Trajectory storage apparatus and method for surgical navigation systems

• US 6,920,347 B2
• Filed: 06/21/2002
• Issued: 07/19/2005
• 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: Melkent, Anthony J., Carls, Thomas Andrew, Simon, David Anthony, Foley, Kevin T.
• Primary Examiner(s): Casler, Brian L.
• Assistant Examiner(s): JUNG, WILLIAM C
• Application Number:
  US10/177,739
• Publication Number:
  US 20030028091A1
• Time in Patent Office: 1,124 Days
• Field of Search: 600/407, 600/410, 600/411, 600/424, 600/425, 600/434, 600/437, 606/130, 378/205, 128/898
• 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 at least one object during a surgical procedure, the method comprising:

providing image data of a patient;

tracking a three-dimensional trajectory of the object;

displaying a first representation of the object'"'"'s first trajectory superimposed onto the image data of the patient;

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 image data of the patient.

2. The method as defined in claim 1 wherein tracking the three-dimensional trajectory of the object further includes tracking a three-dimensional trajectory of a surgical instrument.

3. The method as defined in claim 1 wherein tracking the three-dimensional trajectory of the object further includes tracking a three-dimensional trajectory of an implant.

4. The method as defined in claim 1 wherein providing the image data of the patient further includes generating the image data from a fluoroscopic x-ray imager.

5. The method as defined in claim 4 further comprising generating the image data from a C-arm fluoroscopic x-ray imager.

6. The method as defined in claim 1 wherein providing the image data of the patient further includes generating the image data from computer tomography imaging.

7. The method as defined in claim 1 wherein providing the image data of the patient further includes generating the image data from ultrasound imaging.

8. The method as defined in claim 1 wherein providing the image data of the patient further includes generating the image data from magnetic resonance imaging.

9. The method as defined in claim 1 wherein providing the image data of the patient further includes generating the image data from PET imaging.

10. The method as defined in claim 1 wherein providing the image data of the patient further includes providing two-dimensional image data of the patient.

11. The method as defined in claim 1 wherein providing the image data of the patient further includes providing three-dimensional image data of the patient.

12. The method as defined in claim 1 further comprising performing a medical procedure selected from a group comprising spinal implant placement, bone fragment alignment, bone fracture fixation, implant placement and bone removal.

13. The method as defined in claim 1 further comprising:

selecting the first and second trajectory;

projecting the first trajectory into a plane of the image data to form a first set of projected points;

projecting the second trajectory into the plane of the image data 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 the first and second segments in the plane of the image data; and

displaying the computed angle.

14. The method as defined in claim 13 further comprising using the displayed computed angle for performing at least one of bone fragment alignment, bone fracture fixation, implant placement, bone removal and spinal implant placement.

15. The method as defined in claim 1 further comprising:

selecting the first and second trajectories;

computing a first point based on a tip position associated with the first trajectory;

computing a second point based on a tip position 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.

16. The method as defined in claim 15 further comprising using the displayed computed distance for performing at least one of bone fragment alignment, bone fracture fixation, implant placement, bone removal and spinal implant placement.

17. The method as defined in claim 15 further comprising extending the tips of the first and second trajectories by a user specified amount and computing the distance in three-dimensional space between the first point and the second point associated with the extended tips.

18. The method as defined in claim 1 wherein the first trajectory is a stored trajectory and the second trajectory is a real-time trajectory.

19. The method as defined in claim 18 wherein the first trajectory is a stored trajectory of an implant and the second trajectory is a real-time trajectory of a surgical instrument.

20. The method as defined in claim 1 wherein the first trajectory is a stored trajectory and the second trajectory is a stored trajectory.

21. The method as defined in claim 20 wherein the first trajectory is a stored trajectory of an implant and the second trajectory is a stored trajectory the implant.

22. The method as defined in claim 1 further comprising storing a plurality of representations of the object'"'"'s trajectories.

23. The method as defined in claim 1 further comprising providing image data taken from a plurality of different orientations.

