Trajectory storage apparatus and method for surgical navigation system

• US 6,535,756 B1
• Filed: 04/07/2000
• Issued: 03/18/2003
• Est. Priority Date: 04/07/2000
• Status: Expired due to Term

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Inventors: Carls, Thomas Andrew, Foley, Kevin T., Simon, David Anthnoy, Melkent, Anthony J.
• Primary Examiner(s): Lateef, Marvin M.
• Assistant Examiner(s): Lin, Jeoyuh
• Application Number:
  US09/545,092
• Time in Patent Office: 1,075 Days
• Field of Search: 600/424, 600/411, 600/427, 606/130, 378/205
• US Class Current: 600/424
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2034/104 Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/061 for measuring dimensions, e.g. length
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/378 using ultrasound
• 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 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

Apparatus and methods are disclosed for use within an image-guided surgical navigation system for the storage and measurement of trajectories for surgical instruments. An icon representing the real-time trajectory of a tracked instrument is overlaid on one or more pre-acquired images of the patient. At the surgeon'"'"'s command, the navigation system can store multiple trajectories of the instrument and create a static icon representing each saved trajectory for display. The surgeon may also measure a planar angle between any two trajectories. The angle is computed in the plane of the image, and therefore will be computed separately for each image displayed. Furthermore, the surgeon has the option of computing and displaying the three-dimensional distance between two points defined by any two trajectories.

Claims

1. A method for storing a trajectory of an object during a surgical procedure using a surgical navigation system, comprising:

providing at least one pre-acquired image of a patient;

tracking a three-dimensional trajectory of the object;

displaying a first representation of the object'"'"'s first trajectory superimposed onto the at least one pre-acquired image;

receiving a command to store the object'"'"'s first trajectory;

storing the first representation of the object'"'"'s first trajectory; and

superimposing a second representation of the object'"'"'s second trajectory onto the at least one pre-acquired image.

12. The method of claim 1 further comprising providing a plurality of pre-acquired images taken from different orientations and simultaneously displaying more than one of the plurality of pre-acquired images.

13. The method of claim 1 wherein the pre-acquired images are images acquired by using a C-arm fluoroscope.

14. The method of claim 1 wherein the command is initiated through a software user-interface.

15. The method of claim 1 wherein the command is initiated by a foot switch.

2. A method for storing a trajectory of an object during a surgical procedure using a surgical navigation system, comprising:

providing at least one pre-acquired image of a patient;

tracking a three-dimensional trajectory of the object;

displaying a first representation of the object'"'"'s first trajectory superimposed onto the at least one pre-acquired image;

receiving a command to store the object'"'"'s first trajectory;

storing the first representation of the object'"'"'s first trajectory;

superimposing a second representation of the object'"'"'s second trajectory onto the at least one pre-acquired image;

receiving a plurality of commands wherein each of the plurality of commands initiates storage of the object'"'"'s trajectory at a different time;

storing the object'"'"'s trajectory corresponding to said different times; and

superimposing a plurality of representations of the object'"'"'s stored trajectories onto the at least one pre-acquired image.

3. The method of claim 2 further including:

employing directional indicators to illustrate the first representation and each of the plurality of representations, wherein each directional indicator has at least one of a different color, style, shape, size, and texture.

4. The method of claim 2 further including:

automatically assigning at least one representation with a unique label, said label being displayed adjacent to its corresponding representation.

5. The method of claim 4 wherein said label includes at least one alpha-numeric character, the character being one of generated automatically and specified manually.

6. The method of claim 2 further including:

selecting the first and second trajectory;

projecting both a tip position and hind position of the first trajectory into a plane of the at least one pre-acquired image to form a first set of projected points;

projecting both a tip position and hind position of the second trajectory into the plane of the at least one pre-acquired image to form a second set of projected points;

calculating a first segment connecting the first set of projected points;

calculating a second segment connecting the second set of projected points;

computing an angle between said first and said second segments for each pre-acquired image; and

displaying the computed angle with its respective image.

7. The method of claim 7 wherein the first and second trajectories are one of real-time trajectories and stored trajectories.

8. The method of claim 7 wherein a plurality of trajectory pairs are used to compute and display a plurality of angles.

9. A method for storing a trajectory of an object during a surgical procedure using a surgical navigation system, comprising:

providing at least one pre-acquired image of a patient;

tracking a three-dimensional trajectory of the object;

displaying a first representation of the object'"'"'s first trajectory superimposed onto the at least one pre-acquired image;

receiving a command to store the object'"'"'s first trajectory;

storing the first representation of the object'"'"'s first trajectory;

superimposing a second representation of the object'"'"'s second trajectory onto the at least one pre-acquired image;

selecting the first and second trajectory;

computing a first point based on adding a tip position of the first trajectory to an extension associated with the first trajectory;

computing a second point based on adding a tip position of the second trajectory to an extension associated with the second trajectory;

computing a distance in three-dimensional space between the first point and the second point; and

displaying the computed distance simultaneously with each image.

