Six degree of freedom alignment display for medical procedures

• US 7,660,623 B2
• Filed: 01/30/2003
• Issued: 02/09/2010
• Est. Priority Date: 01/30/2003
• Status: Active Grant

• Current Assignee: Surgical Navigation Technologies, Inc. (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Rutz, Greg, Lyon, Torsten, Hunter, Mark
• Primary Examiner(s): Winakur; Eric F
• Assistant Examiner(s): Laryea; Lawrence N
• Application Number:
  US10/354,562
• Publication Number:
  US 20040152970A1
• Time in Patent Office: 2,567 Days
• Field of Search: 600/424, 600/407, 600/473, 600/476, 600/429, 600/159, 606/130, 606/159, 382/128, 345/418, 345157-158, 345/90, 345/60, 345/2, 345/1.1, 345/10
• US Class Current: 600/424
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/025 Joint distractors
• CPC Class Codes: A61B 17/15 Guides therefor arrangements for guiding straight saw blades in general B23D51/025
• CPC Class Codes: A61B 17/1703 using imaging means, e.g. by X-rays
• CPC Class Codes: A61B 17/175 for preparing the femur for hip prosthesis insertion
• CPC Class Codes: A61B 17/1757 for the spine
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/0256 for the spine
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/108 Computer aided selection or customisation of medical implants or cutting guides
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/252 indicating steps of a surgical procedure
• CPC Class Codes: A61B 2034/254 being adapted depending on the stage of the surgical procedure
• 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 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/376 : using X-rays, e.g. fluoroscopy
• 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 34/25 : User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 90/10 : for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61F 2/32 : for the hip
• CPC Class Codes: A61F 2/34 : Acetabular cups
• CPC Class Codes: A61F 2/36 : Femoral heads ; Femoral endoprostheses
• CPC Class Codes: A61F 2/441 : made of inflatable pockets or chambers filled with fluid, e.g. with hydrogel
• CPC Class Codes: A61F 2/4425 : made of articulated components
• CPC Class Codes: A61F 2/4607 : of hip femoral endoprostheses
• CPC Class Codes: A61F 2/4609 : of acetabular cups
• CPC Class Codes: A61F 2/4657 : Measuring instruments used for implanting artificial joints for surgical instruments A61B90/06
• CPC Class Codes: A61F 2/48 : Operating or control means, e.g. from outside the body, control of sphincters
• CPC Class Codes: A61F 2002/30471 : connected by a hinged linkage mechanism, e.g. of the single-bar or multi-bar linkage type
• CPC Class Codes: A61F 2002/30476 : locked by an additional locking mechanism
• CPC Class Codes: A61F 2002/305 : Snap connection
• CPC Class Codes: A61F 2002/30517 : using a locking plate
• CPC Class Codes: A61F 2002/30538 : for adjusting angular orientation
• CPC Class Codes: A61F 2002/30548 : for adjusting fluid pressure
• CPC Class Codes: A61F 2002/30565 : having spring elements
• CPC Class Codes: A61F 2002/30578 : having apertures, e.g. for receiving fixation screws
• CPC Class Codes: A61F 2002/30579 : with mechanically expandable devices, e.g. fixation devices
• CPC Class Codes: A61F 2002/30586 : having two or more inflatable pockets or chambers
• CPC Class Codes: A61F 2002/30624 : Hinged joint, e.g. with transverse axle restricting the movement
• CPC Class Codes: A61F 2002/30649 : Ball-and-socket joints
• CPC Class Codes: A61F 2002/30668 : Means for transferring electromagnetic energy to implants
• CPC Class Codes: A61F 2002/3067 : for data transfer
• CPC Class Codes: A61F 2002/30677 : Means for introducing or releasing pharmaceutical products, e.g. antibiotics, into the body
• CPC Class Codes: A61F 2002/3069 : Revision endoprostheses
• CPC Class Codes: A61F 2002/449 : comprising multiple spinal implants located in different intervertebral spaces or in different vertebrae
• CPC Class Codes: A61F 2002/4632 : using computer-controlled surgery, e.g. robotic surgery
• CPC Class Codes: A61F 2002/4635 : using minimally invasive surgery
• CPC Class Codes: A61F 2002/4666 : for measuring force, pressure or mechanical tension
• CPC Class Codes: A61F 2002/4668 : for measuring angles
• CPC Class Codes: A61F 2002/467 : for measuring fluid pressure
• CPC Class Codes: A61F 2002/4681 : by applying mechanical shocks, e.g. by hammering
• CPC Class Codes: A61F 2220/0025 : Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
• CPC Class Codes: A61F 2220/0091 : connected by a hinged linkage mechanism, e.g. of the single-bar or multi-bar linkage type
• CPC Class Codes: A61F 2250/0001 : Means for transferring electromagnetic energy to implants
• CPC Class Codes: A61F 2250/0002 : for data transfer
• CPC Class Codes: A61F 2250/0006 : for adjusting angular orientation
• CPC Class Codes: A61F 2250/0013 : for adjusting fluid pressure
• CPC Class Codes: G16Z 99/00 : Subject matter not provided for in other main groups of this subclass
• CPC Class Codes: Y02A 90/10 : Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

