Operating pointer with interactive computergraphics

• US 5,230,623 A
• Filed: 12/10/1991
• Issued: 07/27/1993
• Est. Priority Date: 12/10/1991
• Status: Expired due to Term

• Current Assignee: Integra Burlington MA, Inc. (Integra LifeSciences Holdings Corporation)
• Original Assignee: Radionics, Inc. (Integra LifeSciences Holdings Corporation)
• Inventors: Guthrie, Barton L., Cosman, Eric R.
• Primary Examiner(s): Wilson, John J.
• Application Number:
  US07/805,371
• Time in Patent Office: 595 Days
• Field of Search: 433/72, 433/75, 128/774, 128/776, 128/777, 128/778, 33/513, 33/514, 340/710
• US Class Current: 433/72
• CPC Class Codes: A61B 18/00 Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body eye surgery A61F9/007; ear surgery A61F11/00
• CPC Class Codes: A61B 18/1442 Probes having pivoting end effectors, e.g. forceps
• CPC Class Codes: A61B 18/24 with a catheter A61B18/26, A61B18/28 take precedence
• CPC Class Codes: A61B 2017/00738 part of the tool being offset with respect to a main axis, e.g. for better view for the surgeon
• CPC Class Codes: A61B 2017/00973 pedal-operated
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/744 Mouse
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/3782 transmitter or receiver in catheter or minimal invasive instrument
• CPC Class Codes: A61B 2217/005 with suction drainage system
• 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 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: G06F 3/0346 with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Abstract

This invention relates to any operating pointer or arm apparatus whose position can be detected and read out on a computer and associated graphics display, and where the pointer can be changed from its pointer function to a "3D mouse" so as to alternately by use control the functionality of the computer as in calibration and display features. Specific embodiments of the invention are given, and one of them is a neurosurgical operating arm which has electronic readout for coupling to a computergraphic display which shows the position of the arm relative to patient anatomy. In one embodiment, the arm has five angular degrees of freedom to achieve a pointer position anywhere in space, at any angle. Electronic readout from the arm positions and joint angles are assimilated into a computegraphic display system. The display system displays anatomical image data taken from the patient with modern imaging techniques. Calibration steps are described to relate the initialization and the patient-related calibrations of the operating arm during surgery. A manual or footswitch control changes the operating arm from a space pointer to a "3D Mouse" that enables easy surgeon interaction with the computergraphics and control thereof. A unique arm geometry is described with specific joint and linkage configurations. In addition, a means for skin or skull-based fiducial system or a bite or dental impression-based frame with localizer rods for providing fiducial points is described for intraoperative calibration of the arm relative to the patient'"'"'s anatomy. Other embodiments of pointers involving optical or ultrasonic detection are given as examples.

Claims

1. An operating pointer apparatus that can be changed from a pointer mode to a point at patient'"'"'s anatomy to a computer mouse mode to change the functionality of a computer means, said apparatus comprising:

(a) an operating pointer adapted to be positioned at said patient'"'"'s anatomy and to serve as a surgical pointer and which contains position location means which enables a detection means to detect the position of said operating pointer relative to said patient'"'"'s anatomy;

(b) an computer with graphics means to display said patient'"'"'s anatomy based on image data taken of said patient'"'"'s anatomy and cooperatively connected to said detecting means so as to display the position of said operating pointer relative to said patient'"'"'s anatomy; and

,

(c) switching means cooperatively associated with said operating pointer, said detecting means, and said computer that enables said operating pointer to be switched from said pointer mode in which the position of said operating pointer is indicated by said computer on said graphics means relative to said patient'"'"'s anatomy, to said mouse mode in which, when said operating pointer is manipulated by the operator, said operator can change the functional modes as displayed on a functional menu on the graphics means, said functional modes corresponding to the functionality of the operating pointer relative to the computer.

2. The apparatus of claim 1 in which said operating pointer comprises articulating joints and connecting links between said joints and a probe end which is designed to serve as an operating probe to be pointed at said patient'"'"'s anatomy;

said position locating means comprising readout means cooperatively connected to said joints and said links to determine their positions in said operating pointer; and

,

said detecting means comprising electronic circuitry that can interpret said readout means and send out information to said computer means.

3. The apparatus of claim 1 wherein:

said position locating means comprises at least one source of sonic energy; and

,

said detecting means comprises at least two sonic energy detectors which are in two separated spatial positions that can detect the sonic energy emitted by said source of sonic energy, and electronic circuitry to transform said detected energy information into position information of said operating pointer.

4. The apparatus of claim 1 wherein:

said position locating means comprises at least one source of light energy; and

,

said detecting means comprises at least two light detectors which are in two separated spatial positions that can detect the light emitted from said light sources, and electronic circuitry to transform said detected light information into positional information of said operating arm.

5. The apparatus of claim 1 wherein said switching means comprises a mechanical switch interposed in the connection between said operating pointer and said computer.

