Method and apparatus for surgical navigation
First Claim
Patent Images
1. A system and apparatus for tracking a portion of a patient, an instrument, registering an image, or combinations thereof, the system comprising:
- a tracking sensor;
a tracking system that tracks the tracking sensor;
a body operable to surround at least a portion of the tracking sensor;
an anchor coupled to the body to hold the body relative to the portion of the patient at a first location by directly engaging the patient at the first location; and
an attachment member retractably coupled to the body to hold the body relative to the patient at a second location different from the first location by directly engaging the patient at the second location, the attachment member configured to translate relative to the body from a first position retracted in the body to a second position protruding from the body to directly engage the patient;
wherein the body has a dimension to allow percutaneous placement of the body beneath soft tissue of the patient such that the tracking sensor is out of the line of sight of the tracking system, and wherein the body defines a bore to enable the anchor to pass through the body and hold the body relative to the portion of the anatomy.
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Accused Products
Abstract
A surgical navigation system for tracking a procedure relative to a patient is disclosed. The system can track a portion of the patient, an instrument, both, and both or either relative to image data, a coordinate system, an atlas, a morphed atlas, or combinations thereof. The system can include a minimally or non-invasive dynamic reference frame and/or fiducial marker, sensor tipped instruments, and isolator circuits.
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Citations
79 Claims
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1. A system and apparatus for tracking a portion of a patient, an instrument, registering an image, or combinations thereof, the system comprising:
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a tracking sensor; a tracking system that tracks the tracking sensor; a body operable to surround at least a portion of the tracking sensor; an anchor coupled to the body to hold the body relative to the portion of the patient at a first location by directly engaging the patient at the first location; and an attachment member retractably coupled to the body to hold the body relative to the patient at a second location different from the first location by directly engaging the patient at the second location, the attachment member configured to translate relative to the body from a first position retracted in the body to a second position protruding from the body to directly engage the patient; wherein the body has a dimension to allow percutaneous placement of the body beneath soft tissue of the patient such that the tracking sensor is out of the line of sight of the tracking system, and wherein the body defines a bore to enable the anchor to pass through the body and hold the body relative to the portion of the anatomy. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
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28. A system and apparatus for tracking a portion of a patient, an instrument, registering an image, or combinations thereof;
- the system comprising;
a tracking sensor; a tracking system that tracks the tracking sensor; a body operable to surround at least portion of the tracking sensor; an anchor coupled to the body to hold the body relative to the portion of the patient at a first location by directly engaging the patient at the first location; an attachment portion coupled to the body to hold the body relative to the patient at a second location different from the first location by directly engaging the patient at the second location; and a retractable protector disposed about a distal end of the attachment portion to limit contact of the attachment portion with at least one of the patient, a user, or combinations thereof, the retractable protector biased to a position covering said distal end of said attachment portion and configured to be translated into said body upon engaging the patient; wherein the body has a dimension to allow percutaneous placement of the body beneath soft tissue of the patient such that the tracking sensor is out of the line of sight of the tracking system. - View Dependent Claims (29)
- the system comprising;
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30. A system and apparatus for tracking a portion of a patient, an instrument, registering an image, or combinations thereof;
- the system comprising;
a tracking system; a tracking sensor operable to be tracked by the tracking system; a body operable to surround at least a portion of the tracking sensor; an anchor coupled to the body to hold the body relative to the portion of the patient at a first location by directly engaging the patient at the first location, the anchor including a throughbore along a longitudinal axis thereof; a member operable to be passed through the throughbore and engage the anatomy at the first location to substantially resist rotation of the anchor; and an attachment member coupled to the body to hold the body relative to the patient at a second location different from the first location by directly engaging the patient at the second location; wherein the body has a dimension to allow percutaneous placement of the body, and the tracking sensor is selected from one of an electromagnetic tracking sensor, an acoustic tracking sensor, an optical tracking sensor, a radiation tracking sensor, or combinations thereof that defines a bore to enable the anchor to pass through the bore and hold the body relative to the portion of the anatomy. - View Dependent Claims (31)
- the system comprising;
