Apparatus for anatomical tracking

• US 5,980,535 A
• Filed: 09/23/1997
• Issued: 11/09/1999
• Est. Priority Date: 09/30/1996
• Status: Expired due to Term

• Current Assignee: Cleveland Clinic Foundation, Picker International, Inc. (Koninklijke Philips N.V.)
• Original Assignee: Picker International, Inc. (Koninklijke Philips N.V.)
• Inventors: Wood, Christopher H., Barnett, Gene H., Dayton, Patrick A.
• Primary Examiner(s): Buiz, Michael
• Assistant Examiner(s): LEWIS, WILLIAM W
• Application Number:
  US08/935,796
• Time in Patent Office: 777 Days
• Field of Search: 606/130, 128/653.1, 128/653.4
• US Class Current: 606/130
• CPC Class Codes: A61B 10/0233 Pointed or sharp biopsy instruments
• CPC Class Codes: A61B 17/3403 Needle locating or guiding means guides for suture needles A61B17/0482; guiding or tracking by nuclear magnetic resonance G01R33/285
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/207 Divots for calibration
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• 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 90/14 Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers

Abstract

A position signaling is usable in connection with an image guided surgery system. A plurality of infrared emitters are mounted on a reference object. The reference object is in turn attached to the rocker arm of a head clamp. The head clamp includes a frame and a first head engaging pin secured to one side of the frame. The rocker arm includes two head engaging pins and is movable in relation to the frame. The image guided surgery system uses the signals provided by the infrared emitters to determine and account for movement of the patient'"'"'s head.

Claims

1. A position signaling apparatus for use with a surgical head clamp, which head clamp includes a frame and a first head engaging pin secured to one side of the frame, the apparatus comprising:

pin holding means mountable to an opposite side of the frame, the pin holding means

pin holding means mountable to an opposite side of the frame, the pin holding means adapted to support second and third head engaging pins mountable thereon;

a position signaling device supported by the pin holding means, the signaling device including means for operative communication with an image guided surgery system.

2. The position signaling apparatus of claim 1 including means for selectively adjusting the position of the position signaling device in relation to the pin holding means.

3. The position signaling apparatus of claim 1 comprising means for attaching the signaling device to the pin holding means.

4. The position signaling apparatus of claim 3 wherein the means for attaching comprises a clamp attached to the pin holding means.

5. The position signaling apparatus of claim 1 further comprising an adjustable support structure which attaches the position signaling device to the pin holding means, the adjustable support structure comprising:

first and second members;

a joint which connects the first and second members, the joint selectively allowing relative pivotal motion therebetween.

6. The position signaling apparatus of claim 5 wherein the first member defines a first longitudinal axis and the joint selectively allows relative motion of the joint and the first member along the first longitudinal axis.

7. The position signaling apparatus of claim 6 wherein the second member defines a second longitudinal axis and the joint selectively allows relative motion of the joint and the second member along the second longitudinal axis.

8. The position signaling apparatus of claim 7 wherein the joint selectively allows relative rotational motion of the first member and the joint about the first longitudinal axis.

9. The position signaling apparatus of claim 8 comprising a third member and a second joint interconnecting the second and third members, the joint selectively allowing relative pivotal motion therebetween.

10. The position signaling apparatus of claim 5 wherein the members comprise rigid, cylindrical rods.

11. The position signaling apparatus of claim 5 wherein the joint comprises a clamp.

12. The position signaling apparatus of claim 1 wherein the pin holding means comprises a mounting boss and the position signaling device is supported by the mounting boss.

13. The position signaling apparatus of claim 1 wherein the position signaling device comprises a plurality of infrared emitters.

14. A method of determining the position of an object disposed in a surgical head clamp, the head clamp including a frame, a first head engaging pin secured to one side of the frame, and a pin holding means mounted to an opposite side of the frame, the pin holding means supporting second and third head engaging pins mounted to the pin holding means, the method comprising the steps of:

mounting a position signaling device to the pin holding means, the position signaling device adapted for operative communication with an image guided surgery system; and

using the image guided surgery system to determine the position of the position signaling device.

15. The method of claim 14 wherein the position signaling device is connected to a support and further comprising the step of clamping the support to the pin holding means.

16. The method of claim 15 wherein the pin holding means comprises a mounting boss and the support structure is clamped to the mounting boss.

17. The method of claim 14 wherein the position signaling device is connected to a support structure having an end, the pin holding means comprises a through hole, and the step of mounting comprises inserting the end of the support member into the through hole.

18. The method of claim 14 wherein the pin holding means comprises a mounting boss and the step of mounting comprises:

connecting a first rod to the mounting boss;

connecting a second rod to the first rod, the first and second rods being selectively movable with respect to each other;

connecting the second rod to a third rod, the second and third rods being selectively movable with respect to each other;

connecting the third rod to the position signaling device;

adjusting the position of the signaling device in relation to the pin holding means.

19. A position signaling apparatus comprising:

a clamp including a frame, a first object engaging pin disposed on one side of the frame, second and third object engaging pins, and pin holding means movably mounted to an opposite side of the frame, the pin holding means adapted to support the second and third object engaging pins mounted thereon, the apparatus further comprising;

a position signaling device disposed in fixed relation to the pin holding means for movement therewith;

means for determining the position of the position signaling device, the determining means in operative relationship with the position signaling device.

20. The position signaling apparatus of claim 19 including means for selectively adjusting the position of the position signaling device in relation to the pin holding means.

21. The position signaling apparatus of claim 19 wherein the means for determining comprises an infrared localizer.

22. The position signaling apparatus of claim 19 comprising a mounting structure which attaches the position signaling device to the pin holding means, the mounting structure comprising a plurality of connected cylindrical rods having longitudinal axes, the connections selectively allowing the rods to be rotated about their longitudinal axes, the connections further selectively allowing relative pivotal motion of adjacent connected rods.

23. The position signaling apparatus of claim 22 wherein the connections selectively allow the rods to be moved along their longitudinal axes.

24. An position signaling position signaling apparatus for use with an image guided surgery system, the apparatus comprising:

a position signaling device adapted for operative communication with the image guided surgery system; and

an adjustable support structure comprising

a first member connected to the position signaling device;

a second member;

a joint disposed between and connecting the first member and the second member, the joint selectively allowing relative pivotal motion of the first and second members.

25. The position signaling apparatus of claim 24 wherein the second member may be readily disconnected from and connected to the first member.

26. The position signaling apparatus of claim 24 wherein the first member has a longitudinal axis and the joint is adapted to selectively allow relative rotational motion of the joint and the first member about the longitudinal axis.

27. The position signaling apparatus of claim 26 wherein the second member has a longitudinal axis and the joint is adapted to selectively allow relative rotational motion of the joint and the second member about the longitudinal axis of the second member.

28. The position signaling apparatus of claim 27 wherein the joint is adapted to selectively allow relative motion of the second member and the joint along the longitudinal axis of the second member.

29. The position signaling apparatus of claim 26 wherein joint is adapted to selectively allow relative motion of the first member and the joint along the longitudinal axis.

30. The position signaling apparatus of claim 24 further comprising

a third member;

a joint disposed between and connecting the second member and the third member, the

joint selectively allowing relative pivotal motion of the second and third members.

31. The position signaling apparatus of claim 24 wherein the position signaling device comprises a threaded aperture and the first member comprises a cylindrical rod adapted to engage the threaded aperture.

32. The position signaling apparatus of claim 24 wherein the joint comprises a clamp having a thumb screw.