6. The apparatus of claim 1 wherein said switching means comprises software in said computer which detects when the position of said operating pointer has moved away from said patient anatomy by a prescribed amount under which conditions said operating pointer changes automatically from said pointer mode to said mouse mode.

7. An operating arm apparatus having the capability to indicate the position of points in a patient'"'"'s anatomy and to function alternatively as a pointer and a computer mouse, the operating arm comprising:

(a) articulating joints and connecting linkages between said joints and a tip end which is designed to be positioned at said patient'"'"'s anatomy and to serve as a surgical pointer;

(b) readout means cooperatively connected to said operating arm to read out the position of said joints and linkages and the tip end of said operating arm;

(c) computergraphics means to display said patient anatomy based on image data taken of said patient'"'"'s anatomy and adapted to accept said readout means and accordingly to display the relationship of said tip end of said operating arm relative to said patient anatomy; and

,

(d) switch means to switch alternately the function of said operating arm from a graphics pointer mode to a mouse mode, wherein in said graphics pointer mode the position of said tip end of said operating arm is indicated on said graphics means, relative to said patient'"'"'s anatomy, and wherein in said mouse mode the operating arm, when moved in space by the operator, is cooperatively connected by means of said readout means to move a cursor mark displayed on said computer graphics means relative to a functional menu displayed on said computer graphics means, whereby said operator can select from said functional menu by moving said operating arm, and thus select graphics and procedural functions related to said operating arm and said graphics means.

8. The apparatus of claim 7 wherein said switch means is a footswitch control.

9. The apparatus of claim 7 wherein said functional menu includes calibration functions of said operating arm relative to said patient anatomy, and whereby said operator can alternate between said pointer mode and said computer mouse mode to calibrate said operating arm against index points near said patient anatomy by manipulation of said operating arm by itself.

10. The apparatus of claim 7 wherein said operating arm has five joints to provide five angular degrees of freedom for said operating arm'"'"'s movement.

11. The apparatus of claim 7 in which said tip end can be interchanged with various surgical instruments whereby when said surgical instruments are being used on said patient'"'"'s anatomy, the position of said surgical instrument can be visualized on said graphic means.

12. The apparatus of claim 7 in which said switching means is enabled by a mechanical switch means.

13. The apparatus of claim 7 in which said switching means is enabled by moving said probe end in space to certain predetermined regions in space relative to the rest of said operating arm.

14. The apparatus of claim 7 in which one of said functional modes on said functional menu is a calibration mode in which said operating arm and said computer can be calibrated at the time of surgery relative to said patient'"'"'s anatomy by pointing said probe means to known index marks which have been placed on said patient'"'"'s anatomy and which appear on said image data.

15. The apparatus of claim 14 in which said index marks are connected to a dental impression means which can be positioned and affixed relative to the patient'"'"'s dentition, said dental impression means being in place during the image process so that said index marks appear in said image data, and said dental impression means being in place at the time of surgery so that said operating arm can be calibrated with respect to said patient'"'"'s anatomy at the time of surgery.

16. The apparatus of claim 15 in which said index marks comprise at least three non-colinear radiopaque objects attached to said dental impression means that are detectable in said image data.

17. An operating arm apparatus that can be converted from a graphics pointer relative to patient'"'"'s anatomy to a graphics mouse, said operating arm apparatus consisting:

(a) articulating joints and connecting links between said joints and a probe end which is designed to serve as a surgical probe to be pointed at said patient'"'"'s anatomy;

(b) interface means cooperatively connected to said operating arm which gives readout on the configuration of said joints and said links;

(c) computer means with graphic display means to display said patient anatomy based on image data taken of said patient'"'"'s anatomy and adapted to accept said readout means and accordingly to display the relationship of said probe end of said operating arm relative to said patient'"'"'s anatomy;

said operating arm, interface means, and computer means being so cooperatively adapted that said operating arm can be manipulated by the operator so that it can switch between being said graphics pointer, in which state the position of said probe end is indicated on said graphics display means relative to said patient'"'"'s anatomy, and being said graphics mouse, in which state when said probe end is moved in space by said operator, a cursor marker is correspondingly moved on said graphics display means relative to a functional menu on said graphics display means and whereby selections can be made by said operator from said functional menu.

18. An operating arm apparatus having the capability to indicate the position of points in a patient'"'"'s anatomy and to function alternatively as a pointer and a computer mouse, said operating arm comprising:

(a) articulating joints and connecting links between said joints and a probe end which can be held by the operator, and electronic readout of said joints and said links that can interface to a computer; and

,

(b) a computer that can store image data of said patient'"'"'s anatomy and display said image data on graphics display means, and which can accept said electronic readout and can thus indicate the position of said probe relative to said patient'"'"'s anatomy on said graphics means, and which further enables switching of the state of said operating arm to a computer mouse mode, in which when said probe end is manipulated by said operator, said operator can choose functional modes on a functional menu displayed on said graphics means.