10. The method of claim 9 wherein the first and second trajectories are one of real-time trajectories and stored trajectories.

11. The method of claim 10 wherein a plurality of trajectory pairs are used to compute and display a plurality of distances.

16. An apparatus for storing a trajectory of an object during a surgical procedure using a surgical navigation system, comprising:

a computer processor;

a sensor of a three-dimensional position of the object operatively connected to the computer processor;

a memory coupled to the computer processor, storing;

at least one pre-acquired image of a patient;

instructions that when executed by the computer processor track the trajectory of the object, store the trajectory into memory upon receiving a storage command, generate representations of the tracked trajectory and the stored trajectory, and superimpose the representations onto the at least one pre-acquired image; and

a display coupled to the processor for the superimposed representations to be displayed on the at least one pre-acquired image.

17. The apparatus of claim 16 further comprising computer instructions that when executed by the computer processor:

store a plurality of tracked trajectories upon receiving additional storage commands, at least one stored trajectory representing a corresponding one of the plurality of tracked trajectories at the time the storage command is received;

generate a plurality of representations for selected ones of the plurality of stored trajectories; and

superimpose the plurality of representations of the object'"'"'s stored trajectories onto the at least one pre-acquired image.

18. The apparatus of claim 17 wherein:

directional indicators are used to illustrate the tracked representation and each of the plurality of stored representations, wherein each directional indicator has at least one of a different color, style, size, shape, and texture.

19. The apparatus of claim 17 further comprising:

a plurality of unique labels that are automatically assigned by the computer processor to each stored representation, each label being displayed adjacent to its corresponding representation.

20. The apparatus of claim 19 wherein each label includes at least one alpha-numeric character, the character being one of generated automatically and specified manually.

21. The apparatus of claim 17 further comprising computer instructions that when executed by the computer processor:

select a first and second trajectory from memory;

project both a tip position and hind position of the first trajectory into a plane of at least one pre-acquired image to form a first set of projected points;

project both a tip position and hind position of the second trajectory into the plane of at least one pre-acquired image to form a second set of projected points;

calculate a first segment connecting the first set of projected points;

calculate a second segment connecting the second set of projected points;

compute the angle between said first and said second segments for each pre-acquired image; and

display the computed angle simultaneously with its respective image on the display.

22. The apparatus of claim 21 wherein the first and second trajectories are one of tracked trajectories and stored trajectories.

23. The apparatus of claim 22 wherein a plurality of first and second trajectory pairs are used to compute and display a plurality of angles on the display.

27. The apparatus of claim 16 further comprising a plurality of pre-acquired images taken from different orientations for simultaneous display.

28. The apparatus of claim 16 wherein the pre-acquired images are images acquired from a C-arm fluoroscope coupled to the computer processor.

29. The apparatus of claim 16 wherein the storage command is initiated through a software user-interface running on the computer processor.

30. The apparatus of claim 16 wherein the storage command is initiated by a foot switch.

24. An apparatus for storing a trajectory of an object during a surgical procedure using a surgical navigation system, comprising:

a computer processor;

a sensor of a three-dimensional position of the object operatively connected to the computer processor;

a memory coupled to the computer processor, storing;

at least one pre-acquired image of a patient;

instructions that when executed by the computer processor track the trajectory of the object, store the trajectory into memory upon receiving a storage command, generate representations of the tracked trajectory and the stored trajectory, and superimpose the representations onto the at least one pre-acquired image and further instructions that when executed by the computer processor;

select a first and second trajectory from memory;

compute a first point based on adding a tip position of the first trajectory to an extension associated with the first trajectory;

compute a second point based on adding a tip position of the second trajectory to an extension associated with the second trajectory;

compute a distance in three-dimensional space between the first point and the second point;

display the computed distance simultaneously with each image on a display; and

the display coupled to the processor for the superimposed representations to be displayed on the at least one pre-acquired image.

25. The apparatus of claim 24 wherein the first and second trajectories are one of tracked trajectories and stored trajectories.

26. An apparatus for storing a trajectory of an object during a surgical procedure using a surgical navigation system, comprising:

a computer processor;

a sensor of a three-dimensional position of the object operatively connected to the computer processor;

a memory coupled to the computer processor, storing;

at least one pre-acquired image of a patient;

instructions that when executed by the computer processor track the trajectory of the object, store the trajectory into memory upon receiving a storage command, generate representations of the tracked trajectory and the stored trajectory, and superimpose the representations onto at least one pre-acquired image; and

a display coupled to the processor for the superimposed representations to be displayed on the at least one pre-acquired image, wherein a plurality of first and second trajectory pairs are used to compute and display a plurality of distances between the trajectory pairs.

