Instrument guidance method and system for image guided surgery

• US 6,491,699 B1
• Filed: 04/20/2000
• Issued: 12/10/2002
• Est. Priority Date: 04/20/1999
• Status: Expired due to Term

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Inventors: Clayton, John B., Frank, Kevin J., Henderson, Jaimie, Bucholz, Richard D., Smith, Kurt R., Ulberg, Phillip T., Carroll, Catalina J.
• Primary Examiner(s): Nguyen, Anhtuan T.
• Assistant Examiner(s): Thompson, Michael M
• Application Number:
  US09/557,004
• Time in Patent Office: 964 Days
• Field of Search: 606/1, 606/130, 600/117, 600/118, 600/414, 600/417, 600/427, 600/429
• US Class Current: 606/130
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• 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 2034/256 having a database of accessory information, e.g. including context sensitive help or scientific articles
• 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
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

Generally, the present invention is directed to a method and system for a aligning surgical guide instrument over a burr hole in a patient'"'"'s body. More particularly, the present invention is directed to a stand-alone instrument guidance unit that is attachable to a patient'"'"'s skull. Adjustments of a surgical instrument can be made in x, y, z, and angular directions using the system and method of the present invention. In one aspect of the present invention, an instrument guide unit includes an instrument guide for guiding a surgical instrument into the body of a patient and a base unit operative to be secured to the body in an area in which surgery. is to occur. The base unit is coupled to the instrument guide. An adjustment mechanism, coupled to the base unit and the instrument guide, is operative to adjust the instrument guide in lateral directions with respect the surface of the area. The adjustment mechanism is operative to adjust the instrument guide in x and y directions. The adjustment mechanism includes an x direction control mechanism for adjusting the instrument in an x direction and a y direction control mechanism for adjusting the instrument in a y direction. The y direction control mechanism may be coupled to the x direction control mechanism. The positional movement of the surgical instrument in the z direction may be tracked by sensing the location of a transducer coupled to the surgical instrument.

Claims

1. A method for guiding a surgical instrument for use in image guided surgery, comprising the steps of:

determining the location of a stand-alone instrument guidance unit attached to the skull of a patient by sensing signals from tracking markers coupled to the instrument guidance unit;

determining the orientation of an instrument guide of the guidance unit; and

displaying image representations of the skull relative to a trajectory line defined by the orientation of the instrument guide during a surgical procedure.

2. The method of claim 1 further comprising determining the orientation of the instrument guide as the instrument guide is pivoted.

3. The method of claim 2 wherein said orientation of the instrument guide is determined by detecting the location of tracking markers on the instrument guide.

4. The method of claim 1 comprising adjusting the x and y coordinate positions of the instrument guide with respect to the skull.

5. The method of claim 4 comprising adjusting the z coordinate position of a surgical instrument inserted in said instrument guide.

6. The method of claim 5 wherein positional movement of the surgical instrument in the z direction is tracked by sensing the location of a transducer coupled to the surgical instrument.

7. The method of claim 6 wherein said transducer is an optical transducer.

8. The method of claim 6 wherein said transducer is a magnetic transducer.