A display and navigation system for use in guiding a medical device to a target in a patient includes a tracking sensor, a tracking device and display. The tracking sensor is associated with the medical device and is used to track the medical device. The tracking device tracks the medical device with the tracking sensor. The display includes indicia illustrating at least five degree of freedom information and indicia of the medical device in relation to the five degree of freedom information.

Claims

1. A navigation system for guiding a medical device to a target in a patient during a medical procedure, said navigation system comprising:

a display; and

a workstation operably connected to the display and configured to process information from;

a tracking sensor associated with the medical device and operable to be used to track the medical device, and

a tracking device operable to track the medical device with the tracking sensor to update a position of the medical device as the medical device is guided,

the workstation, in response to the position of the medial device, configured to provide information for displaying on the display;

a first indicia identifying a first degree of freedom information;

a second indicia identifying a second degree of freedom information;

a third indicia identifying a third degree of freedom information;

a fourth indicia identifying a fourth degree of freedom information; and

a fifth indicia identifying a fifth degree of freedom information;

a sixth indicia identifying a sixth degree of freedom information; and

wherein said first, second, third, fourth, fifth and sixth indicia are illustrated on said display to assist in guiding the medical device to the target, the first, second, and third indicia are X, Y, and Z axes, respectively, with said X axis represented by a horizontal bar, said Y axis represented by a vertical bar crossing said X axis, and said Z axis represented by a separate bar, with a position of the medical device as the medical device is guided represented by an arrow on each of the displayed X axis, Y axis, and Z axis, and the fourth, fifth, and sixth indicia are rotation about the X, Y, and Z axes, respectively.

2. The navigation system as defined in claim 1 wherein the indicia are illustrated in a coordinate system selected from a group comprising a Cartesian coordinate system, a spherical coordinate system, a polar coordinate system, and a combination thereof.

3. The navigation system as defined in claim 1 wherein at least one of the indicia illustrates a safe zone in relation to said corresponding degree of freedom information.

4. The navigation system as defined in claim 3 wherein each indicia illustrates a safe zone.

5. The navigation system as defined in claim 3 wherein said safe zone is illustrated by way of color, audible tones, cross-hatching and a combination thereof.

6. The navigation system as defined in claim 1 wherein the workstation further displays on the display an indicia of a tip portion of the medical device and an indicia of a hind portion of the medical device depicting the relative position and orientation of the medical device.

7. The navigation system as defined in claim 1 wherein rotation about the X axis is illustrated by a straight bar graph having an arrow identifying the amount of rotation, wherein the rotation about the Y axis is illustrated by a straight bar graph having an arrow illustrating the amount of rotation about the Y axis and the rotation about the Z axis is illustrated by an arcuate bar graph having an arrow illustrating the rotation about the Z axis.

8. The navigation system as defined in claim 1 wherein the workstation further displays on the display a target/trajectory indicia identifying the target/trajectory for the medical device.

9. The navigation system as defined in claim 8 wherein the workstation further displays on the display indicia of a second target/trajectory identifying a second target/trajectory.

10. The navigation system as defined in claim 8 wherein said target indicia is an origin.

11. The navigation system as defined in claim 1 wherein the workstation further displays on the display at least one of an image of the patient superimposed on said display and one of a model of the patient superimposed on said display.

12. The navigation system as defined in claim 1 wherein said display includes multiple displays.

13. The navigation system as defined in claim 1 wherein the workstation displays on the display said first, second, third, fourth and fifth indicia simultaneously.

14. The navigation system as defined in claim 1 wherein said display assists in the control of a surgical robot used during the medical procedure.

15. The navigation system as defined in claim 1 wherein the workstation further displays on the display a safe zone that is illustrated as a region of a first color on each of the bars different than a second color of the remaining portion of each bar.

16. The navigation system of claim 1, wherein the workstation further displays on the display a position of the instrument that is illustrated as an icon on a single display with the each of the bars and operable to be displayed separate from each of the bars.