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32. A system for tracking a portion of an anatomy, comprising:
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a body having a dimension operable to be positioned percutaneously relative to the anatomy; an anchor member to be fixed to the portion of the anatomy to hold the body relative to the anatomy; a second anchor member extending from the body to engage the portion of the anatomy at a position that is a distance from the fixation point of the anchor member; a sensor positioned within the body and surrounded by the body to be held relative to the anatomy; and a protective member that covers a distal end of the second anchor member and limits contact of the second anchor member with at least one of the anatomy, a user, or combinations thereof, the protective member being deformable such that when the protective member engages the anatomy, the protective member deforms thereby exposing the second anchor distal end such that the second anchor distal end engages the anatomy; wherein the body defines a bore to enable the anchor member to pass through the body and hold the body relative to the portion of the anatomy. - View Dependent Claims (33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49)
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50. A method of tracking a portion of an anatomy with a tracking sensor, comprising:
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forming a passage through a soft tissue of the anatomy; passing a tracking sensor system through the passage formed in the soft tissue, the tracking sensor system including a tracking sensor body that defines a bore; fixing the tracking sensor system at a first point relative to the selected portion of the anatomy by passing an anchor through the bore to hold the body relative to the selected portion of the anatomy; fixing the tracking sensor system to the selected portion of the anatomy at a second point with a second anchor to assist in resisting rotation of the tracking sensor system relative to the selected portion of the anatomy; tracking the tracking sensor system with a tracking system; moving the selected portion of the anatomy; moving the tracking sensor system under soft tissue while fixed so that the tracking sensor system is out of the line of sight of the tracking system; tracking the tracking sensor system beneath the soft tissue with the tracking system; and wherein fixing the tracking sensor system to the selected portion of the anatomy at the second point with the second anchor substantially resists rotation of the tracking sensor; and wherein passing the anchor through the bore causes a portion of the anchor to engage the second anchor and drive the second anchor into engagement with the anatomy at the second point. - View Dependent Claims (51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77)
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78. A method of tracking a portion of an anatomy with a tracking sensor, comprising:
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forming a passage through a soft tissue of the anatomy; passing a tracking sensor system through the passage formed in the soft tissue; fixing the tracking sensor system at a first point relative to the selected portion of the anatomy; fixing the tracking sensor system to the selected portion of the anatomy at a second point with a second fixation member; protecting at least one of the anatomy, a user, or combinations thereof from the second fixation member until the second fixation member is selected to be driven into a selected portion of the anatomy; tracking the tracking sensor system with a tracking system; moving the selected portion of the anatomy; moving the tracking sensor system under soft tissue while fixed so that the tracking sensor system is out of the line of sight of the tracking system; tracking the tracking sensor system beneath the soft tissue with the tracking system; wherein fixing the tracking sensor system to the selected portion of the anatomy at the second point substantially resists rotation of the tracking sensor; and wherein protecting the anatomy further includes providing a retractable sleeve and slidably coupling the retractable sleeve to the tracking sensor system and about a distal end of the second fixation member.
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79. A system and apparatus for tracking a portion of a patient, an instrument, registering an image, or combinations thereof, the system comprising:
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a tracking sensor; a tracking system that tracks the tracking sensor; a body operable to surround at least a portion of the tracking sensor, the body including a lower body portion and an upper body portion, said upper body portion including an upper fixation portion and said lower body portion including a lower fixation portion to allow for holding the upper body portion and the lower body portion relative to one another; an anchor coupled to the body to hold the body relative to the portion of the patient at a first location by directly engaging the patient at the first location; and an attachment portion coupled to the body to hold the body relative to the patient at a second location different from the first location by directly engaging the patient at the second location; wherein the body has a dimension to allow percutaneous placement of the body beneath soft tissue of the patient such that the tracking sensor is out of the line of sight of the tracking system; wherein the lower body portion further comprises an anti-rotation recess that has a plurality of depressions, and the anchor further comprises an anti-rotation collar that engages at least one of the plurality of depressions to prevent the rotation of the anchor relative to the body.
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Specification