Surgical sensor

• US 8,057,407 B2
• Filed: 10/11/2005
• Issued: 11/15/2011
• Est. Priority Date: 10/28/1999
• Status: Active Grant

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Martinelli, Michael A, Hunter, Mark W, McCoid, Sheri, Kessman, Paul
• Primary Examiner(s): Chen; Tse
• Assistant Examiner(s): Roy; Baisakhi
• Application Number:
  US11/247,848
• Publication Number:
  US 20060036189A1
• Time in Patent Office: 2,226 Days
• Field of Search: 600/407, 600437-444, 600/461, 600/567, 600/587, 606/1, 702/153
• US Class Current: 600/595
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• 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 2090/3916 Bone tissue
• CPC Class Codes: A61B 2090/397 electromagnetic other than visible, e.g. microwave
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 2090/3987 Applicators for implanting markers
• 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 90/39 Markers, e.g. radio-opaque or breast lesions markers

Abstract

An integrated surgical anchor/localization sensor is disclosed. The anchor is adapted to be secured to an anatomical structure and contains a sensor housing. A receiver is located within the sensor housing and is adapted to sense reference signals generated by a surgical guidance system. A transmitter, connected to the receiver, conveys to a processor signals received by the receiver, so that the signals transmitted by the receiver are indicative of a current position of the anchor. Various other structures and methods are also disclosed.

Claims

1. A method of determining a position of a plurality of portions of an anatomy, wherein the plurality of portions of the anatomy are naturally a single portion, comprising:

attaching a first tracking sensor to a first portion of the anatomy including moving a first anchor into a first bone portion of the anatomy, interconnecting the first tracking sensor and the first anchor in a selected orientation, and fixing the first tracking sensor to the first anchor, wherein interconnecting the first tracking sensor and the first anchor in a selected orientation includes connecting the first tracking sensor to the first anchor in substantially only a single orientation determined by a first hollow formed relative to the first anchor;

attaching a second tracking sensor to a second portion of the anatomy including moving a second anchor into a second bone portion of the anatomy; and

moving the first portion of the anatomy relative to the second portion of the anatomy;

wherein a selected position of the first portion and the second portion is determined at least in part with a first position signal produced from the first tracking sensor and a second position signal produced from the second tracking sensor.

2. The method of claim 1, wherein determining the selected position of the first portion, the second portion, or combinations thereof, include at least one of transmitting a signal, receiving a signal, or combinations thereof.

3. The method of claim 2, wherein determining the selected position of the first portion includes transmitting a first position signal from the tracking sensor and wherein determining the selected position of the second portion includes transmitting a second position signal from the second tracking sensor.

4. The method of claim 2, wherein determining the selected position of the first portion of the first tracking sensor includes:

producing a signal external to the anatomy;

receiving the signal produced external to the anatomy by said first tracking sensor; and

transmitting the first position signal from the first tracking sensor to a processor.

5. The method of claim 2, wherein determining the selected position of the second portion includes:

producing a signal external to the anatomy;

receiving the signal produced external to the anatomy by said second tracking sensor; and

transmitting the second position signal from the second tracking sensor to a processor.

6. The method of claim 1, further comprising:

positioning the first tracking sensor in the first hollow formed in the first anchor.

7. The method of claim 6, further comprising:

connecting the first tracking sensor with the first anchor;

wherein the first tracking sensor includes an electromagnetic sensor.

8. The method of claim 1, wherein the first bone portion and the second bone portion are anatomically a single bone.

9. The method of claim 8, further comprising:

manipulating the first portion of the anatomy and the second portion of the anatomy to achieve a selected anatomical orientation.

10. The method of claim 9, wherein manipulating the first portion of the anatomy and the second portion of the anatomy to achieve a selected anatomical orientation includes determining when the first portion of the anatomy and the second portion of the anatomy substantially mimic the natural anatomy.

11. The method of claim 1, further comprising:

transmitting at least one of the first position signal, the second position signal, or combinations thereof via radio frequencies.

12. The method of claim 1, further comprising:

providing a surgical instrument; and

providing a third tracking sensor with the surgical instrument.

13. The method of claim 12, further comprising:

providing a first portion of the third tracking sensor and a second portion of the third tracking sensor substantially collinear on the surgical instrument.

14. The method of claim 13, wherein the surgical instrument includes selecting at least one of a cannula, a probe, a catheter, or combinations thereof.

