Method and Apparatus for Computer Aided Surgery

• US 20080009697A1
• Filed: 06/18/2007
• Published: 01/10/2008
• Est. Priority Date: 06/16/2006
• Status: Active Grant

• Current Assignee: Board of Regents of the University of Nebraska
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Barrera, O., Haider, Hani
• Granted Patent: US 8,560,047 B2
• Time in Patent Office: Days
• US Class Current: 600/407
• CPC Class Codes: A61B 17/142 with reciprocating saw blades, e.g. with cutting edges at the distal end of the saw blades
• CPC Class Codes: A61B 17/15 Guides therefor arrangements for guiding straight saw blades in general B23D51/025
• CPC Class Codes: A61B 17/154 for preparing bone for knee prosthesis
• CPC Class Codes: A61B 17/1626 Control means; Display units
• CPC Class Codes: A61B 17/1675 for the knee
• CPC Class Codes: A61B 17/1703 using imaging means, e.g. by X-rays
• CPC Class Codes: A61B 17/1764 for the knee
• CPC Class Codes: A61B 2017/00026 Conductivity or impedance, e.g. of tissue
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00212 using remote controls
• CPC Class Codes: A61B 2017/00221 with wireless transmission of data, e.g. by infrared radiation or radiowaves
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2017/320052 Guides for cutting instruments by marking A61B2090/395
• CPC Class Codes: A61B 2034/101 Computer-aided simulation of surgical operations
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/104 Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
• 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 2034/2055 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 2034/2072 : Reference field transducer attached to an instrument or patient
• 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 2034/258 : providing specific settings for specific users
• CPC Class Codes: A61B 2090/061 : for measuring dimensions, e.g. length
• CPC Class Codes: A61B 2090/065 : for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/0812 : indicating loosening or shifting of parts of an instrument, signaling maladjustment of parts
• CPC Class Codes: A61B 2090/365 : augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/367 : creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/372 : Details of monitor hardware
• CPC Class Codes: A61B 2090/3937 : Visible markers
• CPC Class Codes: A61B 2090/395 : with marking agent for marking skin or other tissue
• CPC Class Codes: A61B 34/10 : Computer-aided planning, simulation or modelling of surgical operations
• 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 90/11 : with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/90 : Identification means for patients or instruments, e.g. tags
• CPC Class Codes: A61F 2002/4632 : using computer-controlled surgery, e.g. robotic surgery
• CPC Class Codes: A61F 2002/4633 : for selection of endoprosthetic joints or for pre-operative planning
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/63 : for local operation

Abstract

A number of improvements are provided relating to computer aided surgery. The improvement relates to both the methods used during computer aided surgery and the devices used during such procedures. Some of the improvement relate to controlling the selection of which data to display during a procedure and/or how the data is displayed to aid the surgeon. Other improvements relate to the structure of the tools used during a procedure and how the tools can be controlled automatically to improve the efficiency of the procedure. Still other improvements relate to methods of providing feedback during a procedure to improve either the efficiency or quality, or both, for a procedure.

Claims

1. A method for performing a computer assisted surgical procedure, comprising the steps of:

creating a three dimensional representation of a portion of a patient to which a procedure is to be performed;

identifying a portion of the three dimensional representation corresponding to a portion of tissue to be resected;

displaying the three dimensional representation during a surgical procedure, wherein the step of displaying comprises;

displaying the portion to be resected in a first color;

displaying a boundary adjacent the portion to be resected in a second color that is different from the first color; and

;

displaying a portion of tissue adjacent the boundary, which is not to be resected, in a third color, which is different from the first and second colors;

performing a surgical procedure using a surgical tool to resect the portion of tissue;

tracking the position of the surgical tool relative to the patient.

2. The method of claim 1 comprising the step of deleting a portion of the three dimensional representation corresponding to tissue being removed during the surgical procedure.

3. The method of claim 2 wherein the step of deleting a portion of the three dimensional representation is repeatedly updated in real time.

4. A method for controlling a surgical tool during a surgical procedure, comprising the steps of:

creating a three dimensional representation of a portion of a patient to which a procedure is to be performed;

identifying a portion of the three dimensional representation corresponding to a portion of tissue onto which a surgical procedure is to be performed;

performing a surgical procedure on the portion of the patient, using a surgical tool;

tracking the position of the surgical tool during the surgical procedure;

automatically controlling the operation of the surgical tool in response to the position of the surgical tool relative to the patient.

5. The method of claim 4 wherein the surgical tool is a motorized cutting tool and the step of controlling the operation comprises the step of turning off the surgical tool.

6. The method of claim 4 wherein the surgical tool is a motorized cutting tool and the step of controlling the operation comprises the step of slowing the speed of the surgical tool.

7. The method of claim 4 comprising the step of manually overriding the automatic control of the surgical tool.

8-23. -23. (canceled)

24. A method for performing a computer assisted surgical procedure, comprising the steps of;

performing a surgical procedure on a portion of a patient;

obtaining data regarding the portion of the patient after the surgical procedure is performed;

inputting the data into a computer;

using the computer to analyze the data to determine whether one or more procedures need to be performed on the patient.

25. The method of claim 24 comprising the step of automatically determining one or more suggested procedures to be performed.

26. The method of claim 24 wherein the step of obtaining data comprises the steps of:

providing a evaluation tool; and

engaging the portion of the patient with the evaluation tool after the surgical procedure has been performed.

27. The method of claim 26 wherein the method comprises the step of displacing the evaluation tool relative to the portion of the patient, and tracking the movement of the evaluation tool during the step of displacing the evaluation tool.

28-32. -32. (canceled)