Surgery Pathway Guidance And Boundary System

• US 20160074123A1
• Filed: 05/30/2014
• Published: 03/17/2016
• Est. Priority Date: 05/31/2013
• Status: Active Application

• Current Assignee: University of Washington
• Original Assignee: University of Washington
• Inventors: Bly, Randall, Hannaford, Blake, MOE, Kris S.
• Application Number:
  US14/787,107
• Publication Number:
  US 20160074123A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00123 and automatic shutdown
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• 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 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 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

Described herein are methods and systems for defining surgical boundaries. One example method involves receiving data indicating a representation of a patient; receiving data indicating (i) a surgical target region within the representation of the patient; and (ii) a surgical entry portal within the representation of the patient; providing a graphical display of (i) the representation of the patient, and (ii) a surgical pathway from the surgical entry portal to the surgical target region; defining one or more surgical boundaries within the representation; receiving data indicating a position of a surgical instrument with respect to the representation; based on the received data indicating the position of the surgical instrument, determining that the surgical instrument is within a threshold distance from the one or more surgical boundaries; and providing feedback indicating that the surgical instrument is within the predetermined threshold distance from the one or more surgical boundaries.

Claims

1. A computer-implemented method comprising:

receiving, by a computing device, data for a patient indicating a representation of the patient;

receiving data indicating (i) a surgical target region within the representation of the patient; and

(ii) a surgical entry portal within the representation of the patient;

providing a graphical display of (i) the representation of the patient, and (ii) a surgical pathway from the surgical entry portal to the surgical target region within the representation;

defining one or more surgical boundaries within the representation;

receiving data indicating a position of a surgical instrument with respect to the representation of the patient;

based on the received data indicating the position of the surgical instrument, determining that the surgical instrument is within a pre-determined threshold distance from at least one of the one or more surgical boundaries; and

in response to the determining, providing feedback indicating that the surgical instrument is within the pre-determined threshold distance from at least one of the one or more surgical boundaries.

2. The computer-implemented method of claim 1, further comprising:

providing a graphical display indicating the position of the surgical instrument with respect to the one or more surgical boundaries within the representation.

3. The computer-implemented method of claim 1, wherein providing feedback comprises:

causing a graphical display of a surgical navigation system to display an indication that the surgical instrument is within the pre-determined threshold distance from at least one of the one or more surgical boundaries.

4. The computer-implemented method of claim 1, further comprising:

preventing the surgical instrument from intersecting the one or more surgical boundaries.

5. The computer-implemented method of claim 1, wherein providing feedback comprises:

providing haptic feedback to the surgical instrument.

6. The computer-implemented method of claim 1, further comprising:

determining a distance between the surgical instrument and a point nearest to the surgical instrument along the one or more surgical boundaries; and

wherein providing feedback comprises;

causing an audible alert to sound at a particular sound intensity level, wherein the sound intensity level is proportional to the distance between the surgical instrument and the point.

7. The computer-implemented method of claim 1, further comprising:

determining a distance between the surgical instrument and a point nearest to the surgical instrument along the one or more surgical boundaries; and

wherein providing feedback comprises;

causing the surgical instrument to vibrate at a particular intensity level, wherein the particular intensity level is proportional to the distance between the surgical instrument and the point.

8. The computer-implemented method of claim 1, wherein the surgical instrument comprises a robotic surgical instrument, and wherein providing feedback comprises:

causing the robotic surgical instrument to move to a point within the one or more surgical boundaries.

9. The computer-implemented method of claim 1, wherein providing feedback comprises:

causing the surgical instrument to cease operation.

10. The computer-implemented method of claim 1, further comprising:

receiving data designating at least one of the one or more surgical boundaries as one or more first surgical boundaries and at least one of the one or more surgical boundaries as one or more second surgical boundaries; and

wherein determining that the surgical instrument is within the pre-determined threshold distance from the at least one of the one or more surgical boundaries comprises;

determining that the surgical instrument is within the first pre-determined threshold distance from the at least one of the one or more first surgical boundaries; and

;

determining that the surgical instrument is within the second pre-determined threshold distance from the at least one of the one or more second surgical boundaries.

