Instrument guidance method and system for image guided surgery

• US 7,217,276 B2
• Filed: 10/15/2002
• Issued: 05/15/2007
• Est. Priority Date: 04/20/1999
• Status: Expired due to Term

• Current Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Original Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Inventors: Clayton, John B, Henderson, Jaimie, Frank, Kevin J, Ulberg, Phillip T, Smith, Kurt R, Carroll, Catalina J, Bucholz, Richard D
• Primary Examiner(s): Lucchesi; Nicholas D.
• Assistant Examiner(s): SNYDER, MELISSA A
• Application Number:
  US10/271,353
• Publication Number:
  US 20030114752A1
• Time in Patent Office: 1,673 Days
• Field of Search: 606/130, 600/429, 604/130, 604/116, 604/117
• 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. An image guided surgery system for use in image guided surgery, comprising:

an instrument guide unit operable to guide a surgical instrument into a body of a patient, said instrument guide unit including,

an instrument guide operable to guide a surgical instrument into the body of the patient, said instrument guide including a first set of tracking elements,

a base unit operable to be secured to the body in an area in which surgery is to occur, said base unit being coupled to said instrument guide and having a second set of tracking elements, and

an adjustment mechanism operably connecting said base unit and said instrument guide as a unit that is operable to adjust said instrument guide relative to said base unit;

a tracking device operable to track said first set of tracking elements associated with said instrument guide and said second set of tracking elements associated with said base unit;

a computer system operable to determine a location of said base unit and an orientation of said instrument guide by use of said first and second sets of tracking elements; and

a display operable to display representations of the area in which surgery is to occur and a trajectory line defined by an orientation of said instrument guide relative to said base unit.

2. The image guided surgery system of claim 1 wherein said adjustment mechanism is operable to adjust said instrument guide in lateral directions with respect to a surface of said area.

3. The image guided surgery system of claim 2 wherein said instrument guide includes a guide tube and a guide ball coupled to said guide tube.

4. The image guided surgery system of claim 3 wherein said adjustment mechanism is operable to adjust said guide ball in lateral directions with respect to said base unit and enable said guide ball to be rotated in angular positions, wherein lateral and angular positions of said guide tube is adjusted at said guide ball.

5. The image guided surgery system of claim 1 wherein said second set of tracking elements associated with said base unit are used as a reference frame.

6. The instrument guide of claim 1 wherein said first set of tracking elements and said second set of tracking elements are selected from a group comprising optical, sonic, electromagnetic, optical reflectors, LEDs, camera array, transducers, magnetic and a combination thereof.

7. The image guided surgery system of claim 1 further comprising said surgical instwment and a third tracking element associated with said surgical instrument, wherein a depth of said surgical instrument may be determined.

8. The image guided surgery system of claim 7 wherein said surgical instrument is an electrode.

9. An image guided surgery system for use in image guided surgery, comprising:

an instrument guide operable to guide a surgical instrument into a body of a patient;

a first tracking element connected directly to said instrument guide; and

a base unit operable to be fixedly connected to the body in an area in which surgery is to occur, said base unit being coupled to said instrument guide, wherein a location of said instrument guide may be determined by use of said first tracking element associated with said instrument guide.

10. The image guided surgery system of claim 9 further comprising said surgical instrument having a second tracking element associated with said surgical instrument, wherein a location of said surgical instrument may be determined by use of said second tracking element associated with said surgical instrument.

11. The image guided surgery system of claim 10 further comprising a third tracking element associated with said base unit, wherein a location of said base unit may determine the use of said third tracking element associated with said base unit.

12. The image guided surgery system of claim 10 wherein said surgical instrument is an electrode.

13. The image guided surgery system as defined in claim 11 wherein said third tracking element is used as a fiducial marker.

14. The image guided surgery system of claim 11 wherein said first tracking element, said second tracking element, and said third tracking element is selected from a group comprising optical, sonic, electromagnetic, optical reflectors, LEDs, camera array, transducers, magnetic and a combination thereof.