17. The display navigation system of claim 1, wherein each of the degree of freedom information indicates a position of the instrument within a Cartesian coordinate system;

wherein the first degree of freedom information is a X axis position of the instrument, the second degree of freedom information is a Y axis position of the instrument, the third degree of freedom information is a Z axis position of the instrument, the fourth degree of freedom information is a rotation around the X axis of the instrument, the fifth degree of freedom information is a rotation around the Y axis of the instrument, and the sixth degree of freedom information is a rotation around the Z axis of the instrument.

18. The navigation system of claim 1, wherein the display includes a human viewable display having a width and a height;

wherein the X axis bar and the Y axis bar are positioned near a center of the display, the Z axis bar extends out from the display and is shown in an upper left corner, rotation about the X axis is shown by bar graph on a right of the display, rotation about the Y axis is shown by bar graph positioned at the bottom of the display, rotation about the Z axis is shown with an arcuate bar graph oriented about the X and Y axes.

19. A navigation system for use in guiding a medical device to a target in a patient during a medical procedure, said navigation system comprising:

a tracking sensor associated with the medical device and operable to be used to track the medical device;

a tracking device operable to track the medical device with the tracking sensor to update a position of the medical device as the medical device is guided; and

a workstation having a display, the workstation configured to provide information data for displaying on the display indicia illustrating at least five degrees of freedom information and indicia of the position of the medical device in relation to said at least five degrees of freedom information as the medical device is guided;

wherein the first, second, and third indicia are X, Y, and Z axes, respectively, with the X axis represented by a horizontal bar, the Y axis represented by a vertical bar crossing the X axis, and the Z axis represented by a separate bar, with the position of the medical device represented by an arrow on each of the displayed X axis, Y axis, and Z axis.

20. The navigation system as defined in claim 19 wherein said tracking sensor is attached to the medical device.

21. The navigation system as defined in claim 19 wherein said tracking sensor is selected from a group comprising an electromagnetic sensor, an optical sensor, an optical reflector, an electromagnetic transmitter, a conductive sensor, an acoustic sensor, or combinations thereof.

22. The navigation system as defined in claim 19 wherein said tracking device is selected from a group comprising an electromagnetic tracking device, an optical tracking device, a conductive tracking device, an acoustic tracking device, or combinations thereof.

23. The navigation system as defined in claim 19 further comprising an imaging device operable to generate image data of a region of the patient.

24. The navigation system as defined in claim 19 wherein said navigation system has an image-less based navigation system wherein said image-less navigation system is operable to generate a model representing a region of the patient.

25. The navigation system as defined in claim 19 further comprising a dynamic reference frame attached to the patient and operable to be used to track movement of the patient relative to said tracking device.

26. The navigation system as defined in claim 19 wherein the medical device is a medical instrument or implant.

27. The navigation system as defined in claim 19 wherein said indicia of the medical device includes indicia identifying a tip portion and indicia identifying a hind portion of the medical device.

28. The navigation system as defined in claim 27 wherein said tip includes indicia of crosshairs and said hind includes indicia of a circle.

29. The navigation system as defined in claim 19 wherein said medical device is a device having at least a first component and a second component where placement of said first component is dependent upon placement of said second component and wherein said display is operable to display proper position of said first component relative to said second component.

30. The navigation system as defined in claim 19, wherein at least three of the of the five degree of freedom information is illustrated on the display;

and

wherein a first degree of the five degree of freedom information includes the X axis represented by the horizontal axis bar and a second degree of the five degree of freedom information includes the Y axis represented by the vertical axis bar crossing the X axis bar, wherein a position of the medical device is illustrated by a cross-hair relative to the axis bars.

31. The navigation system as defined in claim 30, wherein rotation of the medical device about the X axis is illustrated by a straight bar graph having an arrow identifying the amount of rotation, wherein the rotation about the Y axis is illustrated by a straight bar graph having an arrow illustrating the amount of rotation about the Y axis, and the rotation about the Z axis is illustrated by an arcuate bar graph having an arrow illustrating the rotation about the Z axis.

32. The navigation system of claim 31, wherein the display includes a human viewable display having a width and a height;

wherein the X axis bar and the Y axis bar are positioned near a center of the display, the Z axis bar extends out from the display and is shown in an upper left corner, rotation about the X axis is shown by bar graph on a right of the display, rotation about the Y axis is shown by bar graph positioned at the bottom of the display, rotation about the Z axis is shown with an arcuate bar graph oriented about the X and Y axes.

33. The navigation system of claim 19, wherein a position of the medical device is illustrated as an icon on a single display with the each of the bars and operable to be displayed separate from each of the bars.

