a. adjusting the ball joint to bring the working end of the probe to an initial optimal position at the site of interest; and

b. adjusting the plurality of leg assemblies to bring the working end of the probe onto a final position from the initial optimal position, wherein the final position is corresponding to a surgical target of interest.

53. The method of claim 52, further comprising the step of locking the ball joint against movement relative to the ring structure when the probe is brought onto the initial optimal position.

54. The method of claim 52, wherein the step of adjusting the plurality of leg assemblies comprises the steps of:

a. individually adjusting a length of each leg assembly; and

b. locking the corresponding leg assembly so as to remain the leg length unchanged during the surgical procedure.

55. A fiducial marker usable with a surgical platform, comprising:

a. a ball portion defining a recess;

b. a shank portion extending from the ball portion;

c. a threaded portion extending from the shank portion for threading into an anatomical structure; and

d. a flange radially and outward extending from the junction of the shank portion and the threaded portion and having a first surface facing the shank portion and an opposite, second surface facing the threaded portion, wherein the second surface has a serration pattern formed such that when the fiducial marker is threaded solidly into an anatomical structure along a first direction, the serration pattern prevents the fiducial marker from moving along a second direction opposite to the first direction.

56. The fiducial marker of claim 55, wherein the recess is adapted for accommodating a working end of a registration probe.

57. The fiducial marker of claim 56, wherein the recess is in the form of a cone, a hemisphere, or a cylinder.

58. The fiducial marker of claim 55 made of a material that is imageable and/or trackable.