METHOD AND APPARATUS FOR POSITIONING A GUIDE RELATIVE TO A BASE

• US 20100081914A1
• Filed: 09/26/2008
• Published: 04/01/2010
• Est. Priority Date: 09/26/2008
• Status: Active Grant

• Current Assignee: Medtronic Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Incorporated (Medtronic Plc)
• Inventors: Solar, Matthew S., Miller, Thomas I., Waynik, Jeffrey M., Csavoy, Andrew N., Sootsman, Keith
• Granted Patent: US 8,165,658 B2
• Time in Patent Office: Days
• US Class Current: 600/407
• CPC Class Codes: A61B 17/1739 specially adapted for particular parts of the body
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis

Abstract

A system for positioning a guide relative to an anatomy is provided. The system can include a base adapted to be coupled to the anatomy, and a guide that can move relative to the base. The system can include at least one tracking device that can be coupled to the base and the guide, and a tracking system that tracks a position of the tracking device. The system can include a navigation system that determines a position of the base and the guide relative to the anatomy, and whether the position of the base and the guide are in a desired position. The system can include a display, which can display at least one icon superimposed on the image of the anatomy that graphically indicates a manipulation of the guide required to move the guide into the desired position.

Claims

1. A system for positioning a guide relative to an anatomy comprising:

a base adapted to be coupled to the anatomy;

a guide that moves relative to the base;

at least one tracking device coupled to the base and the guide;

a tracking system that tracks a position of the at least one tracking device relative to the anatomy;

a navigation system that determines a position of the base and the guide relative to the anatomy based on the position of the at least one tracking device and determines if the position of the base and the position of the guide are about equal to a desired position of the base and the guide; and

a display that displays the desired position of the base and the guide superimposed on an image of the anatomy, and at least one icon superimposed on the image of the anatomy that graphically indicates a desired manipulation of the guide required to move the guide into the desired position for the guide relative to the anatomy.

2. The system of claim 1, wherein the desired position of the base and the guide relative to the anatomy is determined from a surgical plan.

3. The system of claim 2, wherein the base and the guide each define a central bore, and the system further comprises:

at least one instrument movable through the central bore of the base and the guide to perform a procedure on the anatomy.

4. The system of claim 3, wherein the surgical plan includes a target site within the anatomy for the at least one instrument to perform the procedure, and the desired position of the base and the guide is aligned with a trajectory for the at least one instrument to travel to reach the target site.

5. The system of claim 4, wherein the display displays an icon of the target site superimposed on the image of the anatomy.

6. The system of claim 5, wherein the image of the anatomy is acquired by an imaging device selected from at least one of a fluoroscopy device, an 0-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 or combinations thereof.

7. The system of claim 5, wherein the target site is selected from the group comprising a patient, a surgical site, an anatomical site, a navigation area and combinations thereof.

8. The system of claim 1, wherein the at least one tracking device comprises at least one optical tracking device to track at least one degree of freedom information.

9. The system of claim 1, wherein the at least one tracking device comprises at least one electromagnetic tracking device selected from the group including:

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

10. The system of claim 1, wherein the guide is rotatable relative to the anatomy.

11. The system of claim 10, wherein the at least one directional icon includes a first arrow that graphically represents an amount of rotation and a direction of rotation for the guide, a second arrow that graphically represents an amount of translation and a direction of translation for the guide, or combinations thereof.

12. The system of claim 1, wherein the at least one tracking device for the comprises at least one first tracking device coupled to the base and at least one second tracking device coupled to the guide.

13. The system of claim 4, wherein based on the surgical plan, the navigation system displays a first arrow and a second arrow that indicates an alignment for the guide to allow the instrument to follow a trajectory through the base and the guide.

14. A method for positioning a guide relative to an anatomy comprising:

acquiring a surgical plan for a surgical procedure to be performed on the anatomy that includes a trajectory for an instrument;

tracking at least one first tracking device coupled to a base relative to the anatomy;

tracking at least one second tracking device coupled to a guide relative to the anatomy, the guide movable relative to the base;

determining a position of the base and guide relative to the anatomy;

comparing the position of the base and the guide relative to the anatomy with a desired position for the base and the guide in the surgical plan that enables the guide to guide the instrument along the trajectory; and

displaying at least one icon superimposed onto an image of the anatomy that indicates an amount and direction of a first manipulation required to move the guide into the desired position and at least one icon superimposed onto an image of the anatomy that indicates an amount and direction of a second manipulation required to move the guide relative to the base into the desired position.

15. The method of claim 14, further comprising:

moving the guide within a track defined on the guide relative to the base.

16. The method of claim 14, further comprising:

coupling the base to the anatomy with at least one bone screw; and

coupling the guide to the base with at least one locking screw when the guide is in the desired position.

17. The method of claim 14, further comprising:

superimposing an icon representing a target site in the anatomy identified from the surgical plan onto the image of the anatomy.

18. The method of claim 14, further comprising:

superimposing an icon representing the base onto the image of the anatomy.

19. The method of claim 14, further comprising:

superimposing an icon that reduces in size as the guide approaches the desired location during the first manipulation, the guide approaches the desired location during the second manipulation or combinations thereof.

20. A system for positioning a guide relative to an anatomy comprising:

a base adapted to be fixedly coupled to the anatomy;

a guide that moves relative to the base, the guide operable to be coupled to a drive system to guide at least one instrument into the anatomy;

at least one first tracking device coupled to the base;

at least one second tracking device coupled to the guide;

a tracking system that tracks a position of the at least one first tracking device and the at least one second device relative to the anatomy;

a navigation control module that receives patient image data and surgical plan data, the surgical plan data including a desired position for the base and the guide relative to the anatomy;

a navigation system that determines a position of the base and the guide relative to the anatomy based on the position of the at least one first tracking device and the at least one second tracking device, and determines if the position of the base and the position of the guide are about equal to the desired position of the base and the guide; and

wherein the navigation control module outputs image data that includes a first arrow icon superimposed onto the patient image data that graphically represents an amount of rotation and a direction of rotation for the guide, a second arrow icon superimposed onto the patient image data that graphically represents an amount of translation and a direction of translation for the guide, or combinations thereof.

21. The system of claim 20, further comprising:

a display that displays the image data.

22. The system of claim 20, wherein the image data further comprises an icon of the desired position of the base superimposed onto the patient image data.

23. The system of claim 20, wherein the surgical plan data includes a target site within the anatomy, and the image data further comprises an icon of the target site superimposed onto the patient image data.

24. The system of claim 20, wherein the first arrow and the second arrow reduce in size as the guide approaches the desired position.