24. The method as defined in claim 23 further comprising simultaneously displaying image data for more than one orientation.

25. The method as defined in claim 1 further comprising employing directional indicators to illustrate each representation, wherein each directional indicator has at least one of a different color, style, shape, size, and texture.

26. The method as defined in claim 1 further comprising projecting at least one of the object'"'"'s first trajectory and the object'"'"'s second trajectory into the image data to facilitate planning of the surgical procedure.

27. The method as defined in claim 1 wherein the object is a surgical instrument and the method further includes inserting the surgical instrument within a registration jig and measuring the extremities of the surgical instrument with the registration jig.

28. The method as defined in claim 1 wherein tracking the three-dimensional trajectory of the object further includes tracking the three-dimensional trajectory of the object by use of at least one of an acoustic system, an optical system, and an electromagnetic system.

29. An apparatus for storing a trajectory of at least one object during a surgical procedure, said apparatus comprising:

a tracking system operable to track a three-dimensional position of the object;

a computer processor in communication with said tracking system;

a memory in communication with said computer processor, said memory storing;

image data of a patient;

instructions that when executed by said 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 image data; and

a display in communication with the computer processor and operable to display the superimposed representations onto the image data.

30. The apparatus as defined in claim 29 wherein said tracking system is selected from a group comprising an acoustic tracking system, an optical tracking system and an electromagnetic tracking system.

31. The apparatus as defined in claim 29 wherein the object is a surgical instrument.

32. The apparatus as defined in claim 29 wherein the object is an implant.

33. The apparatus as defined in claim 29 further comprising an imager operable to generate the image data of the patient.

34. The apparatus as defined in claim 29 wherein said imager is a C-arm fluoroscopic x-ray imager.

35. The apparatus as defined in claim 33 wherein said imager is selected from a group comprising a C-arm fluoroscopic x-ray imager, a fluoroscopic x-ray imager, a computer tomography imager, an ultrasound imager, a PET imager, and a magnetic resonance imager.

36. The apparatus as defined in claim 33 wherein said imager generates two-dimensional image data of the patient.

37. The apparatus as defined in claim 33 wherein said imager generates three-dimensional image data of the patient.

38. The apparatus as defined in claim 33 wherein said imager generates image data from different orientations for simultaneous display on said display.

39. The apparatus as defined in claim 33 further comprising computer instructions that when executed by the computer processor:

selects a first and a second trajectory from memory;

projects the first trajectory into the image data to form a first set of projected points;

projects the second trajectory into the image data to form a second set of projected points;

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

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

computes the angle between the first and second segments; and

displays the computed angle.

40. The apparatus as defined in claim 33 further comprising computer instructions that when executed by the computer processor:

selects a first and a second trajectory from memory;

computes a first point based on a tip position of the first trajectory;

computes a second point based on a tip position of the second trajectory;

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

displays the computed distance.

41. The apparatus as defined in claim 40 further comprising computer instructions that when executed by the computer processor:

extends a path of the first trajectory and computes a first extended point;

extends a path of the second trajectory and computes a second extended point;

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

displays the computed distance.

42. The apparatus as defined in claim 33 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.

43. The apparatus as defined in claim 42 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.

44. The apparatus as defined in claim 33 further comprising a registration jig associated with the object, wherein the registration jig is operable to measure extremities of the object.

45. The apparatus as defined in claim 33 further comprising an actuator for issuing the storage command.

46. The apparatus as defined in claim 45 wherein the actuator is a foot switch.

47. An apparatus for storing a trajectory of at least one object during a surgical procedure, said apparatus comprising:

a computer processor in communication with said tracking system;

a memory in communication with said computer processor, said memory storing;

image data of a patient; and

instructions that when executed by said 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,

superimpose the representations onto the image data,

select a first and a second trajectory from memory,

compute a distance in three-dimensional space between the first and second trajectories, and

compute an angle between the first and second trajectories; and

a display in communication with the computer processor operable to display the superimposed representations, the computed distance, and the computed angle onto the image data.