15. The image guided surgery system of claim 10 wherein said second tracking element is a transducer coupled to said surgical instrument.

16. The image guided surgery system of claim 15 wherein said transducer is an optical transducer.

17. The image guided surgery system of claim 15 wherein said transducer is a magnetic transducer.

18. The image guided surgery system of claim 11 wherein said location of said instrument guide is an orientation of said instrument guide, said location of said surgical instrument is a depth of said surgical instrument, and said location of said base unit is an X and Y position of said base unit.

19. The image guided surgery system of claim 11 wherein said first tracking element includes a plurality of first tracking elements and wherein said third tracking element includes a plurality of third tracking elements.

20. The image guided surgery system for use in image guided surgery, comprising:

a surgical instrument operable to be used in image guided surgery;

a first tracking element associated with said surgical instrument;

an instrument guide operable to guide said surgical instrument into a body of a patient; and

a base unit sized and operable to be secured to and substantially only carried on the body in an area in which surgery is to occur, said base unit being coupled to said instrument guide, wherein a location of said surgical instrument may determined by use of said first tracking element associated with said surgical instrument.

21. The image guided surgery system of claim 20 further comprising a second tracking element associated with said instrument guide, wherein the location of said instrument guide may be determined by use of said second tracking element associated with said instrument guide.

22. The image guided surgery system of claim 20 further comprising a second tracking element associated with said base unit, wherein the location of said base unit may be determined by use of said second tracking element associated with said base unit.

23. The image guided surgery system of claim 21 wherein said second tracking element includes a plurality of second tracking elements associated with said instrument guide and operable to be used to determine the orientation of said instrument guide.

24. The image guided surgery system of claim 22 wherein said second tracking element associated with said base unit includes a plurality of second tracking elements associated with said base unit and operable to be used to determine an X and Y position of said base unit.

25. An image guided surgery system for use in image guided surgery, comprising:

an instrument guide operable, to guide a surgical instrument into a body of a patient;

a base unit operable to be connected to the body in an area in which surgery is to occur, said base unit being coupled to said instrument guide;

a first tracking element associated with said base unit, wherein a location of said base unit may be determined by use of said first tracking element associated with said base unit; and

a second tracking element associated with said instrument guide, wherein a location of said instrument guide may be determined by use of said second tracking element associated with said instrument guide.

26. The image guided surgery system of claim 25 further comprising said surgical instrument having a second tracking element associated with said surgical instrument, wherein a location of said surgical instrument may be determined by use of said second tracking element associated with said surgical instrument.

27. The image guided surgery system of claim 25 wherein said first tracking element includes a plurality of first tracking elements associated with said base unit and said second tracking element includes a second plurality of tracking elements associated with said instrument guide.

28. The image guided surgery system of claim 25 wherein said first tracking element is used as a fiducial marker.

29. The image guided surgery system of claim 25 wherein the location of said base unit includes an X and Y position of said base unit, wherein a location of said instrument guide includes an orientation of said instrument guide.

30. The image guided surgery system of claim 26 wherein the location of said base unit includes an X and Y position of said base unit, wherein a location of said surgical instrument is a depth of said surgical instrument.

31. The image guided surgery system for use in image guided surgery, comprising:

a surgical instrument operable to be used in image guided surgery;

a first tracking element associated with said surgical instrument;

an instrument guide operable to guide said surgical instrument into a body of a patient; and

a base unit operable to be secured to the body in an area in which surgery is to occur, said base unit being coupled to said instrument guide, wherein a location of said surgical instrument may determined by use of said first tracking element associated with said surgical instrument; and

a second tracking element associated with said base unit;

wherein a location of said base unit is determined by use of said second tracking element associated with said base unit.

32. The system of claim 31, wherein at least one of said first tracking element, said second tracking element, or combinations thereof are fiducial markers operable to be used to register an image to a patient.