Audible feedback from positional guidance systems

• US 6,741,883 B2
• Filed: 02/28/2002
• Issued: 05/25/2004
• Est. Priority Date: 02/28/2002
• Status: Active Grant

• Current Assignee: Houston Stereotactic Concepts, Inc.
• Original Assignee: Houston Stereotactic Concepts, Inc.
• Inventors: Gildenberg, Philip L.
• Primary Examiner(s): MANTIS MERCADER, ELENI M
• Application Number:
  US10/085,212
• Publication Number:
  US 20030163040A1
• Time in Patent Office: 817 Days
• Field of Search: 600/407, 600/411, 600/414, 600/417, 600/425, 600/426, 600/427, 600/429, 600/437, 600/439, 600/424, 606/130, 378/20, 378/205
• US Class Current: 600/429
• CPC Class Codes: A61B 2017/00115 with audible or visual output with imaging means A61B90/37, A61B34/20
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• 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 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras

Abstract

A computer-based system generating audible feedback to assist with guidance of at least one trackable point in space is provided. Surgical embodiments include generating audible feedback (to supplement visual and tactile feedback) to a surgeon moving the tip of a probe, for example, in a surgical field with respect to a volume of interest such as a tumor. Other surgical embodiments include generating audible feedback to assist with the precise insertion of a pedicle screw. In such surgical embodiments, as a surgeon moves a probe or instrument within the surgical field, a computer analyzes the current position of the probe and/or instrument in space with respect to a system of fiducial markers. The computer then provides audible feedback to the surgeon as to the position of the probe and/or instrument with respect to predetermined feature(s) of interest (such as a tumor) previously identified on a computer reconstruction of the surgical view obtained, for example, by a magnetic resonance imaging (MRI) scan, a computerized tomography (CT) scan and/or an ultrasound scan. The audible feedback may vary in numerous ways, such as in tone, volume, pattern and/or style, as the probe and/or instrument moves relative to the feature(s) of interest.

Claims

1. A method for generating audible feedback, the method comprising:

(a) creating a computer-generated reconstruction of an overall volume, the computer-generated reconstruction identifying at least one feature of interest within the overall volume;

(b) creating a computer-generated real-time image of the overall volume, the computer-generated real-time image further including at least one trackable point, the at least one trackable point movable in real-time with respect to the overall volume;

(c) causing a computer to overlay the computer-generated real-time image and the computer-generated reconstruction with substantial spatial identity and substantial spatial fidelity;

(d) causing the computer to track the at least one trackable point with substantial positional fidelity to the computer-generated real-time image; and

(e) creating computer-generated audible feedback, the computer-generated audible feedback describing movement of the at least one trackable point with respect to the at least one feature of interest.

2. The method of claim 1, wherein the computer-generated reconstruction and the computer-generated real-time image are both three-dimensional.

3. The method of claim 2, wherein creating the computer-generated real-time image of the overall volume further comprises localizing a head in part by resolving digital output from at least one video camera.

4. The method of claim 2, wherein the computer-generated reconstruction is generated in part by resolving a series of layered images.

5. The method of claim 3, wherein the series of layered images is obtained using a process selected from the group of:

(1) computerized tomography (CT);

(2) magnetic resonance imaging (MRI); and

,

(3) ultrasound.

6. The method of claim 1, wherein the computer-generated audible feedback comprises at least one type of sound selected from the group consisting of:

(1) a tone;

(2) a buzz;

(3) a tune;

(4) white noise;

(5) a pre-recorded utterance;

(6) substantial silence; and

(7) an intermittent pulsatile tone.

7. The method of claim 1, wherein the computer-generated audible feedback comprises at least one variation selected from the group consisting of:

(1) pitch variation;

(2) volume variation;

(3) pulse variation;

(4) type of sound variation; and

(5) utterance variation.

8. The method of claim 1, wherein (c) and (d) are performed using a system of fiducial markers.

9. The method of claim 1, wherein the at least one trackable point is a tip of a surgical instrument.

10. The method of claim 1, wherein the overall volume includes at least a portion of animal tissue, and wherein the at least one feature of interest includes a tumor.

11. The method of claim 1, wherein the overall volume includes at least a portion of animal bone, and wherein the at least one feature of interest includes a predetermined insertion locus within the animal bone for an orthopedic device.

12. The method of claim 11, wherein the animal bone is a vertebra and the orthopedic device is a pedicle screw.

13. The method of claim 1, wherein the computer-generated audible feedback is generated to assist with the use of a surgical microscope.

14. The method of claim 1, further comprising:

(f) selectably causing the computer-generated audible feedback to vary in a predetermined fashion as a selected trackable point approaches and withdraws from a predefined feature of interest.

15. A method for generating audible feedback, the method comprising:

(a) creating a computer-generated 3-D reconstruction of an overall volume from a series of layered images, the computer-generated reconstruction identifying at least one feature of interest within the overall volume;

(b) creating a computer-generated real-time 3-D image of the overall volume by resolving digital output from at least two video cameras, the computer-generated real-time 3-D image further including at least one trackable point, the at least one trackable point movable in real-time with respect to the overall volume;

(c) causing a computer to overlay the computer-generated real-time 3-D image and the computer-generated 3-D reconstruction with substantial spatial identity and substantial spatial fidelity via reference to a system of fiducial markers;

(d) causing the computer to track the at least one trackable point with substantial positional fidelity to the computer-generated real-time 3-D image;

(e) creating a computer-generated audible feedback, the computer-generated audible feedback describing movement of the at least one trackable point with respect to the at least one feature of interest; and

(f) selectably causing the computer-generated audible feedback to vary in a predetermined fashion as at least one selected trackable point approaches and withdraws from a predefined feature of interest.

16. The method of claim 15, wherein the at least one trackable point is a tip of a surgical instrument.

17. The method of claim 15, wherein the overall volume includes at least a portion of animal tissue, and wherein the at least one feature of interest includes a tumor.

18. The method of claim 15, wherein the overall volume includes at least a portion of animal vertebra, and wherein the at least one feature of interest includes a predetermined insertion locus within the vertebra for a pedicle screw.

19. A computer program product having a computer-readable logic recorded thereon for generating an audible feedback, the computer program operable on a general purpose computer, the computer including a processor, a memory and a sound generator, the computer-readable logic comprising:

instructions for causing the computer to refer to a computer-generated reconstruction of an overall volume, the computer-generated reconstruction identifying at least one feature of interest within the overall volume;

instructions for causing the computer to refer to a computer-generated real-time image of the overall volume, the computer-generated real-time image further including at least one trackable point, the at least one trackable point movable in real-time with respect to the overall volume;

instructions for causing the computer, via reference to a system of fiducial markers, to overlay the computer-generated real-time image and the computer-generated reconstruction with substantial spatial identity and substantial spatial fidelity;

instructions for causing the computer to track the at least one trackable point with substantial positional fidelity to the computer-generated real-time image; and

instructions for causing the computer to generate audible feedback, the computer-generated audible feedback describing movement of the at least one trackable point with respect to the at least one feature of interest.

20. The computer program product of claim 19, wherein the computer-readable logic further comprises:

instructions for selectably causing the computer to vary the computer-generated audible feedback in a predetermined fashion as at least one selected trackable point approaches and withdraws from a predefined feature of interest.

21. The computer program product of claim 19, wherein the computer-readable logic further comprises:

instructions for causing the computer to generate the computer-generated reconstruction from a series of layered images.

22. The computer program product of claim 19, wherein the computer-readable logic further comprises:

instructions for causing the computer to generate the computer-generated real-time image by resolving digital output from at least two video cameras.