34. The navigation system of claim 19, wherein each of the five degrees of freedom information indicates a position of the medical device within a Cartesian coordinate system;

wherein three of the degrees of freedom include the first degree of freedom information is a X axis position of the medical device, the second degree of freedom information is a Y axis position of the medical device, the third degree of freedom information is a Z axis position of the medical device;

wherein two of the degrees of freedom include at least two of the fourth degree of freedom information is a rotation around the X axis of the medical device, the fifth degree of freedom information is a rotation around the Y axis of the medical device, the sixth degree of freedom information is a rotation around the Z axis of the medical device, and combinations thereof.

35. A method for navigating and displaying a medical device during a medical procedure, said method comprising:

selecting a target for navigating the medical device to;

displaying the target in a coordinate system that includes an X axis represented by a horizontal bar, a Y axis represented by a vertical bar crossing the X axis, and a Z axis represented by a separate bar;

tracking the medical device with a navigation system to determine a position of the medical device in the coordinate system; and

displaying the medical device in relation to the target with at least five degrees of freedom information by displaying an indicia that indicates the position of the medical device on each of the X axis, Y axis and Z axis as the medical device is navigated.

36. The method as defined in claim 35 further comprising selecting a safe zone for at least one of the degrees of freedom information.

37. The method as defined in claim 36 further comprising selecting a safe zone for each degree of freedom information.

38. The method as defined in claim 35 further comprising aligning the medical device with the target using the five degree of freedom information.

39. The method as defined in claim 35 further comprising

selecting a second target that is positioned in relation to the first target for a second medical device;

and

displaying the second target in the coordinate system.

40. The method as defined in claim 39 further comprising:

tracking the second medical device; and

displaying the second medical device in relation to the second target with the at least five degree of freedom information.

41. The method as defined in claim 40 further comprising aligning the second medical instrument with the second target.

42. The method as defined in claim 41 further comprising:

determining whether the alignment of the first medical device and the second medical device are correct; and

realigning the first medical device, the second medical device, or combinations thereof when the alignment is determined to be incorrect.

43. The method as defined in claim 35 wherein selecting the target further includes selecting a center of a joint.

44. The method as defined in claim 35 wherein selecting the target further includes selecting a target based upon an articulating plane of a joint.

45. The method as defined in claim 35 wherein selecting the target further includes selecting an area between a first vertebra and a second vertebra for placement of an implant.

46. The method as defined in claim 35 wherein selecting the target further includes selecting a site within an artery.

47. The method of claim 35, wherein displaying indicia includes:

displaying the X axis as a first degree of the five degree of freedom information represented by the horizontal axis bar and a displaying the Y axis as a second degree of the five degree of freedom information represented by the vertical axis bar crossing the X axis bar, wherein a position of the medical device is illustrated by a cross-hair relative to the axis bars;

displaying the Z axis as a third degree of the five degree of freedom information represented by the separate axis bar having an arrow identifying the position along the Z axis.

48. The method of claim 47, further comprising at least one of:

displaying rotation of the medical device about the X axis by a straight bar graph having an arrow identifying the amount of rotation;

displaying rotation of the medical device about the Y axis by a straight bar graph having an arrow illustrating the amount of rotation about the Y axis;

displaying rotation of the medical device about the Z axis by an arcuate bar graph having an arrow illustrating the rotation about the Z axis;

or combinations thereof.

49. The method of claim 47, wherein a position of the medical device is represented by an arrow relative to each of the displayed X axis bar, Y axis bar, and Z axis bar.

50. The method of claim 47, wherein a position of the medial device is illustrated as an icon on a single display with the each of the bars and operable to be displayed separate from each of the bars.

51. The display of claim 47, further comprising:

providing a human viewable display having a width and a height;

positioning the X axis bar and the Y axis bar near a center of the display

positioning the Z axis bar as extending out from the display and in an upper left corner of the display;

positioning a bar graph illustrating rotation about the X axis on a right of the display;

positioning a bar graph illustrating rotation about the Y axis at the bottom of the display; and

positioning an arcuate bar graph illustrating rotation about the Z axis oriented about the X axis and Y axis bars.

52. The display of claim 35, wherein each of the five degrees of freedom information indicates a position of the medical device within a Cartesian coordinate system;

wherein three of the degrees of freedom include the first degree of freedom information is a X axis position of the medical device, the second degree of freedom information is a Y axis position of the medical device, and the third degree of freedom information is a Z axis position of the medical device;

wherein two of the degrees of freedom include at least two of the fourth degree of freedom information is a rotation around the X axis of the medical device, the fifth degree of freedom information is a rotation around the Y axis of the medical device, the sixth degree of freedom information is a rotation around the Z axis of the medical device, or combinations thereof.