System and Method for Navigated Drill Guide

• US 20090118742A1
• Filed: 11/06/2007
• Published: 05/07/2009
• Est. Priority Date: 11/06/2007
• Status: Active Grant

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Moctezuma, Joseph, Hughes, Joel S., Hartmann, Steven L., Verard, Laurent
• Granted Patent: US 9,265,589 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 17/1703 using imaging means, e.g. by X-rays
• CPC Class Codes: A61B 17/1707 using electromagnetic effects, e.g. with magnet and external sensors
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2090/034 abutting on parts of the device itself
• CPC Class Codes: A61B 2090/062 penetration depth
• 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 90/11 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

Abstract

A system for tracking a navigated instrument. The system can include a first elongated instrument and a second elongated instrument. The first elongated instrument can have a first proximal end and a first distal end. The first elongated instrument can be adapted to be positioned relative to an anatomy. The second elongated instrument can move adjacent to the first elongated instrument. The second elongated instrument can have a second proximal end and a second distal end. The system can also include at least one tracking device coupled to the second elongated instrument. When the second elongated instrument is in a first position, the at least one tracking device tracks the first distal end of the first elongated instrument, and when the second elongated instrument is in a second position, the at least one tracking device tracks the second distal end of the second elongated instrument.

Claims

1. A system for tracking a navigated instrument comprising:

a first elongated instrument having a first proximal end and a first distal end, the first elongated instrument adapted to be positioned relative to an anatomy;

a second elongated instrument that moves adjacent to the first elongated instrument, the second elongated instrument having a second proximal end and a second distal end; and

at least one tracking device coupled to the second elongated instrument;

wherein when the second elongated instrument is in a first position, the at least one tracking device tracks the first distal end of the first elongated instrument;

wherein when the second elongated instrument is in a second position, the at least one tracking device tracks the second distal end of the second elongated instrument.

2. The system of claim 1, wherein the first elongated instrument comprises a guide instrument that defines a first bore and the second elongated instrument moves within the first bore of the guide instrument.

3. The system of claim 2, wherein the second elongated instrument is selected from the group comprising:

guidewires, drill bits, stylets, trocars, screws, deep brain stimulator (DBS) probes or combinations thereof.

4. The system of claim 2, wherein the second elongated instrument comprises a drill bit that is coupled to a drill and the drill rotates the drill bit within the first bore of the guide instrument.

5. The system of claim 2, wherein the first elongated instrument comprises at least one tracking device that tracks a position of the first elongated instrument.

6. The system of claim 4, wherein the second elongated instrument further comprises:

a sleeve that defines a second bore for receipt of the drill bit and includes the at least one tracking device, the sleeve slideably received within the first bore of the guide instrument;

a biasing member coupled to the sleeve and retained within the first bore that applies a force to the sleeve to bias the sleeve in the first position; and

wherein in the second position, the drill bit moves the sleeve relative to the guide instrument and the relative movement between the sleeve and the guide instrument corresponds to a position of the second distal end.

7. The system of claim 6, wherein the at least one tracking device comprises at least one optical tracking device to track at least one degree of freedom information.

8. The system of claim 7, wherein the at least one optical tracking device comprises at least one passive optical tracking device, active optical tracking device or combinations thereof.

9. The system of claim 6, wherein the at least one tracking device comprises an array of optical tracking devices to track at least three degrees of freedom information.

10. The system of claim 6, further comprising:

at least one second tracking device coupled to the guide instrument to track at least one degree of freedom information for the guide instrument; and

wherein the at least one tracking device of the sleeve tracks at least one degree of freedom information for the sleeve.

11. The system of claim 6, wherein the at least one tracking device comprises at least one electromagnetic tracking device selected from the group comprising:

an electromagnetic receiver tracking device, an electromagnetic transmitter tracking device and combinations thereof.

12. The system of claim 11, wherein the electromagnetic tracking device is selected from the group comprising:

dual coils, tri-axial coils, dual orthogonal coils, dual collinear coils, a delta coil pair and combinations thereof.

13. The system of claim 11, wherein the at least one electromagnetic tracking device comprises at least one electromagnetic receiver coil positioned about the second bore and the relative movement of the drill bit within the sleeve acts as a core of the at least one electromagnetic receiver coil to vary a signal induced in the at least one electromagnetic coil.

14. The system of claim 11, wherein the at least one electromagnetic tracking device comprises at least one electromagnetic transmitter coil positioned about the second bore and the relative movement of the drill bit within the sleeve acts as a core of the at least one electromagnetic transmitter coil to vary an electromagnetic field generated by the at least one electromagnetic coil.