15. The method of claim 1, wherein attaching a second tracking sensor includes interconnecting a sensor element with a hollow portion of the second anchor interconnected with the second portion of the anatomy.

16. The method of claim 1, further comprising:

obtaining image data of the patient with an imaging system separate from the first anchor or the second anchor.

17. The method of claim 16, wherein obtaining image data includes obtaining image data of the patient with at least one of a magnetic resonance imager, a computer aided tomography imager, a fluoroscope, x-ray imagers, a positron emission scanner, a photon-emission computer tomography imager, or combinations thereof.

18. The method of claim 1, further comprising:

selecting a fractured anatomical portion that has at least a first fracture portion as the first bone portion and a second fracture portion as the second bone portion that have a naturally unfractured configuration;

wherein moving the first portion of the anatomy relative to the second portion of the anatomy is to substantially achieve the naturally unfractured configuration.

19. A method of determining a position of a plurality of portions of an anatomy, wherein the plurality of portions of the anatomy are naturally a single portion, comprising:

attaching a first tracking sensor to a first portion of the anatomy including moving a first anchor into a first bone portion of the anatomy, interconnecting the first tracking sensor and the first anchor in a selected orientation, and fixing the first tracking sensor to the first anchor;

attaching a second tracking sensor to a second portion of the anatomy including moving a second anchor into a second bone portion of the anatomy;

moving the first portion of the anatomy relative to the second portion of the anatomy;

determining a selected position of the first portion and the second portion of the anatomy at least in part with a first position signal produced from the first tracking sensor and a second position signal produced from the second tracking sensor;

registering the obtained image data to the physical space of the patient, wherein registering the image data includes matching a location of a fiducial in the physical space of the patient with an image space of the obtained image data;

anchoring at least one of the first tracking sensor, the second tracking sensor, or combinations thereof with the fiducial to the portion of the anatomy, wherein at least one of the first anchor or the second anchor is the fiducial;

displaying a movement of at least one of the first bone portion or the second bone portion of the anatomy with the obtained image data based on the registration of the obtained image data to the physical space; and

obtaining image data of the patient with an imaging system prior to attaching the first anchor or the second anchor.

20. A method of detecting and tracking a current position of a tissue of an anatomy, comprising:

attaching an anchor to the tissue;

imaging the anatomy after attaching the anchor to the anatomy to generate images;

attaching a tracking sensor to the anchor after the imaging of the anatomy;

registering the position of the anchor to the image data including image data of the anchor;

wherein a position of the surface of the anatomy is determined with a position signal produced by and conveyed from the tracking sensor; and

wherein the tracking sensor is configured so that the position signals correspond to the current position of the tissue;

wherein attaching a tracking sensor includes positioning the tracking sensor on an external portion of the anatomy.

21. The method of claim 20, wherein the position signal includes at least one of sensing a signal generated by a surgical navigation system, transmitting a signal from the tracking sensor to the surgical navigation system, or combinations thereof.

22. The method of claim 20, wherein the position signal of the tracking sensor is transmitted via radio frequencies.

23. The method of claim 20,

wherein the tracking sensor attaches to the anchor in substantially only a single orientation.

24. The method of claim 20, further comprising:

transmitting a signal from a surgical navigation system to the tracking sensor; and

wherein producing a position signal includes sensing the signal from the surgical navigation system.

25. The method of claim 20, wherein attaching a tracking sensor includes:

attaching an anchor to the anatomy and providing a bore in the anchor; and

interconnecting the tracking sensor with the bore provided in the anchor.

26. The method of claim 20, further comprising:

providing a surgical instrument;

providing a surgical instrument sensor;

wherein said surgical sensor includes first sensing coil and a second sensing coil substantially collinear with the first sensing coil.

27. The method of claim 26, wherein the surgical instrument is selected from at least one of a probe, a cannula, a catheter, or combinations thereof.

28. The method of claim 20, further comprising:

displaying images of the anatomy on a display device;

manipulating the anatomy to move the anatomy, after registering the position of the anchor to the image data; and

viewing real time position of the anatomy based on the tracking sensor is configured so that the position signals correspond to the current position of the tissue.

29. The method of claim 28, wherein viewing real time position of the anatomy includes:

digitizing the generated images of the anatomy; and

illustrating movement of the digitized images in real-time based upon the real-time movement of the anatomy due at least to the registering the position of the anchor to the image data of the position of the anchor and the determining a position of the surface of the anatomy with the position signal.