Recording localization device tool positional parameters

• US 8,355,773 B2
• Filed: 01/21/2003
• Issued: 01/15/2013
• Est. Priority Date: 01/21/2003
• Status: Active Grant

• Current Assignee: Aesculap AG (B. Braun Holding GmbH & Co. KG)
• Original Assignee: Aesculap AG (B. Braun Holding GmbH & Co. KG)
• Inventors: Friedrich, Dirk, Leitner, Franois
• Primary Examiner(s): MEHTA, PARIKHA SOLANKI
• Application Number:
  US10/348,583
• Publication Number:
  US 20040143178A1
• Time in Patent Office: 3,647 Days
• Field of Search: 600/426, 600/424, 606/86, 606/87, 606/130
• US Class Current: 600/424
• CPC Class Codes: A61B 17/157 Cutting tibia
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• 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

Abstract

A localization device display method and apparatus for recording positional parameters associated with a tool being navigated with the localization device. The localization device monitors the position of a tool and automatically records positional parameters associated with the tool when the positional parameters conform to an area of interest and the tool is stable.

Claims

1. A method for recording positional parameters of a tool navigated using a localization device during a procedure, the method comprising the steps of:

monitoring at least one positional parameter of a tool with said localization device;

displaying information indicative of said at least one positional parameter of said tool;

determining with the localization device whether said tool is stable for a predetermined period of time during the procedure; and

responsive to said tool being stable for the predetermined period of time as determined by the localization device, storing with the localization device said at least one positional parameter of said tool at an instant in time at an end of said predetermined period of time for a period of time extending beyond an end of said procedure.

2. The method of claim 1, wherein said tool is capable of receiving a marker for tracking by the localization device to enable monitoring of said at least one positional parameter of said tool.

3. The method of claim 1, further comprising the steps of:

defining a range of interest for said at least one positional parameter; and

determining if said at least one positional parameter conforms to said range of interest, wherein said at least one positional parameters is recorded only if said at least one positional parameter conforms to said range of interest.

4. The method of claim 3, wherein said range of interest defines tolerances for said at least one positional parameter.

5. The method of claim 3, further comprising the step of:

generating a first indicator if said at least one positional parameter does not conform with said range of interest.

6. The method of claim 5, further comprising the step of:

generating a second indicator if said tool does not move less than said predetermined amount over said predetermined period of time.

7. The method of claim 1, wherein said predetermined period of time is greater than about 3 seconds.

8. The method of claim 1, wherein said tool is stable when said tool moves less than about 0.5 millimeters in any direction.

9. The method of claim 1, wherein said tool is stable when said tool moves less than 0.5 millimeters in any spatial direction and less than 0.5 degrees in any angular direction.

10. The method of claim 1, wherein the procedure is a surgical procedure.

11. The method of claim 10, wherein said surgical procedure is performed on a bone having a mechanical axis and said tool is a cutting jig being navigated by the localization device for mounting on the bone.

12. The method of claim 11, wherein said cutting jig defines an associated cutting plane and wherein said at least one positional parameter comprises at least two positional parameters including (a) an angle between a vector normal to the cutting plane and the mechanical axis of the bone and (b) a distance between a point on the bone and a point on the cutting plane.

13. The method of claim 12, wherein said angle is less than about 3 degrees and said distance is between about 5 millimeters and 20 millimeters.

14. A method for recording positional parameters associated with a tool navigated using a localization device, said localization device used to perform an osteotomy procedure on a bone, said method comprising the steps of:

identifying at least one expected positional parameter associated with the tool;

defining a range of interest for said at least one expected positional parameter with the localization device;

monitoring the position of the tool with the localization device;

calculating with the localization device at least one actual positional parameter associated with the tool based on the monitored position of the tool;

displaying information indicative of the position of said tool;

determining with the localization device whether said at least one actual positional parameter conforms to the range of interest;

determining with the localization device whether said tool is stable for a predetermined period of time during the procedure while said at least one actual positional parameter conforms to the range of interest; and

responsive to said at least one actual positional parameter conforming to the range of interest as determined by the localization device and said tool being stable for the predetermined period of time while said at least one actual positional parameter conforms to the range of interest as determined by the localization device, storing with the localization device said at least one actual positional parameter at an instant of time at an end of said predetermined period of time for a period of time extending beyond an end of said osteotomy procedure.

15. The method of claim 14, further comprising at least the step of:

generating a first indicator if said at least one positional parameter does not conform to said range of interest.

16. The method of claim 15, further comprising the step of:

generating a second indicator if said tool is stable for said predetermined period of time.

17. The method of claim 14, wherein said predetermined period of time is greater than about 3 seconds.

18. The method of claim 14, wherein said tool is stable when said tool moves less than about 0.5 millimeters in any direction.

19. The method of claim 14, wherein said tool is stable when said tool moves less than about 0.5 millimeters in any spatial direction and about 0.5 degrees in any angular direction.

20. The method of claim 14, wherein the tool is a cutting jig bearing a marker;

and

wherein said monitoring step comprises observing said marker with the localization device and determining the position of the cutting jig based on the observation.

21. A localization system comprising:

sensors for tracking a marker associated with a tool during a procedure; and

a computer coupled to said sensors for monitoring the position of said tool, the computer programmed to;

calculate at least one positional parameter of said tool based on the monitored position,

determine whether said tool is stable for a predetermined period of time during the procedure; and

store the at least one calculated positional parameter at an instant in time for a period of time extending beyond an end of said osteotomy procedure responsive to said tool being stable for a predetermined period of time, as determined by the computer.

22. The system of claim 21, wherein said computer further identifies a range of interest associated with at least one expected positional parameter and only records the at least one calculated positional parameter if said at least one calculated positional parameter conforms to said range of interest.

23. The system of claim 21, further comprising at least:

a monitor coupled to said computer, wherein said computer causes said monitor to display a first message when said at least one calculated positional parameter does not conform to said range of interest.

24. The system of claim 23, wherein said computer causes said monitor to display a second message when said tool is stable over a predetermined period of time.

25. A computer program product for recording tool positions with a localization device during a procedure, said computer program product comprising:

computer readable program code embodied in a non-transitory computer readable medium, the computer readable program code comprising at least;

computer readable program code for monitoring at least one positional parameter of a tool with said localization device during a procedure;

computer readable program code for determining with the localization device whether said tool is stable for a predetermined period of time during the procedure; and

computer readable program code for responsive to said tool being stable for the predetermined period of time as determined by the localization device, storing with the localization device said at least one positional parameter associated with said tool at an instant in time at an end of said predetermined period for a period of time extending beyond an end of said procedure.

26. The product of claim 25, further comprising:

computer readable program code for defining a range of interest for said at least one positional parameter; and

computer readable program code for determining if said at least one positional parameter conforms to said range of interest, wherein said at least one positional para meters is recorded only if said at least one positional parameter conforms to said range of interest.

27. A system for recording tool positions with a localization device, said system comprising:

means for monitoring at least one positional parameter of a tool with said localization device during a procedure;

means for determining whether said tool is stable for a predetermined period of time during the procedure; and

means for, responsive to said tool being stable for the predetermined period of time as determined by the determining means, storing said positional parameter at an end of said predetermined period of time for a period of time extending beyond a end of said procedure.

28. The system of claim 27, further comprising the steps of:

means for defining a range of interest for said at least one positional parameter; and

means for determining if said at least one positional parameter conforms to said range of interest, wherein said at least one positional parameter is recorded only if said at least one positional parameter conforms to said range of interest.