System and method for bone segment navigation

• US 6,241,735 B1
• Filed: 08/30/1999
• Issued: 06/05/2001
• Est. Priority Date: 10/28/1997
• Status: Expired due to Fees

• Current Assignee: Rüdiger Marmulla
• Original Assignee: Rüdiger Marmulla
• Inventors: Marmulla, Rüdiger
• Primary Examiner(s): Smith, Jeffrey A.
• Application Number:
  US09/331,931
• Time in Patent Office: 645 Days
• Field of Search: 606/130, 606/53, 606/86, 606/102
• US Class Current: 606/102
• CPC Class Codes: A61B 17/56 Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 2090/3979 infrared
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• 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 34/70 Manipulators specially adapted for use in surgery

Abstract

A system for bone segment navigation with a planning unit for planning a bone segment displacement, a marker arrangement to be connected to a bone segment, a position sensing unit which senses the position of the marker arrangement, and an indication and processing unit, which is connected to the position sensing unit and to the planning unit, in order to indicate the deviation of the present position of the bone segment from a planned final bone segment position or from a planned bone segment displacement path. The marker arrangement is connected in an unambiguously reproducible manner to the bone segment by a template allocated to the bone segment. After the template has been placed and fastened on the bone segment, a correlation is possible between the patient and the image data set or the planning data set, without probing and sensing individual bone points according to position by means of a pointer.

Claims

1. A system for bone segment navigation, comprising:

a planning unit,

a marker arrangement,

a position sensing unit that senses the position of said marker arrangement,

an indication and processing unit connected to said position sensing unit and to said planning unit in order to indicate a deviation of a present position of said marker arrangement from a planned marker arrangement position or from a planned marker arrangement displacement path, and

a template allocated to a bone segment to be navigated,

wherein said marker arrangement is connected to said template, and

wherein said template comprises a mating surface that fits close and two dimensionally and in an unambiguously reproducible manner against said bone segment to be navigated.

2. The system for bone navigation according to claim 1, wherein said marker arrangement is releasably attached to said template.

3. The system for bone navigation according to claim 2, in which said marker arrangement includes at least three markers fitted directly to said template.

4. The system for bone navigation according to claim 1, wherein said marker arrangement is releasably fitted to said template.

5. The system for bone navigation according to claim 1, further comprising osteosynthesis screws that connect said template fast to said bone segment.

6. The system for bone navigation according to claim 1, further comprising an elongate handle portion connected to said template at one end and to said marker arrangement at another end.

7. The system for bone navigation according to claim 6, in which said marker arrangement includes at least three markers arranged on a carrier structure extending transversely of said elongate handle portion.

8. The system for bone navigation according to claim 7, in which said markers comprise infrared transmitters.

9. The system for bone navigation according to claim 7, wherein said indication and processing unit indicates a deviation of a present position of said marker arrangement from a planned final position of said marker arrangement as abstract triangular or polygonal surface structures that can be brought into coincidence with congruent figures in a target position.

10. The system for bone navigation according to claim 6, in which said marker arrangement includes at least three markers fitted directly to said template.

11. The system for bone navigation according to claim 6, wherein said mating surface of said template has windows to determine the position of points of a bone segment surface directly by a pointer.

12. The system for bone navigation according to claim 6, wherein said indication and processing unit indicates a deviation of a present position of said marker arrangement from a planned final position of said marker arrangement as abstract triangular or polygonal surface structures that can be brought into coincidence with congruent figures in a target position.

13. The system for bone navigation according to claim 1, in which said marker arrangement includes at least three markers attaches directly to said template.

14. The system for bone navigation according to claim 13, wherein said indication and processing unit indicates a deviation of a present position of said marker arrangement from a planned final position of said marker arrangement as abstract triangular or polygonal surface structures that can be brought into coincidence with congruent figures in a target position.

15. The system for bone navigation according to claim 1, in which said marker arrangement includes at least three markers fitted directly to said template.

16. The system for bone navigation according to claim 1, in which said marker arrangement comprises infrared transmitters.

17. The system for bone navigation according to claim 1, wherein said indication and processing unit indicates the deviation of a present position of said marker arrangement from a planned final position of said marker arrangement via coordinates.

18. The system for bone navigation according to claim 1, wherein said indication and processing unit indicates a deviation of a present position of said marker arrangement from a planned final position of said marker arrangement as abstract triangular or polygonal surface structures that can be brought into coincidence with congruent figures in said final position.

19. The system for bone navigation according to claim 1, further comprising an arm of a robot controlled by said indicator and processing unit, that displaces said bone segment.

20. A method for bone segment navigation with a navigation system comprising a planning unit, a marker arrangement, a position sensing unit that senses the position of said marker arrangement and an indication and processing unit connected to said position sensing unit and to said planning unit in order to indicate a deviation of a present position of said bone segment from a planned bone segment position or from a planned bone segment displacement path, comprising the steps of:

providing a template allocated to said bone segment to be navigated, said template comprising a mating surface that fits close and two dimensionally and in an unambiguously reproducible manner against said bone segment to be navigated to which template said marker arrangement is connected,

connecting said template to said bone segment to be navigated by means of said mating surface,

sensing the position of said marker arrangement by said position sensing unit, and navigating said bone segment to be navigated on the basis of said position data of said marker arrangement sensed by said position sensing unit.

21. The method according to claim 20, said method further comprising the steps of:

recording a pre-operative three-dimensional data set of said bone segment to be navigated,

selecting reference points with said planning unit by means of said three-dimensional data set,

determining initial and final positions of said reference points with said planning unit,

forming said template by means of said pre-operative three dimensional data set, connecting said marker arrangement to said template,

determining a position of said marker on said template relative to said bone reference points, and

calculating planned end-positions of said marker arrangement by means of actual and desired positions of said hone reference points and on the basis of said determined position of said marker relative to said bone reference points.

22. A method for bone segment navigation with a navigation system comprising a

planning unit for planning a bone segment displacement, a marker arrangement, a position sensing unit that senses the position of said marker arrangement, and an indication and processing unit connected to said position sensing unit and to said planning unit in order to indicate a deviation of a present position of a bone segment from a planned bone segment position or from a planned bone segment displacement path, comprising the steps of:

recording a pre-operative three dimensional data set of said bone segment,

selecting reference points with said planning unit by means of said three-dimensional data set,

determining initial and final positions of said reference points with said planning unit,

providing a model bone structure comprising a portion corresponding to said bone segment to be navigated on the basis of said pre-dimensional date set,

providing a template by means of said three dimensional data set, wherein said template comprises a mating surface that fits close and two dimensionally and in an unambiguously reproducible manner against said portion of said model bone structure corresponding to said bone segment to be navigated,

connecting said marker arrangement to said template,

determining an actual position of said marker arrangement relative to said bone reference points,

connecting a further marker arrangement to another portion of said model bone structure,

simulating said bone segment navigation with said model bone structure in order to bring said portion corresponding to said bone segment to be navigated into its desired final position with position and orientation data of said marker arrangement being sensed by said position sensing unit,

calculating from the initial position of said marker arrangement and said desired final position of said marker arrangement vectors indicating said planned desired final position of said bone segment starting from said initial position of said bone segment,

connecting said template to said bone segment to be navigated and sensing position data of said marker arrangement by said position sensing unit, and

navigating said bone segment from its initial position to said desired final position while said indication and processing unit indicates a deviation of an actual position of said bone segment from said desired final position of said bone segment or from a planned bone segment displacement path on the basis of the data recorded during said simulation step.