Apparatus and method for improving the accuracy of navigated surgical instrument
First Claim
1. A computer assisted surgery system for accurately positioning device in a body, said system including:
- a localizing device configured to measure a pose of an implanted surgical device;
an imaging device configured to acquire an image of said implanted surgical device;
a computer configured to adjusted said pose for said implanted surgical device, said adjusted pose based on information developed from said image of said implanted surgical device,wherein said adjusted pose provides a compensation for an improperly positioned representation of said implanted surgical device over said acquired image.
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Accused Products
Abstract
A computer assisted surgery system is described for assisting a surgeon in aligning a drill with the interlocking holes of an implanted intramedullary (IM) rod used for fixation of long bone fractures. With the IM rod inserted, a localizing device measures the pose of a tracked adapter attached to the rod'"'"'s exposed end. Approximate AP and lateral fluoroscopic x-ray images are acquired of the end of the rod with the interlocking holes. Image processing algorithms determine the actual position of the rod and calculate an adjustment to the pose of the tracked adapter and IM rod. Using the adjusted pose information, the system displays, in three roughly orthogonal views, a representation of the drill trajectory relative to the images of the IM rod and relative to a graphic representation of the IM rod.
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Citations
29 Claims
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1. A computer assisted surgery system for accurately positioning device in a body, said system including:
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a localizing device configured to measure a pose of an implanted surgical device; an imaging device configured to acquire an image of said implanted surgical device; a computer configured to adjusted said pose for said implanted surgical device, said adjusted pose based on information developed from said image of said implanted surgical device, wherein said adjusted pose provides a compensation for an improperly positioned representation of said implanted surgical device over said acquired image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for accurately positioning a surgical device in a body, said method including:
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generating a computer model of said surgical device, said model including a reference point; measuring a pose of said surgical device with a localizing device; acquiring at least one image of said surgical device with an imaging device; using a computer to calculate a first position of said reference point based on at least said computer model and said pose of said surgical device; using the computer calculate a second position of said reference point based on at least said at least one image; and using the computer calculate an adjusted pose of said surgical device based on at least a difference between said first and second positions, wherein said adjusted pose includes a compensation for an improperly positioned representation of said surgical device in a graphical display of said surgical device. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A method for improving the accuracy of a navigated surgical instrument, said method including:
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measuring a pose of an instrument and imaging device using a localizing device; acquiring at least one image of a patient anatomy and said instrument using said imaging device; using a computer to adjust said pose of said instrument using an adjustment transformation; and generating a graphic representation of said instrument based on said adjusted pose;
wherein said adjustment transformation is based on positional errors at or near at least one end of the instrument determined from said at least one image of the patient anatomy and instrument. - View Dependent Claims (24, 25, 26, 27, 28, 29)
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Specification