Multi-configuration tracknig array and related method

• US 20080200794A1
• Filed: 02/19/2007
• Published: 08/21/2008
• Est. Priority Date: 02/19/2007
• Status: Active Grant

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Robert Teichman
• Inventors: Hartmann, Steven L., Mire, David, Teichman, Robert, Tipton, Jason
• Granted Patent: US 9,179,984 B2
• Time in Patent Office: Days
• US Class Current: 600/407
• CPC Class Codes: A61B 2017/00464 for use with different instruments
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• 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 2090/365 augmented reality, i.e. correlating a live optical image with another image
• 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 90/39 Markers, e.g. radio-opaque or breast lesions markers

Abstract

A navigation system generally determines a location of a portion of a first medical instrument relative to a patient. The navigation system generally includes a multi-configuration tracking array that extends from the first medical instrument. A plurality of tracking devices can be positioned on the multi-configuration tracking array. At least one of the tracking devices changes to define at least a first condition and a second condition. A tracking system detects the tracking devices and relates a change between the first condition and the second condition with a change between at least a first instrument configuration and a second instrument configuration.

Claims

1. A navigation system that determines a location of a portion of a first medical instrument relative to a patient, the navigation system comprising:

a multi-configuration tracking array that extends from the first medical instrument;

a plurality of tracking devices positioned on said multi-configuration tracking array, wherein at least one of said tracking devices changes to define at least a first condition and a second condition; and

a tracking system that detects said tracking devices and relates a change between said first condition and said second condition with a change between at least a first instrument configuration and a second instrument configuration.

2. The navigation system of claim 1 wherein said change between said first condition and said second condition of said tracking devices includes at least a change in a value of a distance between a first tracking device and a second tracking device.

3. The navigation system of claim 1 wherein said change between said first condition and said second condition of said tracking devices includes at least a change in a pattern established by said tracking devices.

4. The navigation system of claim 1 wherein each of said tracking devices is one of a passive tracking device, an active tracking device and a combination thereof.

5. The navigation system of claim 1 wherein each of said tracking devices is selected from a group consisting of an infrared reflective marker, a light emitting diode, an electromagnetic coil and one or more combinations thereof.

6. The navigation system of claim 1 wherein said tracking devices include a first signal module that is switchable between said first condition and said second condition and wherein said change between said first condition and said second condition comprises at least one of

emitting light and not emitting light from said first signal module,

changing an intensity of light from said first signal module,

changing a color of light from said first signal module,

changing a pattern of light from said first signal module, and

one or more combinations thereof.

7. The navigation system of claim 1 wherein said tracking devices include a first signal module and a second signal module and wherein said change between said first condition and said second condition includes a change between said tracking system receiving light from said first signal module and said second signal module and said tracking system receiving light from only said first signal module or said second signal module.

8. The navigation system of claim 1 wherein said change between said first instrument configuration and said second instrument configuration includes at least a change in an orientation of the first medical instrument.

9. The navigation system of claim 1 wherein said change between said first instrument configuration and said second instrument configuration includes at least coupling or uncoupling a component to the first medical instrument.

10. The navigation system of claim 9 wherein said component includes at least one of said tracking devices of the multi-configuration tracking array positioned on said component.

11. The navigation system of claim 1 wherein said change between said first instrument configuration and said second instrument configuration includes at least uncoupling said multi-configuration tracking array from the first medical instrument and coupling said multi-configuration tracking array to a second medical instrument.

12. The navigation system of claim 1 wherein said multi-configuration tracking array is releasably coupled to the first medical instrument at a first reference location.

13. The navigation system of claim 1 wherein

said multi-configuration tracking array includes a tracking device holder member having tracking devices on a first side thereof,

said tracking device holder member rotateably connected to an instrument holder member so as to be movable between a first position and a second position relative to said instrument holder member, and

said instrument holder member having at least one tracking device on a first side of said instrument holder member that is opposite from a second side having at least one tracking device thereon.

14. The navigation system of claim 11 wherein a first pattern is established by said tracking devices located on said tracking device holder member in said first position and located on said first side of said instrument holder member and wherein a second pattern is established by said tracking devices located on said tracking device holder member in said second position and located on said second side of said instrument holder member.

15. The navigation system of claim 12 wherein a change between said first pattern and said second pattern includes a change between a value that defines a first distance and a value that defines a second distance, wherein said first distance is defined between said tracking devices on said tracking device holder portion in said first position and said tracking device on said first side of said instrument holder and said second distance is defined between said tracking devices on said tracking device holder portion in said second position and said tracking device on said second side of said instrument holder.

16. The navigation system of claim 1 wherein the first medical instrument is selected from a group consisting of a delivery system, a guide wire, an arthroscopic system, an orthopedic implant, a spinal implant, a deep brain stimulation probe, an awl/tap/probe and one or more combinations thereof.

