Trajectory Storage Apparatus and Method for Surgical Navigation Systems

• US 20140135796A1
• Filed: 01/20/2014
• Published: 05/15/2014
• Est. Priority Date: 04/07/2000
• Status: Abandoned Application

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Simon, David A., Foley, Kevin T., Carls, Thomas A., Melkent, Anthony J.
• Application Number:
  US14/159,104
• Publication Number:
  US 20140135796A1
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• 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 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/061 for measuring dimensions, e.g. length
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/378 using ultrasound
• 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 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A method and apparatus for determining, calculating, and/or viewing a trajectory. The trajectory can be displayed on a display relative to image data of a patient. A user can use the system to determine relationships between two or more trajectories that have been determined. The relationships can be within two dimensional, three-dimensional, or four dimensional space. The relationships can include distance, angle, etc. The relationships can also be determined between real time trajectories and stored trajectories, or combinations thereof.

Claims

1. A system, comprising:

a tracking device having a trackable portion;

an instrument having a first portion extending from the tracking device to be engaged by a user;

a computer to integrate a tracked trajectory of the instrument and an image; and

a display device to display an icon representing the tracked trajectory overlaid on the image.

2. The system of claim 1, wherein the image is a pre-acquired image.

3. The system of claim 1, further comprising:

a navigation system having a detector to detect the tracking device.

4. The system of claim 3, wherein the navigation system includes at least one of an acoustic tracking system, an optical tracking system, a LED/reflectors tracking system, or an electromagnetic tracking system.

5. The system of claim 1, further comprising:

a memory system to store at least one trajectory of the instrument;

wherein the computer is able to determine an angle between a real-time trajectory and the at least one stored trajectory.

6. A method of illustrating a first trajectory and a second trajectory of an instrument, comprising:

obtaining image data from an imaging system;

tracking an instrument with a tracking system;

displaying the image data;

displaying a first trajectory of the instrument; and

displaying a second trajectory of the instrument.

7. The method of claim 6, further comprising:

obtaining the first trajectory at a first instrument position; and

obtaining the second trajectory at a second instrument position that is different from the first instrument position.

8. The method of claim 7, further comprising:

storing the first trajectory in a memory.

9. The method of claim 8, further comprising:

measuring an angle between the second trajectory and the first trajectory.

10. The method of claim 9, wherein the second trajectory is a real-time trajectory.

11. A system for storing at least one trajectory, comprising:

a tracking system having a detector;

a tracking device having a tracking marker to be detected by the detector;

an instrument having a first member extending from the tracking device;

a memory unit having stored therein instructions;

a central processing unit in communication with the memory unit and to execute the instructions; and

a display to display a first trajectory of the instrument and a second trajectory of the instrument;

wherein the central processing unit is operable to execute the instructions to compute geometric measurements regarding the first trajectory relative to the second trajectory.