NAVIGATIONAL FEEDBACK FOR INTRAOPERATIVE WAYPOINT

• US 20180042681A1
• Filed: 07/27/2015
• Published: 02/15/2018
• Est. Priority Date: 07/27/2015
• Status: Active Grant

• Current Assignee: Synaptive Medical (Barbados) Inc.
• Original Assignee: Synaptive Medical (Barbados) Inc.
• Inventors: JAGGA, Arun Victor
• Granted Patent: US 10,390,890 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 2017/00115 with audible or visual output with imaging means A61B90/37, A61B34/20
• 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 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/502 Headgear, e.g. helmet, spectacles
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 6/02 Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras

Abstract

Methods and systems for providing navigational feedback during a surgical procedure. A user interface is displayed on a display for viewing position and orientation of a surgical tool in a surgical field during the surgical procedure. The position and orientation of the surgical tool is tracked by a medical navigation system coupled to the processor. The user interface includes a virtual representation of the surgical tool superimposed on an image of the surgical field. A selected intraoperative position and orientation of the surgical tool is used to intraoperatively create and store a waypoint in memory. Feedback is provided to indicate the stored position and orientation of the waypoint.

Claims

1. A method, in a processor, for providing navigational feedback during a surgical procedure, the method comprising:

providing an augmented reality display, displayed on an augmented reality display device coupled to the processor, for viewing three-dimensional (3D) position and orientation of a surgical tool in a surgical field during the surgical procedure, the position and orientation of the surgical tool being tracked by a medical navigation system coupled to the processor, the augmented reality display including a virtual representation of the surgical tool superimposed on a live, real-time image of the surgical field;

intraoperatively creating a waypoint and storing, in a memory coupled to the processor, a selected intraoperative 3D position and orientation of the surgical tool as stored position and orientation of the waypoint; and

providing feedback to indicate the stored 3D position and orientation of the waypoint.

2. The method of claim 1, wherein the feedback comprises information to guide return of the surgical tool to the waypoint after the surgical tool has been moved from the selected intraoperative position and orientation.

3. The method of claim 1, wherein the feedback comprises information indicating a direction, location and/or distance of at least one region of interest relative to the waypoint.

4. The method of claim 1, wherein providing the feedback comprises displaying the feedback on the augmented reality display.

5. The method of claim 4, wherein the feedback is displayed superimposed on the image of the surgical field.

6. The method of claim 4, wherein displaying the feedback comprises displaying a ghost representation of the surgical tool corresponding to the stored position and orientation of the waypoint, superimposed on the image of the surgical field.

7. The method of claim 4, wherein displaying the feedback comprises displaying an indicator of a position, distance and/or direction of the stored position and orientation of the waypoint relative to a current position of the surgical tool, superimposed on the image of the surgical field.

8. The method of claim 4, wherein displaying the feedback comprises displaying a visual aid to guide navigation of the surgical tool to the stored position and orientation of the waypoint, superimposed on the image of the surgical field.

9. The method of claim 8, wherein the visual aid comprises a set of targets indicating the stored position of the waypoint and indicating an axis to which the surgical tool should align, to match the stored orientation of the waypoint.

10. The method of claim 8, wherein the visual aid comprises a cone to guide alignment of the surgical tool to match the stored orientation of the waypoint.

12. The method of claim 4, wherein displaying the feedback comprises displaying an indicator of the stored position and orientation of the waypoint, superimposed on the image of the surgical field.

13. The method of claim 1, wherein

providing the feedback comprises providing audio and/or tactile feedback to indicate the stored position and orientation of the waypoint.

14. The method of claim 1 further comprising:

when the surgical tool has returned to the stored position and orientation of the waypoint, providing further feedback indicating successful return of the surgical tool to the waypoint.

21. The method of claim 1 further comprising:

intraoperatively, in response to a deselection input, removing display of the feedback.

22. The method of claim 21 further comprising:

in response to the deselection input, deleting the stored position and orientation of the waypoint from the memory.

23. The method of claim 1 further comprising:

intraoperatively, in response to a modification input, modifying the stored position and/or orientation of the waypoint; and

updating the feedback to correspond to the modified position and/or orientation of the waypoint.

24. The method of claim 1 further comprising:

creating a record of all intraoperatively created waypoints during the surgical procedure; and

transmitting an output of the record.

25. The method of claim 1, wherein intraoperatively creating the waypoint comprises intraoperatively creating a series of one or more waypoints, the one or more waypoints being created at a predefined interval.

11. (canceled)

15-20. -20. (canceled)

26. A system for providing navigational feedback during a surgical procedure, the system comprising:

an augmented reality display device for displaying an augmented reality display, the augmented reality display comprising a display of a virtual representation of a tracked three-dimensional (3D) position and orientation of a surgical tool superimposed on a live, real-time image of a surgical field, the position and orientation of the surgical tool being tracked by a medical navigation system during the surgical procedure; and

a processor coupled to the medical navigation system and the augmented reality display device, the processor being configured to execute instructions to cause the system to;

intraoperatively create a waypoint and storing, in a memory coupled to the processor, a selected intraoperative 3D position and orientation of the surgical tool as stored position and orientation of the waypoint; and

provide feedback to indicate the stored 3D position and orientation of the waypoint.

27. The system of claim 26 further comprising:

the medical navigation system configured to track the 3D position and orientation of the surgical tool in the surgical field during the surgical procedure.

28. A computer readable product for providing navigational feedback during a surgical procedure, the computer readable product comprising computer-executable instructions that, when executed, causes a computer system to:

provide an augmented reality display, displayed on an augmented reality display device coupled to the processor, for viewing three-dimensional (3D) position and orientation of a surgical tool in a surgical field during the surgical procedure, the position and orientation of the surgical tool being tracked by a medical navigation system coupled to the processor, the augmented reality display including a virtual representation of the surgical tool superimposed on a live, real-time image of the surgical field;

intraoperatively create a waypoint and storing, in a memory coupled to the processor, a selected intraoperative 3D position and orientation of the surgical tool as stored position and orientation of the waypoint; and

provide feedback to indicate the stored 3D position and orientation of the waypoint.