31. A system for storing the trajectory of an object during a surgical procedure, comprising:

means for tracking a three-dimensional trajectory of the object;

means for providing at least one pre-acquired image of a patient to the tracking means;

means for displaying a first representation of the object'"'"'s first trajectory superimposed onto the at least one pre-acquired image;

means for receiving a command to store the object'"'"'s first trajectory;

means for storing the first representation of the object'"'"'s first trajectory; and

means for superimposing a second representation of the object'"'"'s second trajectory onto the at least one pre-acquired image.

42. The system of claim 31 further comprising means for providing a plurality of pre-acquired images taken from different orientations and simultaneously displaying more than one of the plurality of pre-acquired images.

43. The system of claim 31 wherein the pre-acquired images are images acquired by using a C-arm fluoroscope.

44. The system of claim 31 wherein the command is initiated through a software user-interface.

45. The system of claim 31 wherein the command is initiated by a foot switch.

32. A system for storing the trajectory of an object during a surgical procedure, comprising:

means for tracking a three-dimensional trajectory of the object;

means for providing at least one pre-acquired image of a patient to the tracking means;

means for displaying a first representation of the object'"'"'s first trajectory superimposed onto the at least one pre-acquired image;

means for receiving a command to store the object'"'"'s first trajectory;

means for storing the first representation of the object'"'"'s first trajectory;

means for superimposing a second representation of the object'"'"'s second trajectory onto the at least one pre-acquired image;

means for receiving a plurality of commands wherein each of the plurality of commands initiates storage of the object'"'"'s trajectory at a different time;

means for storing the object'"'"'s trajectory at different times; and

means for superimposing a plurality of representations of the object'"'"'s stored trajectories onto the at least one pre-acquired image.

33. The system of claim 32 further including:

means for employing directional indicators to illustrate the first representation and each of the plurality of representations, wherein each directional indicator has at least one of a different color, style, size, shape, and texture.

34. The system of claim 32 further including:

means for automatically assigning the first representation and each of the plurality of representations with a unique label, each label being displayed adjacent to its corresponding representation.

35. The system of claim 34 wherein each label includes at least one alpha-numeric character, the character being one of generated automatically and specified manually.

36. The system of claim 32 further including:

means for selecting the first and second trajectory;

means for projecting both a tip position and hind position of the first trajectory to form a first set of projected points;

means for projecting both a tip position and hind position of the second trajectory to form a second set of projected points;

means for forming a first segment connecting the first set of projected points;

means for forming a second segment connecting the second set of projected points;

means for computing the angle between said first and said second segments for each pre-acquired image; and

means for displaying the computed angle simultaneously with its respective image.

37. The system of claim 36 wherein the first and second trajectories are one of real-time trajectories and stored trajectories.

38. The system of claim 37 wherein a plurality of trajectory pairs are used to compute and display a plurality of angles.

39. A system for storing the trajectory of an object during a surgical procedure, comprising:

means for tracking a three-dimensional trajectory of the object;

means for providing at least one pre-acquired image of a patient to the tracking means;

means for displaying a first representation of the object'"'"'s first trajectory superimposed onto the at least one pre-acquired image;

means for receiving a command to store the object'"'"'s first trajectory;

means for storing the first representation of the object'"'"'s first trajectory;

means for superimposing a second representation of the object'"'"'s second trajectory onto the at least one pre-acquired image;

means for selecting the first and second trajectory;

means for computing a first point based on adding a tip position of the first trajectory to an extension associated with the first trajectory;

means for computing a second point based on adding a tip position of the second trajectory to an extension associated with the second trajectory;

means for computing a distance in three-dimensional space between the first point and the second point; and

means for displaying the computed distance simultaneously with each image.

40. The system of claim 39 wherein the first and second trajectories are one of real-time trajectories and stored trajectories.

41. The system of claim 40 wherein a plurality of first and second trajectory pairs are used to compute and display a plurality of distances.

46. A method for storing paths of an object during a surgical procedure using a surgical navigation system, comprising:

providing at least one pre-acquired image of a patient;

tracking a three-dimensional path of the object;

displaying a first representation of the object'"'"'s path superimposed onto the at least one pre-acquired image;

receiving at least one command to store the object'"'"'s path at different times;

storing at least one object'"'"'s path corresponding to said different times;

superimposing at least one representation of the object'"'"'s stored path onto the at least one pre-acquired image; and

computing at least one geometric measurement relating to at least one of the object'"'"'s path and at least one of the stored paths.