Medical instrument and method for use with computer-assisted image guided surgery

• US 6,434,507 B1
• Filed: 06/21/2000
• Issued: 08/13/2002
• Est. Priority Date: 09/05/1997
• Status: Expired due to Term

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Inventors: Clayton, John B., Mickel, Thomas J., Lightman, David, Hunter, Mark W.
• Primary Examiner(s): Hoff, Marc S.
• Assistant Examiner(s): TSAI, CAROL S W
• Application Number:
  US09/598,975
• Time in Patent Office: 783 Days
• Field of Search: 702/150, 702/152, 600/117, 600/104, 600/411, 600/414, 600/424, 382/128, 382/130, 382/131
• US Class Current: 702/152
• CPC Class Codes: A61B 17/32002 with continuously rotating, oscillating or reciprocating cutting 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 2017/00464 for use with different instruments
• CPC Class Codes: A61B 2017/00482 with a code
• 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 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis

Abstract

An apparatus is disclosed for use with a surgical navigation system. The apparatus comprises a tool body and tool attachment onto which emitters are fixedly mounted. At least one tool tip is removably coupled with the tool body. An electrical sensor is positioned to be operated when the tool tip is changed either by coupling the tip to or removing the tip from the tool body. A controller responsive to the operation of switch detects when the tip has been changed. An alarm responsive to the controller indicates that the tool tip has been removed or changed so that the tip can be recalibrated relative to a known position in the surgical navigation system.

Claims

1. A medical instrument with at least one electrically energizable energy emitter array thereon for use with a computer controlled surgical navigation system employing an energy-detecting digitizer array to track positions of the instrument in three dimensional space relative to a known reference point, said instrument comprising:

a tool body;

at least one instrument attachment removably coupled to said tool body, said at least one instrument attachment including at least one tool tip and at least one emitter coupled to said at least one instrument attachment;

an attachment member mountable about said instrument attachment and said tool body for removably coupling said at least one tool tip to said tool body;

at least one sensor positioned to be operated in response to said tool tip being changed by either coupling to or removal from said tool body;

a controller operatively connected to said sensor to detect when said sensor has been operated and said tool tip has been changed; and

an indicator responsive to said controller for communicating to a user of said instrument that the tool tip of said instrument has been changed.

2. The instrument of claim 1, wherein said emitter is fixedly mounted to said instrument attachment for identifying a location of said instrument attachment.

3. The instrument of claim 1, wherein said sensor is an electrical switch.

4. The instrument of claim 3, wherein said controller, in response to the operation of said switch, can deactivate said instrument, and in response to recalibrating a location of said tool tip, can reactivate said instrument.

5. The instrument of claim 1, wherein said sensor is positioned to be operated in response to opening or closing of a chuck mounted on one end of said tool body.

6. The instrument of claim 1, wherein said indicator includes a visual display.

7. The instrument of claim 1, wherein said indicator includes an audible indication.

8. The instrument of claim 1, wherein said at least one emitter is rotatably mounted to said instrument attachment for use in identifying locations of said instrument attachment and said tool tip to said controller.

9. The instruction of claim 1, wherein said emitter array includes at least one passive reflective surface for reflecting signals to be tracked by the digitizer array.

10. The instrument of claim 2, wherein said emitter array includes at least one LED which can be activated by said controller upon recalibrating the location of said tool tip.

11. The instrument of claim 2, wherein said emitter comprises a passive reflective surface.

12. The instrument of claim 2, wherein said instrument attachment includes a clamp for clamping said instrument attachment to said tool body.

24. The instrument of claim 1, wherein said tool tip is insertably attached to said tool body through said instrument attachment.

13. A method for monitoring a location of an instrument having at least one emitter array in three dimensional space relative to a known reference point for use in a medical procedure employing a surgical navigation system with a computer controller and a digitizer array, said method comprising:

coupling an instrument attachment to a tool body with an attachment member mountable about said instrument attachment and said tool body, said instrument attachment removably coupled to said tool body and including a tool tip and at least one emitter coupled to said instrument attachment for communication with the digitizer array;

operating a sensor mounted on said tool body in response to said coupling step, said sensor being in communication with the controller;

detecting the operation of said sensor by the controller; and

delivering an indication to a user of the instrument upon coupling or uncoupling of said tool tip from said tool body that said tool tip requires recalibration.

14. The method of claim 13, further comprising the step of recalibrating the location of said tool tip by touching said tool tip to a known reference point.

15. The method of claim 13, further comprising the steps of disabling the instrument when said sensor has been operated and enabling the instrument when the location of said tool tip has been recalibrated.

16. The method of claim 13, wherein the coupling step includes the step of engaging said tool tip into a chuck mounted on said tool body.