11. The computer-implemented method of claim 10, wherein providing feedback comprises:

in response to determining that the surgical instrument is within the first pre-determined threshold distance, providing a first level of feedback indicating that the surgical instrument is within a first pre-determined threshold distance from at least one of the one or more first surgical boundaries; and

in response to determining that the surgical instrument is within the second pre-determined threshold distance, providing a second level of feedback indicating that the surgical instrument is within a second pre-determined threshold distance from at least one of the one or more second surgical boundaries.

12. The computer-implemented method of claim 1, wherein defining one or more surgical boundaries within the representation comprises:

after providing the graphical display, receiving input defining one or more surgical boundaries within the representation.

13. The computer-implemented method of claim 1, wherein defining one or more surgical boundaries within the representation comprises:

based on the received data indicating the (i) surgical target region and (ii) surgical entry portal, determining one or more surgical boundaries within the representation, wherein the one or more surgical boundaries divide the surgical target region and the surgical pathway from the one or more anatomical features of the patient.

14. The computer-implemented method of claim 13, wherein the representation comprises an image indicating first signal intensities of the one or more anatomical features and second signal intensities of the surgical target region, and wherein determining one or more surgical boundaries within the representation comprises:

determining differences at one or more points in the image between the first signal intensities and the second signal intensities; and

defining the one or more surgical boundaries as the line formed by interconnection of the one or more points to divide the one or more anatomical features from the surgical target region.

15. The computer-implemented method of claim 13, further comprising:

receiving data designating at least one of the one or more anatomical features as a first anatomical feature and at least one of the one or more anatomical features as a second anatomical feature;

wherein determining the one or more surgical boundaries within the representation comprises;

determining at least one first surgical boundary within the representation, wherein the at least one first surgical boundary divides the surgical target region and the surgical pathway from the first anatomical feature; and

determining at least one second surgical boundary within the representation, wherein the at least one second surgical boundary divides the surgical target region and the surgical pathway from the second anatomical feature.

16. The computer-implemented method of claim 13, further comprising:

receiving input indicating one or more alterations to the determined one or more surgical boundaries; and

based on the received input, altering the determined one or more surgical boundaries.

17. The computer-implemented method of claim 1, wherein receiving data indicating a position of the surgical instrument with respect to the representation of the patient comprises tracking the position of the surgical instrument during a surgical procedure.

18. A computing system comprising:

a physical computer readable medium; and

program instructions stored on the physical computer readable medium and executable by at least one processor to;

receive, by a computing device, data for a patient indicating a representation of the patient;

receive data indicating (i) a surgical target region within the representation of the patient; and

(ii) a surgical entry portal within the representation of the patient;

provide a graphical display of (i) the representation of the patient, and (ii) a surgical pathway from the surgical entry portal to the surgical target region within the representation;

define one or more surgical boundaries within the representation;

receive data indicating a position of a surgical instrument with respect to the representation of the patient;

based on the received data indicating the position of the surgical instrument, determine that the surgical instrument is within a pre-determined threshold distance from at least one of the one or more surgical boundaries; and

in response to the determining, provide feedback indicating that the surgical instrument is within the pre-determined threshold distance from at least one of the one or more surgical boundaries.

19-34. -34. (canceled)

35. An article of manufacture comprising a non-transitory tangible computer readable medium configured to store at least executable instructions, wherein the executable instructions, when executed by a processor of a computing device, cause the computing device to perform functions comprising:

receiving, by a computing device, data for a patient indicating a representation of the patient;

receiving data indicating (i) a surgical target region within the representation of the patient; and

(ii) a surgical entry portal within the representation of the patient;

providing a graphical display of (i) the representation of the patient, and (ii) a surgical pathway from the surgical entry portal to the surgical target region within the representation;

defining one or more surgical boundaries within the representation;

receiving data indicating a position of a surgical instrument with respect to the representation of the patient;

based on the received data indicating the position of the surgical instrument, determining that the surgical instrument is within a pre-determined threshold distance from at least one of the one or more surgical boundaries; and

in response to the determining, providing feedback indicating that the surgical instrument is within the pre-determined threshold distance from at least one of the one or more surgical boundaries.

36-51. -51. (canceled)