15. The system of claim 1, further comprising:

a tracking system that tracks the at least one tracking device;

a navigation system that determines the position of the first distal end or the second distal end based on the at least one tracking device; and

an imaging device selected from at least one of a fluoroscopy device, an O-arm device, a bi-plane fluoroscopy device, an ultrasound device, a computed tomography (CT) device, a multi-slice computed tomography (MSCT) device, a magnetic resonance imaging (MRI) device, a high frequency ultrasound (HFU) device, a positron emission tomography (PET) device, an optical coherence tomography (OCT) device, an intra-vascular ultrasound (IVUS) device, an intra-operative CT device, an intra-operative MRI device and combinations thereof.

16. The system of claim 1, wherein the at least one tracking device tracks whichever is the most distal between the first distal end of the first elongated instrument or the second distal end of the second elongated instrument.

17. A system for tracking a navigated instrument comprising:

a guide instrument that has a first proximal end, a first distal end and defines a first bore that is adapted to slideably receive an elongated instrument that has a second distal end, the guide instrument positionable adjacent to an anatomy; and

at least one electromagnetic tracking device coupled to the elongated instrument, the at least one electromagnetic tracking device moveable relative to the guide instrument;

wherein when the elongated instrument is in a first position, the at least one electromagnetic tracking device tracks the first distal end of the guide instrument;

wherein when the elongated instrument is in a second position, the at least one electromagnetic tracking device tracks the second distal end of the elongated instrument.

18. A method for tracking a navigated instrument comprising:

positioning a first elongated instrument relative to a second elongated instrument, the first elongated instrument having a first proximal end and a first distal end, the second elongated instrument having a second proximal end and a second distal end;

positioning at least one tracking device on the second elongated instrument;

moving the second elongated instrument adjacent to the first elongated instrument;

tracking the at least one tracking device; and

determining, based on the tracking of the at least one tracking device, a location of the first distal end of the first elongated instrument or the second distal end of the second elongated instrument.

19. The method of claim 18, wherein moving the second elongated instrument adjacent to the first elongated instrument comprises:

inserting the second elongated instrument into a first bore defined in the first elongated instrument; and

moving the at least one tracking device relative to the first elongated instrument with the second elongated instrument.

20. The method of claim 19, wherein positioning at least one tracking device on a second elongated instrument further comprises:

inserting a sleeve that includes the at least one tracking device into the first bore in the first elongated instrument, the sleeve defining a second bore; and

securing the sleeve within the first bore such that the sleeve is biased into a first position, but is able to move relative to the first elongated instrument into a second position.

21. The method of claim 20, wherein determining, based on the tracking of the at least one tracking device, the location of the first distal end or the second distal end further comprises:

determining the location of the first distal end if the sleeve is in the first position; and

determining the location of the second distal end if the sleeve has moved relative to the first elongated instrument into the second position.

22. The method of claim 18, wherein the first elongated instrument comprises a guide instrument and the second elongated instrument comprises a drill bit, and moving the second elongated instrument further comprises:

moving the drill bit relative to the guide instrument.

23. The method of claim 21, further comprising:

displaying the position of the first distal end, the second distal end or combinations thereof relative to an anatomy on a display.

24. A system for tracking a navigated instrument comprising:

a guide instrument that has a first proximal end, a first distal end and defines a first bore that is adapted to slideably receive an elongated instrument that has a second distal end, the guide instrument positionable adjacent to an anatomy; and

at least one tracking device coupled about the elongated instrument, the at least one tracking device moveable relative to the guide instrument;

wherein when the elongated instrument is in a first position, the at least one tracking device tracks the first distal end of the guide instrument, and when the elongated instrument is in a second position, the at least one tracking device tracks the second distal end of the elongated instrument;

wherein the relative movement of the elongated instrument within the guide instrument acts to vary a signal induced in the at least one tracking device.

25. A method for tracking a navigated instrument comprising:

positioning a first elongated instrument relative to a second elongated instrument, the first elongated instrument having a first proximal end and a first distal end, the second elongated instrument having a second proximal end and a second distal end;

positioning at least one tracking device on the second elongated instrument;

moving the second elongated instrument adjacent to the first elongated instrument to vary a signal induced in the at least one tracking device;

tracking the at least one tracking device; and

determining, based on the tracking of the at least one tracking device, a location of the first distal end of the first elongated instrument or the second distal end of the second elongated instrument.