17. The method of claim 13, further comprising the step of generating a display of the location of said tool tip.

18. The method of claim 13, further comprising the step of emitting a signal from an emitter attached to the instrument attachment disposed between said tool tip and said tool body, the signal being received by an apparatus representatively indicating that signal on a visual display.

19. The method of claim 13, further comprising the step of radiating a signal from a passive reflective surface attached to the instrument attachment disposed between said tool tip and said tool body, the signal being received by an apparatus representatively indicating that signal on a visual display.

20. The method of claim 13, further comprising the steps of communicating the recalibration of the tool tip to the controller and indicating the recalibration at a receptor mounted on the tool tip.

21. A system for use in performing surgical and medical procedures with an instrument or tool with a tool body and tool tip and a computer controlled surgical navigation system employing an energy detecting array to track positions of the instrument in three dimensional space relative to a known reference point, said system comprising:

a tool body;

an instrument attachment removably coupled to said tool body and including a tool tip and means for emitting coupled to said instrument attachment;

means for detecting location of said tool tip, said emitting means capable of communicating with said location detecting means;

means for coupling said instrument attachment, including said tool tip, with said tool body, said means for coupling mountable about said instrument attachment and said tool body;

means for detecting coupling or uncoupling of said tool tip from said tool body;

means for delivering an indication of coupling or uncoupling of said tool tip to a computer-controlled display; and

means for recalibrating the location of said tool tip in response to the indication.

22. The system of claim 21, wherein the means for detecting coupling is located adjacent an interface between said tool body and said tool tip.

23. The system of claim 21, further comprising a means for deactivating the instrument upon detection of uncoupling and means for reactivating the instrument upon recalibrating the position of the tool tip.

25. A medical instrument with at least one energizable energy emitter array thereon for use with a computer controlled surgical navigation system employing an energy-detecting digitizer array to track positions of the instrument in three dimensional space relative to a known reference point, said instrument comprising:

an elongated tool body having a distal end with a chuck positioned thereon;

an elongated, hollow cage configured to removably receive the tool body such that the chuck is positioned at a distal end of the cage, the cage including at least one emitter;

a tool attachment removably mounted to the distal end of the cage and surrounding the chuck, the tool attachment including a tool tip removably insertable into the chuck;

at least one sensor positioned at the distal end of the cage;

a removable, ring-like attachment member that encircles the tool attachment and chuck;

a controller operatively connected to said sensor to detect when said sensor has been operated and said tool tip has been changed; and

an indicator responsive to said controller for communicating to a user of said instrument that the tool tip of said instrument has been changed,

wherein the ring-like attachment member engages the tool attachment and chuck to secure the tool tip to the tool body and wherein the at least one sensor is activated during the engagement of the tool attachment and chuck to indicate coupling of the tool tip to said tool body.

26. The instrument of claim 25, wherein, when the ring-like member is removed, the tool tip is released from the tool body and the sensor is substantially simultaneously disengaged.

27. The instrument of claim 25, wherein the controller can deactivate the instrument in response to engagement of the sensor, and can reactivate the instrument in response to recalibrating location of the tool tip.

28. The instrument of claim 25, wherein the emitter is rotatable relative to the cage.

29. The instrument of claim 25, wherein the emitter array includes at least one reflective surface that reflects signals to be tracked by the digitizer array.

30. The instrument of claim 25, wherein the emitter array includes at least one LED which can be activated by the controller upon recalibrating location of the tool tip.

31. A medical instrument with at least one energizable energy emitter array thereon for use with a computer controlled surgical navigation system employing an energy-detecting digitizer array to track positions of the instrument in three dimensional space relative to a known reference point, said instrument comprising:

an elongated tool body;

an elongated, hollow cage configured to removably receive and encircle the tool body such that a distal end of the tool body is positioned at a distal end of the cage, the cage including a radially extending arm having at least one emitter thereon;

a tool attachment removably mounted to the distal end of the cage and surrounding the chuck, the tool attachment including a tool tip removably insertable into the chuck;

at least one sensor positioned at the distal end of the cage;

a removable, ring-like attachment member that encircles the tool attachment and chuck and is configured to secure the tool tip and engage the sensor;

a controller operatively connected to said sensor to detect when said sensor has been operated and said tool tip has been changed; and

an indicator responsive to said controller for communicating to a user of said instrument that the tool tip of said instrument has been changed.

32. The instrument of claim 31, wherein the arm is rotatable relative to the cage.

33. The instrument of claim 31, wherein the emitter array includes at least one reflective surface that reflects signals to be tracked by the digitizer array.

34. The instrument of claim 31, wherein the emitter array includes at least one LED which can be activated by the controller upon recalibrating location of the tool tip.

35. The instrument of claim 31, wherein the attachment member releases the tool tip and disengages the sensor when removed from the tool attachment.

