Computer-aided surgery apparatus

• US 5,305,203 A
• Filed: 10/02/1990
• Issued: 04/19/1994
• Est. Priority Date: 02/01/1988
• Status: Expired due to Term

• Current Assignee: Faro Technologies Incorporated
• Original Assignee: Faro Medical Technologies Inc.
• Inventors: Raab, Simon
• Primary Examiner(s): Envall, Jr., Roy N.
• Assistant Examiner(s): Brutman, Laura
• Application Number:
  US07/593,469
• Time in Patent Office: 1,295 Days
• Field of Search: 364/413.01, 364/413.13, 128/660.09, 128/661.09, 901/14, 901/15, 901/16, 901/46, 606/130
• US Class Current: 606/1
• CPC Class Codes: A61B 17/00 Surgical instruments, devices or methods, e.g. tourniquets A61B18/00 takes precedence; contraceptive devices, pessaries, or applicators therefor A61F6/00; eye surgery A61F9/007; ear surgery A61F11/00
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00973 pedal-operated
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G05B 2219/37459 Reference on workpiece, moving workpiece moves reference point
• CPC Class Codes: G05B 2219/45123 Electrogoniometer, neuronavigator, medical robot used by surgeon to operate
• CPC Class Codes: G16H 40/63 for local operation
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass

Abstract

A computer-aided surgical device for aiding a surgeon in positioning a surgical instrument (power or manual) when performing surgery on unexposed and exposed portions of a patient.

Claims

1. A method for aiding a medical practitioner in positioning and orienting a surgical instrument or implant, which surgical instrument or implant is manipulated by said medical practitioner while performing medical procedures on a portion of a patient, the position and orientation of said instrument or implant being determined in a three-dimensional co-ordinate system relative to a reference point and the position and orientation of said portion being determined in said three-dimensional co-ordinate system relative to said reference point, said reference point being disposed outside of and apart from said patient:

comprising;

continuously electronically sensing, or determining by 2- or 3-dimensional imaging techniques, the position and orientation of said portion in said three-dimensional co-ordinate system to obtain three-dimensional target data of the position and orientation of said portion in said three-dimensional co-ordinate system relative to said reference point;

converting said target to target signals for presenting the position and orientation of said portion on a display means;

providing said target signals to a display device whereby a target display of the position and orientation of said portion is presented on said display device;

continuously electronically sensing the position and orientation of said surgical instrument or implant in said three-dimensional co-ordinate system to obtain three-dimensional instrument data of the position and orientation of said instrument or implement in said three-dimensional co-ordinate system relative to said reference point;

means for converting said instrument data to instrument signals for presenting the position and orientation of said instrument or implant on said display means;

providing said instrument signals to said display device whereby an instrument display of the position and orientation of said instrument or implant is presented on said display device;

wherein, as the instrument or implant is manipulated by said medical practitioner, said instrument data changes in accordance with changes in the position and orientation of said instrument, and said instrument display changes in accordance with the changes in said instrument data;

whereby, the position and orientation of said instrument or implant, relative to said portion, is dynamically displayed on said display device;

and further including the step of providing a known physical relationship between said portion on said patient and said reference point;

and still further including displaying a main menu on said display means, said main menu including a plurality of sub-menus;

selecting a sub-menu of interest, said sub-menu including a plurality of instruction steps; and

performing the steps as presented on the sub-menu.

2. A method as defined in claim 1 for performing a drilling operation, said surgical instrument comprising a drill, said sub-menu comprising a Drill Menu, said method comprising:

digitizing entry and exit points;

installing drill bit in said drill; and

drilling a hole from said entry to said exit points.

3. A method as defined in claim 1, for performing a sawing operation, said sub-menu comprising a Sawing Menu, said method comprising:

digitizing a plane periphery;

digitizing a perpendicular to said plane;

installing the saw and saw blade on said manipulating means;

sawing through said plane.

4. A method as defined in claim 1, for performing a measurement operation, said sub-menu comprising a Measurement Menu, said method comprising selecting a sub-sub-menu of said Measurement Menu.

5. A method as defined in claim 4 for performing the operation of measuring the distance from a first point to a second point, said sub-menu comprising a Point-to-Point Distance Menu, said method comprising:

digitizing one of said points;

digitizing the other one of said points; and

calculating said distance.

6. A method as defined in claim 4 for performing a spinal curvature measurement operation, said sub-sub-menu comprising a Spinal Curvature Menu, said method comprising:

displaying the starting and finishing vertebrae of the patient'"'"'s spine on said display means and performing a scan along the patient'"'"'s spine of predetermined length as determined by the selection of the starting and finishing vertebrae on said display means;

presenting graphics on the screen of a generic spine with the curvature calculated as per the digitized points.

7. A method as defined in claim 1 for performing a stereotaxic operation, said sub-menu comprising a Stereotaxic Menu, said method comprising selecting a sub-sub-menu of said Stereotaxic Menu.

8. A method as defined in claim 7 for performing an object location operation, said sub-sub-menu comprising an Object Location Menu, said method comprising:

providing data concerning said object as provided in 3-dimension by an imaging device such as a CAT scan;

providing three radiopaque landmarks on said patient, said data being related to said landmarks;

converting said data to the associated three-dimensional co-ordinate system of said device;

mounting a probe on said manipulating means;

disposing said probe at said object;

creating a locator file with the data provided when said probe is at said object.

9. A method as defined in claim 7 for performing a blind hole location operation, said sub-sub-menu comprising a Blind Hole Location Menu, said method comprising:

prior to the use of an orthopedic device, the orientation and position of the blind hole is measured; and

once the surgical procedure is completed, the blind hole is redefined.

10. A method as defined in claim 7 for performing an implant orientation operation, said sub-sub-menu comprising an Implant Orientation Menu, said method comprising:

attaching a reference jig to said patient and digitizing the skeletal points of said patient;

after a surgical procedure has proceeded, redigitizing said reference jig;

mounting said implant on specialized implant holders attached to said manipulating means; and

placing said implant using a display on said display means.