17. The navigation system of claim 1 wherein each of said tracking devices is at least one of electromagnetic, optical and a combination thereof.

18. The navigation system of claim 1 further comprising a display that displays a first icon of the first medical instrument in said first instrument configuration and that displays a second icon of the first medical instrument in said second instrument configuration, when said tracking devices change between said first condition and said second condition.

19. The navigation of system of claim 18 further comprising an imaging system that acquires image data from a patient, wherein said image data is collected at least one of pre-operatively, intra-operatively, post-operatively and one or more combinations thereof.

20. The navigation of system of claim 18 further comprising an imageless system that obtains imageless data from at least one of atlas models, patient specific atlas models, previous images obtained with an imaging system and one or more combinations thereof.

21. The navigation of system of claim 18 wherein an automatic change between said first icon and said second icon displayed on said display is due to a change between said first condition and second condition of the tracking devices positioned on said multi-configuration tracking array that can indicate at least one of:

a camera extending from a tip of the first medical instrument such that said camera established a new tip of the first medical instrument,

changing an orientation of the first medical instrument that defines an asymmetric probe,

connecting one or more additional components to the first medical instrument,

a drill bit extending from an awl/tap/probe such that the drill bit establishes a new tip of the probe,

an implant attached to an implant inserter,

a change in drill speed of a drill associated with the first medical instrument,

a change in a drilling depth of said drill associated with the first medical instrument,

achieving a predetermined drilling depth with said drill associated with the first medical instrument, and/or

one or more combinations thereof.

22. The navigation system of claim 1 wherein said tracking system relates a change between said first condition and said second condition with a change between at least one of said first instrument configuration and a third instrument configuration, said first instrument configuration and a fourth instrument configuration, said second instrument configuration and said third instrument configuration, said second instrument configuration and said fourth instrument configuration, said third instrument configuration and said fourth instrument configuration and an applicable combination thereof.

23. A method of performing a procedure with a first instrument so that a configuration of the first instrument is included in a view produced from a surgical navigation process used to perform the procedure, the method comprising:

detecting tracking devices on a multi-configuration tracking array that extends from the first medical instrument;

changing at least one of said tracking devices in said multi-configuration tracking array;

detecting said changing of said at least one of said tracking devices; and

relating said changing of said at least one of said tracking devices with a change between a first instrument configuration and a second instrument configuration.

24. The method of claim 23 wherein changing at least one of said tracking devices in said multi-configuration tracking array includes moving at least one of the tracking devices relative to at least one of the tracking devices that remains stationary.

25. The method of claim 24 wherein changing at least one of said tracking devices in said multi-configuration tracking array includes replacing a first component of the first medical instrument having a first tracking device with a second component of the first medical instrument having a second tracking device and wherein said second tracking device establishes a pattern of tracking devices that is different from a pattern established by said first tracking device.

26. The method of claim 23 wherein said changing at least one of said tracking devices includes a change between a value that defines a first distance and a value that defines said second distance,

wherein said first distance is defined between at least one of said tracking devices on a moveable portion of said multi-configuration tracking array in a fist position and at least one of said tracking devices on a stationary portion of said multi-configuration tracking array, and

wherein said second distance is defined between at least one of said tracking devices on a moveable portion of said multi-configuration tracking array in a fist position and at least one of said tracking devices on a stationary portion of said multi-configuration tracking array.

27. The method of claim 23 wherein said changing at least one of said tracking devices includes switching a first signal module between said first condition and said second condition and wherein said change between said first condition and said second condition comprises at least one of

emitting light and not emitting light from said first signal module,

changing an intensity of light from said first signal module,

changing a color of light from said first signal module,

changing a pattern of light from said first signal module, and

one or more combinations thereof.

28. The method of claim 23 wherein said change between said first instrument configuration and said second instrument configuration includes at least a change in an orientation of the first medical instrument relative to the patient.

29. The method of claim 23 wherein said change between said first instrument configuration and said second instrument configuration includes at least coupling or uncoupling a component to the first medical instrument.

30. The method of claim 23 wherein said change between said first instrument configuration and said second instrument configuration includes at least uncoupling said multi-configuration tracking array from the first medical instrument and coupling said multi-configuration tracking array to a second medical instrument.

31. The method of claim 23 further comprising acquiring image data with an imaging system from a patient, said image data collected at least one of pre-operatively, intra-operatively and post-operatively.

32. The method of claim 23 further comprising obtaining imageless data with an imageless system, said imageless data based on at least one of atlas models, patient specific atlas models, previous images obtained with an imaging system and one or more combinations thereof.