36. The instrument of claim 31, wherein the controller can deactivate the instrument in response to engagement of the sensor, and can reactivate the instrument in response to recalibrating location of the tool tip.

37. A method of monitoring a location of an instrument having at least one emitter array in three dimensional space relative to a known reference point for use in a medical procedure employing a surgical navigation system with a computer controller and a digitizer array, said method comprising:

removably inserting a tool body into a hollow cage such that a distal end of the tool body is positioned at a distal end of the cage;

sliding a ring-like attachment member over an instrument attachment, including a tool tip, and the distal end of the tool body to secure the tool tip to the tool body while substantially simultaneously engaging a sensor positioned at the distal end of the cage, the instrument attachment including at least one emitter coupled to said instrument attachment for communication with the digitizer array, and the sensor being in communication with the controller;

detecting engagement and disengagement of the sensor by the controller; and

delivering, upon securing the tool tip to the tool body, an indication to a user of the instrument that the tool tip requires recalibration.

38. The method of claim 37, further comprising recalibrating location of the tool tip by touching the tool tip to a known reference point.

39. The method of claim 37, further comprising disabling the instrument when the sensor has been engaged and enabling the instrument when the location of the tool tip has been recalibrated.

40. The method of claim 37, wherein securing the tool tip to the tool body includes inserting the tool tip into a chuck mounted at the distal end of the tool body.

41. The method of claim 37, further comprising generating a display of location of the tool tip.

42. The method of claim 37, further comprising emitting a signal from the at least one emitter, the signal being received by an apparatus representatively indicating the signal on a visual display.

43. The method of claim 37, further comprising radiating a signal from the at least one emitter, the emitter being a reflective surface, and the signal being received by an apparatus representatively indicating the signal on a visual display.

44. The method of claim 37, further comprising communicating recalibration of the tool tip to the controller, and indicating the recalibration at a receptor mounted on the tool tip.

45. A medical instrument with at least one energizable energy tracker array thereon for use with a computer controlled surgical navigation system employing an energy-detecting digitizer array to track positions of the instrument in three dimensional space relative to a known reference point, said instrument comprising:

an elongated tool body;

an elongated, hollow cage configured to removably receive and encircle the tool body such that a distal end of the tool body is positioned at a distal end of the cage, the cage including a radially extending arm having at least one tracker thereon;

a tool attachment removably mounted to the distal end of the cage and surrounding a chuck, the tool attachment including a tool tip removably insertable into the chuck;

at least one sensor positioned at the distal end of the cage;

a removable, ring-like attachment member that encircles the tool attachment and chuck and is configured to secure the tool tip and engage the sensor;

a controller operatively connected to said sensor to detect when said sensor has been operated and said tool tip has been changed; and

an indicator responsive to said controller for communicating to a user of said instrument that the tool tip of said instrument has been changed.

46. A medical instrument with at least one detectable tracker thereon for use with a computer controlled surgical navigation system configured to track positions of the instrument in three dimensional space relative to a known reference point, said instrument comprising:

a tool body;

at least one instrument attachment removably coupled to said tool body, said at least one instrument attachment including at least one tool tip and at least one tracker coupled to said at least one instrument attachment;

an attachment member mountable about said instrument attachment and said tool body for removably coupling said at least one tool tip to said tool body;

at least one sensor positioned to be operated in response to said tool tip being changed by either coupling to or removal from said tool body;

a controller operatively connected to said sensor to detect when said sensor has been operated and said tool tip has been changed; and

an indicator responsive to said controller for communicating to a user of said instrument that the tool tip of said instrument has been changed.

47. The instrument of claim 46, wherein the tracker is an emitter.

48. The instrument of claim 46, wherein the tracker is a light emitting diode (LED) emitter.

49. A medical instrument with at least one detectable tracker thereon for use with a computer controlled surgical navigation system configured to track positions of the instrument in three dimensional space relative to a known reference point, said instrument comprising:

an elongated tool body;

an elongated, hollow cage configured to removably receive and encircle the tool body such that a distal end of the tool body is positioned at a distal end of the cage, the cage including a radially extending arm having at least one tracker thereon;

a tool attachment removably mounted to the distal end of the cage and surrounding a chuck, the tool attachment including a tool tip removably insertable into the chuck;

at least one sensor positioned at the distal end of the cage;

a removable, ring-like attachment member that encircles the tool attachment and chuck and is configured to secure the tool tip and engage the sensor;

a controller operatively connected to said sensor to detect when said sensor has been operated and said tool tip has been changed; and

an indicator responsive to said controller for communicating to a user of said instrument that the tool tip of said instrument has been changed.

50. The instrument of claim 49, wherein the tracker is an emitter.

51. The instrument of claim 49, wherein the tracker is a light emitting diode (LED) emitter.