Surgical navigation tracker, system and method

• US 7,771,436 B2
• Filed: 06/09/2005
• Issued: 08/10/2010
• Est. Priority Date: 12/10/2003
• Status: Active Grant

• Current Assignee: Stryker European Operations Holdings, LLC (Stryker Corporation)
• Original Assignee: Stryker Leibinger GmbH & Co. KG (Stryker Corporation)
• Inventors: Boehringer, Markus Jan, Moctezuma De La Barrera, Jose Luis, Schoepp, Hans, Sarvestani, Amir, Buehner, Ulrich
• Primary Examiner(s): Casler; Brian
• Assistant Examiner(s): LAURITZEN, AMANDA L
• Application Number:
  US11/148,520
• Publication Number:
  US 20050288575A1
• Time in Patent Office: 1,888 Days
• Field of Search: 600/424, 600/426, 600/429, 600/431, 606/130, 382/103, 73/17.9, 73/18.1
• US Class Current: 606/130
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• 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 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

An adapter can be easily used to assist a surgical navigation system to determine the effector axis or the effector plane of a surgical device. The adapter has a body with a geometrical feature, the geometrical feature has a known relation with a navigation tracker device that can be attached to the adapter. When the adapter is held against a surgical device in a non-fixed manner, the effector axis or the effector plane of the device can be tracked by the surgical navigation system. The method includes a calibration method to determine the known relation between the effector axis or the effector plane and the location of the navigation tracker.

Claims

1. A system for orienting a surgical device, comprising:

a surgical navigation system having a display unit;

a navigation tracker having a body including a geometrical feature defining an unobstructed axial channel extending along the body between opposite open ends and capable of being movably coupled to a surgical device having an effector axis, the navigation tracker capable of being tracked by the navigation system, wherein there is a known relation between the navigation tracker and the effector axis when the surgical device is disposed in and moving longitudinally along the axial channel;

a first circuit adapted to calculate an orientation of the effector axis of the surgical device from the known relation between the navigation tracker and the effector axis while the surgical device is movably coupled in and moving longitudinally along the axial channel; and

a second circuit for displaying the orientation of the effector axis of the surgical device on a display unit.

2. The system of claim 1 wherein a hand can easily hold the navigation tracker in place relative to the surgical device.

3. The system of claim 1 wherein the system further includes a database of the known relations of the navigation tracker to the effector axis of the surgical device, and wherein the database provides the known relation to the first circuit.

4. The system of claim 1 wherein the navigation tracker is an optical tracking device.

5. The system of claim 4 wherein the optical tracking device includes infrared LED'"'"'s.

6. The system of claim 1 wherein the navigation tracker does not include a mechanical locking device for coupling the surgical device.

7. The system of claim 1 wherein the body has a first side, a second side, and the geometrical feature is on the second side capable of being movably coupled with respect to the surgical device.

8. The system of claim 7 wherein the geometrical feature is shaped to allow a reproducible alignment between the navigation tracker and the effector axis.

9. The system of claim 7 wherein the geometrical feature comprises a V-shaped channel.

10. The system of claim 7 wherein the geometrical feature is a series of spaced lugs on the second side.

11. The system of claim 7 wherein the geometrical feature comprises two notches that are spaced apart along the axial channel.

12. The system of claim 7 wherein the second side is comprised of a hard surface to prevent wearing when held against the surgical device.

13. The system of claim 7 wherein the body includes at least two geometrical features projecting outwardly from the body, wherein the geometrical features are spaced apart and aligned along the effector axis, and wherein the geometrical features define the axial channel.

14. The system of claim 13 wherein the geometrical features include V-shaped notches.

15. The system of claim 13 wherein the geometrical features include U-shaped notches.

16. A method for orienting a surgical device, the method comprising the steps of:

coupling by a user'"'"'s hand a navigation tracker to a surgical device that has an effector axis in a movable manner using a geometrical feature associated with the navigation tracker, wherein the navigation tracker is capable of communicating with a navigation system, and wherein there is a known relation between the navigation tracker and the effector axis;

calculating orientation data for the effector axis of the surgical device from the known relation between the navigation tracker and the effector axis, wherein the calculating step is performed while the surgical device is moving longitudinally along the geometrical feature and movably coupled to the navigation tracker by the user'"'"'s hand; and

displaying the orientation data for the effector axis of the surgical device on a display unit of the navigation system so that when the surgical device is used with the navigation system, the orientation of the effector axis of the surgical device can be tracked by the navigation system.

17. The method of claim 16 wherein a hand can easily hold the navigation tracker in place relative to the surgical device.

18. The method of claim 16 including the additional step of providing a database of the known relations of the navigation tracker to the effector axis, the database being utilized to calculate the orientation of the surgical device.

19. The method of claim 16, wherein the navigation tracker includes a body and the geometrical feature defines an unobstructed axial channel extending along the body, and wherein the step of calculating is performed while the surgical device is movably coupled in the entire length of the axial channel.

20. The method of claim 16 wherein the navigation tracker is an optical tracking device.

21. The method of claim 20 wherein the optical tracking device includes infrared LED'"'"'s.

22. The method of claim 16 wherein the navigation tracker has a body with a first side and a second side, wherein the geometrical feature is located on the second side.

23. The method of claim 22 wherein the second side is comprised of a hard surface to prevent wearing when held against the surgical device.

24. The method of claim 22 wherein the geometrical feature comprises an axial channel extending along the second side of the body, wherein the axial channel is unobstructed between opposite open ends.

25. The method of claim 24 wherein the geometrical feature comprises a V-shaped channel.

26. The method of claim 24 wherein the geometrical feature is a series of lugs on the second side.

27. The method of claim 24 wherein the geometrical feature comprises two notches that are spaced apart along the effector axis.

28. The method of claim 24 wherein the body includes at least two geometrical features projecting from the second side of the body, wherein the geometrical features are spaced apart and aligned along the effector axis, and wherein the geometrical features define the axial channel.

29. The method of claim 28 wherein the geometrical features comprise aligned V-shaped notches.

30. The method of claim 28 wherein the geometrical features comprise aligned U-shaped notches.