33. The method of claim 30 further comprising

displaying a first icon over said image data, said first icon indicative of said first instrument configuration;

automatically changing from said first icon to a second icon based on said changing of at least one of said tracking devices; and

displaying said second icon over said image data;

said second icon reflects said change between said first instrument configuration and a second instrument configuration so that said icon at least partially represents said second instrument configuration.

34. The method of claim 32 wherein automatically changing from said first icon to a second icon can indicate at least one of:

a camera extending from a tip of the first medical instrument such that said camera established a new tip of the first medical instrument,

changing an orientation of the first medical instrument that defines an asymmetric probe,

connecting one or more additional components to the first medical instrument,

a drill bit extending from an awl/tap/probe such that the drill bit establishes a new tip of the probe,

an implant attached to an implant inserter,

a change in drill speed of a drill associated with the first medical instrument, and

one or more combinations thereof.

35. A method of performing a procedure with a first instrument so that a configuration of the first instrument is included with a view produced from a surgical navigation process used to perform the procedure, the method comprising:

detecting tracking devices on a multi-configuration tracking array having a tracking device holder member that connects to an instrument holder member that extends from the first medical instrument;

moving said tracking device holder member relative to said instrument holder member between a first position and a second position;

detecting said moving of said tracking device holder member; and

relating said moving of said tracking device holder member between said first position and said second position with a change between a first instrument configuration and a second instrument configuration.

36. The method of claim 35 wherein said changing at least one of said tracking devices includes a change between a value that defines a first distance and a value that defines said second distance,

wherein said first distance is defined between one of said tracking devices that extends from a first side of said instrument holder member and at least one of said tracking devices that extends from said tracking device holder member when said tracking device holder member is in said first position, and

wherein said second distance is defined between one of said tracking devices that extends from a second side of said instrument holder member and at least one of said tracking devices that extends from said tracking device holder member when said tracking device holder member is in said second position.

37. The method of claim 35 wherein said change between said first instrument configuration and said second instrument configuration includes at least a change in an orientation of the first medical instrument relative to the patient.

38. The method of claim 35 wherein said change between said first instrument configuration and said second instrument configuration includes at least coupling or uncoupling a component to the first medical instrument.

39. The method of claim 35 wherein said change between said first instrument configuration and said second instrument configuration includes at least uncoupling said multi-configuration tracking array from the first medical instrument and coupling said multi-configuration tracking array to a second medical instrument.

40. A navigation system that determines a location of a portion of a medical instrument relative to a patient, the navigation system comprising:

a multi-configuration tracking array that extends from the medical instrument;

at least two tracking devices positioned on a handle portion of the medical instrument;

at least one tracking device positioned on a first removable tip portion of the medical instrument that is capable of coupling to said handle portion and that establishes a first pattern;

at least one tracking device positioned on a second removable tip portion of the medical instrument that is capable of coupling to said handle portion and that establishes a second pattern; and

a tracking system that detects said tracking devices and relates a change between said first pattern and said second pattern with a change between at least a first instrument configuration that defines the first tip portion being connected to the handle portion and a second instrument configuration that defines the second tip portion being connected to the handle portion.

41. The navigation system of claim 40 wherein said change between said first pattern and said second pattern of said tracking devices includes at least a change in a value of a distance between a first tracking device and a second tracking device.

42. The navigation system of claim 40 wherein each of said tracking devices is one of a passive tracking device, an active tracking device and a combination thereof.

43. The navigation system of claim 40 wherein each of said tracking devices is selected from a group consisting of an infrared reflective marker, a light emitting diode, an electromagnetic coil and one or more combinations thereof.

44. The navigation system of claim 40 wherein said tracking devices include a first signal module that is switchable between said first condition and said second condition and wherein said change between said first condition and said second condition comprises at least one of

emitting light and not emitting light from said first signal module,

changing an intensity of light from said first signal module,

changing a color of light from said first signal module,

changing a pattern of light from said first signal module, and

one or more combinations thereof.

45. The navigation system of claim 40 wherein the medical instrument is selected from a group consisting of a delivery system, a guide wire, an arthroscopic system, an orthopedic implant, a spinal implant, a deep brain stimulation probe, an awl/tap/probe and one or more combinations thereof.

46. The navigation system of claim 40 wherein each of said tracking devices is at least one of electromagnetic, optical and a combination thereof.

47. The navigation system of claim 40 further comprising a display that displays a first icon of the medical instrument in said first instrument configuration and that displays a second icon of the medical instrument in said second instrument configuration, when said tracking devices change between said first condition and said second condition.

48. The navigation system of claim 40 wherein the medical instrument is configured to communicate with said tracking system such that when said second tip portion connects to said handle portion said imaging system detects said change between said first pattern and said second pattern established by the respective tracking devices.