48. The apparatus as defined in claim 47 further in comprising a tracking system operable to track a three-dimensional position of the object, wherein said tracking system is selected from a group comprising an acoustic tracking system, an optical tracking system, and an electromagnetic tracking system.

49. The apparatus as defined in claim 47 further comprising an imaging device operable to generate the image data of the patient.

50. The apparatus as defined in claim 49 wherein the imaging device is selected from a group comprising a C-arm fluoroscopic x-ray imager, a fluoroscopic x-ray imager, a computed tomography imager, an ultrasound imager, a PET imager, and a magnetic resonance imager.

51. The apparatus as defined in claim 47 wherein the image data is two-dimensional image data.

52. The apparatus as defined in claim 47 wherein the image data is three-dimensional image data.

53. A method for storing a trajectory of at least one object during a surgical procedure, the method comprising:

providing image data of a patient;

tracking a three-dimensional trajectory of the object;

displaying a first representation of the object'"'"'s first trajectory superimposed onto the image data of the patient;

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 image data of the patient;

extending a tip of the second trajectory;

calculating a position of the extended tip; and

displaying the extended tip of the second trajectory.

54. The method as defined in claim 53 further comprising adjusting the amount to extend the tip of the second trajectory.

55. The method as defined in claim 53 further comprising displaying the tip extension in a different line style from the second trajectory where the different line style has at least one of a different color, style, size, shape, and texture.

56. The method as defined in claim 53 further comprising projecting the extension into the image data to facilitate planning of the surgical procedure.

57. The method as defined in claim 53 further comprising performing the surgical procedure selected from a group comprising spinal implant placement, bone fragment alignment, bone fracture fixation, implant placement, and bone removal.

58. An apparatus for storing a trajectory of an instrument during a surgical procedure, said apparatus comprising:

a computer processor;

a tracking device associated with the instrument and operable to identify a three-dimensional position of the instrument;

a memory in communication with the computer processor, said memory storing;

image data of a patient, and

instructions that when executed by the computer processor,

track the trajectory of the instrument,

store the trajectory into memory upon receiving a storage command,

compute offsets between the tracking device associated with the instrument and a tip and hind of the instrument in order to generate an icon for representing the trajectory of the instrument to superimpose over the image data of the patient,

superimpose the icon onto the image data of the patent; and

a display in communication with the processor operable to display the image data of the patient with the superimposed icon.

59. The apparatus as defined in claim 58 wherein the tracking device is guide tracking markers positioned on the instrument.

60. The apparatus as defined in claim 59 wherein the instrument has a fixed length and angulation and the offsets of the fixed length and angulations relative to the tracking markers are measured and stored in a database associated with the memory.

61. The apparatus as defined in claim 59 wherein the instrument has a variable length and angulation.

62. The apparatus as defined in claim 61 further comprising a registration jig, wherein the instrument is operable to be placed within the registration jig while it is being tracked and the jig is operable to measure the variable length and angulation of the instrument.

63. An apparatus for storing a trajectory of at least one object during a surgical procedure, said apparatus comprising:

a computer processor;

a memory in communication with the computer processor, said memory storing;

image data 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 image data; and

a display in communication with the computer processor and operable to display the superimposed representations on the image data.

64. The apparatus as defined in claim 63 further comprising a tracking system operable to track a three-dimensional position of the object.

65. The apparatus as defined in claim 64 wherein the tracking system is selected from a group comprising an acoustic tracking system, an optical tracking system, and an electromagnetic tracking system.

66. The apparatus as defined in claim 63 further comprising an imaging device operable to generate the image data of the patient.

67. The apparatus as defined in claim 66 wherein the imaging device is selected from a group comprising a C-arm fluoroscopic x-ray imager, a fluoroscopic x-ray imager, a computer tomography imager, an ultrasound imager, a PET imager, and a magnetic resonance imager.

68. The apparatus as defined in claim 63 wherein the image data is two-dimensional image data of the patient.

69. The apparatus as defined in claim 63 wherein the image data is three-dimensional image data of the patient.