Image guided vertebral distractor and method for tracking the position of vertebrae

• US 6,340,363 B1
• Filed: 09/06/2000
• Issued: 01/22/2002
• Est. Priority Date: 10/09/1998
• Status: Expired due to Term

• Current Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Original Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Inventors: Melkent, Anthony J., Bolger, Ciaran, Smith, Kurt R.
• Primary Examiner(s): Smith, Jeffrey A.
• Application Number:
  US09/555,885
• Time in Patent Office: 503 Days
• Field of Search: 60/86, 60/90, 601/05, 601/02, 601/30, 600/232, 600/235
• US Class Current: 606/90
• CPC Class Codes: A61B 17/0206 with antagonistic arms as supports for retractor elements
• CPC Class Codes: A61B 17/025 Joint distractors
• CPC Class Codes: A61B 17/7077 for moving bone anchors attached to vertebrae, thereby displacing the vertebrae
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/0256 for the spine
• 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 2090/3945 Active visible markers, e.g. light emitting diodes
• 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 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis

Abstract

A vertebral distractor is disclosed for use in performing anterior cervical spinal surgery. The vertebral distractor is associated with a computer controlled surgical navigation system employing an energy-detecting array to track positions of the vertebral distractor in three dimensional space relative to a known reference point. The guide comprises a shaft, a stationary first arm, and at least one movable second arm. At least one electrically energizable energy emitter array is attached to the shaft for use in identifying the location of the vertebral distractor relative to the vertebrae. A system for using the vertebral distractor in spinal surgery is disclosed.

Claims

1. A vertebral distractor for use with a computer controlled surgical navigation system employing a position sensing unit to track positions of said vertebral distractor in three dimensional space relative to a known reference point, said vertebral distractor comprising:

a shaft having a first and a second arm mounted on said shaft, wherein said first and second arms are engageable with vertebrae, and wherein said second arm is movable along said shaft with relation to said first arm while said first and second arms are engaged with said vertebrae; and

at least one trackable array rigidly attached to said shaft of said vertebral distractor, wherein said position sensing unit tracks said array and the position of said vertebral distractor while rigidly attached to the vertebrae.

2. The vertebral distractor of claim 1, wherein said first arm is rigidly attached to said shaft and said second arm is movable with respect thereto.

3. The vertebral distractor of claim 1, wherein said first and second arms are engageable with cervical vertebrae.

4. The vertebral distractor of claim 1, wherein said array includes at least three LED emitters.

5. The vertebral distractor of claim 1, wherein said array includes at least three reflector surfaces.

6. The vertebral distractor of claim 1, wherein said shaft has a third arm mounted thereon for engaging at least one vertebrae.

7. The vertebral distractor of claim 1, wherein said first and second arms have extensions located at the distal ends for engaging said vertebral distractor with said vertebrae.

8. The vertebral distractor of claim 7, wherein said extensions are sharpened protrusions for penetrating said vertebrae.

9. The vertebral distractor of claim 1, wherein said position sensing unit is an energy-detecting array.

10. The vertebral distractor of claim 1, wherein said second arm is in a parallel plane with said first arm.

11. The vertebral distractor of claim 1, wherein said position sensing unit is an electromagnetic localization system.

12. A method for tracking the position of vertebrae using a vertebral distractor having first and second arms movable along a shaft in relation to one another, when performing anterior spinal surgery, said method comprising the steps of:

engaging said vertebral distractor having at least one electrically detectable array attached thereto with said vertebrae;

employing a surgical navigation system with a computer controller and a position sensing unit for communicating with said array and tracking the position of said vertebral distractor in three-dimensioned space; and

registering the location of said vertebrae relative to said distractor by contacting said vertebrae with a calibration probe tracked by said position sensing unit.

13. The method of claim 12, wherein said emitter array includes at least three LED emitters.

14. The method of claim 12, wherein said shaft has at least two movable arms attached thereto.

15. The method of claim 12, wherein said first and second arms have extensions located at the distal ends for engaging said vertebral distractor with said vertebrae.

16. The method of claim 15, wherein said extensions are pins.

17. The method of claim 12, wherein said probe is a digitizer probe.

18. The method of claim 12, wherein said position sensing unit comprises an energy-detecting unit.

19. The vertebral distractor of 12, wherein said position sensing unit is an electromagnetic localization system.

20. A vertebral distractor comprising:

a stationary arm displacement means and movable arm displacement means, said movable arm displacement means being movable along a shaft in relation to said stationary arm displacement means;

means for tracking the position in three-dimensional space of said vertebral distractor, wherein said tracing means comprises at least one trackable array; and

means for registering and tracking the positions of vertebrae, wherein said registering means is an optically tracked unit.

21. The vertebral distractor of claim 20, wherein said tracking means comprises at least three LED emitters.

22. The vertebral distractor of claim 20, further comprising said shaft having at least three arms attached thereto.

23. The vertebral distractor of claim 20, wherein said first and second arm displacement means have gripping means located at the distal ends for engaging said vertebral distractor with said vertebrae.

24. The vertebral distractor of claim 23, wherein said gripping means comprise pins.

25. The vertebral distractor of claim 20, wherein said registering means comprises a digitizer probe.

26. The vertebral distractor of claim 20, wherein said tracking means includes a computer controlled surgical navigation system employing a position sensing unit, wherein said position sensing unit is an energy-detecting array.