Instrument guidance system for spinal and other surgery

• US 6,546,277 B1
• Filed: 05/24/1999
• Issued: 04/08/2003
• Est. Priority Date: 04/21/1998
• Status: Expired due to Term

• Current Assignee: Neutar, LLC
• Original Assignee: Neutar, LLC
• Inventors: Franklin, Ronald J., Haer, Frederick C., Franck, Joel I.
• Primary Examiner(s): Smith, Ruth S.
• Application Number:
  US09/317,676
• Time in Patent Office: 1,415 Days
• Field of Search: 600/411, 600/414, 600/417, 600/426, 600/427, 600/429, 606/130
• US Class Current: 600/426
• 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 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• 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 2090/3945 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 34/20 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
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints

Abstract

A method and apparatus for positioning a surgical instrument during stereotactic surgery on a body, for example, during spinal surgery or general surgery. A mounting device is attached to a bone structure of the body, for example, by attaching a rail to the spine for spinal surgery. In spinal surgery, the rail is attached to the spine by clamping the rail to two spinous processes and adjusting the separation of the two spinous processes to match the separation of the two processes in three-dimensional scanned image, thereby matching a curvature of the spine with a corresponding curvature of the spine in the image. Multiple of fiducial points are located on the body in relation to the mounting device. An adjustable guidance fixture that includes an instrument guide for guiding the surgical instrument along a constrained trajectory relative to the instrument guide is attached to the mounting device.

Claims

1. A method for positioning a surgical instrument during stereotactic surgery on a body, the body having been previously scanned to produce a three-dimensional image of the body which includes a target, the method comprising:

attaching a mounting device to a bone structure of the body;

registering the mounting device including

tracking a location of the mounting device, and

locating a plurality of fiducial points on the body in relation to the mounting device;

providing an adjustable guidance fixture that includes a base and an instrument guide adjustably coupled to the base for guiding the surgical instrument along a constrained trajectory relative to the instrument guide, said guidance fixture enabling a plurality of constrained adjustments of the instrument guide relative to the base;

tracking a location and orientation of the instrument guide and computing a position of the constrained trajectory in the three-dimensional image;

fixing the base of the guidance fixture to the mounting device;

adjusting the guidance fixture relative to the mounting device including adjusting the guidance fixture using a first of the constrained adjustments and then adjusting the guidance fixture using a second of the constrained adjustments, so that the constrained trajectory of the instrument guide passes through the target;

driving the surgical instrument along the constrained trajectory toward the target; and

removing the mounting device from the bone structure.

2. The method of claim 1 wherein attaching a mounting device to a bone structure includes attaching a rail to a spine.

3. The method of claim 1 wherein the mounting device includes a mounting plate and a rod attached to the mounting plate, and wherein attaching the mounting device to a bone structure includes attaching the mounting plate to the bone structure.

4. The method of claim 1 wherein in adjusting the guidance fixture, the first of the constrained adjustments includes a rotation of the instrument guide about a central axis of the base, and the second of the constrained adjustments includes a pivoting of the instrument guide to adjust an angle of the instrument guide and the central axis.

5. The method of claim 1 wherein attaching the mounting device to a bone structure of the body includes attaching a plurality of tracking markers to the mounting device, and wherein the method further comprises tracking a location of the mounting device using the tracking markers.

6. The method of claim 5 wherein locating the plurality of fiducial points on the body in relation to the mounting device includes locating said fiducial points relative to the tracking markers that are attached to the mounting device.

7. The method of claim 5 wherein the guidance fixture includes tracking markers fixed relative to the instrument guide, and wherein tracking the location and orientation of the instrument guide includes locating said tracking markers relative to the tracking markers that are attached to the mounting device.

8. A method for positioning a surgical instrument during stereotadtic surgery on a body, the body having been previously scanned to produce a three-dimensional image of the body which includes a target, the method comprising:

attaching a mounting device to a bone structure of the body, including attaching a rail to a spine;

locating a plurality of fiducial points on the body in relation to the mounting device;

providing an adjustable guidance fixture that includes an instrument guide for guiding the surgical instrument along a constrained trajectory relative to the instrument guide;

tracking a location and orientation of the instrument guide and computing a position of the constrained trajectory in the three-dimensional image;

adjusting the guidance fixture relative to the mounting device so that the constrained trajectory of the instrument guide passes through the target;

driving the surgical instrument along the constrained trajectory toward the target; and

removing the mounting device from the bone structure;

wherein attaching the rail to the spine includes clamping the rail to two spinous processes and adjusting the separation of the two spinous processes to match the separation of the two processes in three-dimensional scanned image, thereby matching a curvature of the spine with a corresponding curvature of the spine in the image.

9. A method for positioning a surgical instrument during stereotactic surgery on a body, the body having been previously scanned to produce a three-dimensional image of the body which includes a target, the method comprising:

attaching a mounting device to a bone structure of the body, including attaching a rail to a spine;

locating a plurality of fiducial points on the body in relation to the mounting device, including

tracking a location and orientation of the rail using a remote sensing device,

tracking a location of a point on a probe using the remote sensing device,

positioning a point on the probe at the fiducial points, the fiducial points being anatomical points of one vertebral segment, thereby facilitating poly-segmental tracking via unisegmental mapping registration, and

comparing the tracked location and orientation of the rail and the tracked location of the point on the probe to determine the location of the fiducial points in relation to the rail;

providing an adjustable guidance fixture that includes an instrument guide for guiding the surgical instrument along a constrained trajectory relative to the instrument guide;

tracking a location and orientation of the instrument guide and computing a position of the constrained trajectory in the three-dimensional image;

adjusting the guidance fixture relative to the mounting device so that the constrained trajectory of the instrument guide passes through the target;

driving the surgical instrument along the constrained trajectory toward the target; and

removing the mounting device from the bone structure.

10. A method for positioning a surgical instrument during stereotactic spinal surgery, the spine having been previously scanned to produce a three-dimensional image of the spine which includes a target on the spine, the method comprising:

attaching a longitudinal rail to the spine, including clamping the longitudinal rail to two spinous processes and adjusting the separation of the two spinous processes to match a separation of the two processes in the three-dimensional image, thereby maintaining a fixed geometric relationship between the longitudal rail and a portion of the spine between the two spinous processes and matching a curvature of that portion spine with a corresponding curvature of that portion of the spine in the three-dimensional image;

locating a plurality of anatomical fiducial points on the spine in relation to the longitudinal rail, including tracking a location of the longitudinal rail with using a remote sensing device, tracking a location of a probe positioned at each of the fiducial points using the remote sensing device, and comparing the location of the probe and the location of the longitudinal rail at each of the fiducial points;

providing an adjustable guidance fixture that includes an instrument guide for guiding the surgical instrument along a constrained trajectory relative to the instrument guide;

tracking a location and orientation of the instrument guide and computing a position of the constrained trajectory in the three-dimensional image;

displaying a planar section of the three-dimensional image of the body in conjunction with a representation of the constrained trajectory, the planar section containing the target on the spine;

adjusting the guidance fixture using a first constrained motion until the constrained trajectory of the instrument guide lies in a plane corresponding to the displayed planar section;

adjusting the guidance fixture using a second constrained motion, such that the orientation continues to lie in the plane corresponding to the displayed planar section, until the constrained trajectory passes through the target point;

driving the surgical instrument along the constrained trajectory toward the target, including tracking a location of the surgical instrument and displaying the location of the surgical instrument in conjunction with the scanned image.