Method and apparatus for performing a navigated procedure

• US 8,467,852 B2
• Filed: 11/01/2011
• Issued: 06/18/2013
• Est. Priority Date: 04/24/2007
• Status: Active Grant

• Current Assignee: Medtronic Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Incorporated (Medtronic Plc)
• Inventors: Csavoy, Andrew N., Solar, Matthew S., Waynik, Jeffrey M., Freas, Mark S., Miller, Thomas I., Sootsman, Keith
• Primary Examiner(s): Le, Long V.
• Assistant Examiner(s): PENG, BO JOSEPH
• Application Number:
  US13/286,734
• Publication Number:
  US 20120046542A1
• Time in Patent Office: 595 Days
• Field of Search: None
• US Class Current: 600/424
• CPC Class Codes: A61B 2017/3407 including a base for support on the body
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• 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 2090/101 for stereotaxic radiosurgery
• CPC Class Codes: A61B 2090/103 Cranial plugs for access to brain
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• 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 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61B 90/18 Retaining sheets, e.g. immobilising masks made from a thermoplastic material

Abstract

A system can be used to navigate or guide an instrument or device into an anatomy of a patient. The navigation can occur with the use of image data acquired of the patient. The image data can be registered to the patient space for navigation. Also, one or more coils can be used for tracking or localization.

Claims

1. A surgical navigation system, comprising:

a head support portion configured to support at least a head of a patient;

a processor operably associated with a first coil, a second coil and a third coil;

the first coil positioned within the head support portion and configured to generate a first navigation field encompassing a volume relative to the patient;

an alignment device including a base configured to be connected directly to the head of the patient;

the second coil integrated into the base of the alignment device, wherein the second coil is configured to sense the first navigation field produced by the first coil; and

the third coil being coupled to an instrument;

wherein the processor is configured to cooperate with at least the second coil and the third coil to determine a position of the instrument, and wherein the processor is configured to drive the first coil to generate the first navigation field and the second coil to generate the second navigation field independently such that the second navigation field is generated after ceasing the first navigation field.

2. The surgical navigation system of claim 1, further comprising a patient support that includes a bed portion configured to support at least a portion of a torso of the patient and the head support portion.

3. The surgical navigation system of claim 1, wherein the first coil includes at least three electromagnetic coils configured to form the first navigation field.

4. The surgical navigation system of claim 3, wherein the second coil integrated into the base is configured to generate a second navigation field to encompass at least a portion of the head of the patient;

and

wherein the third coil is configured to sense the second navigation field.

5. The surgical navigation system of claim 4, wherein the third coil is configured to sense the first navigation field, the second navigation field, or combinations thereof;

and

wherein the processor is configured to cooperate with the third coil to determine the location of a first instrument portion independently moveable relative to the base, a location of a second instrument portion moveable relative to a third instrument portion, or combinations thereof.

6. The surgical navigation system of claim 1, further comprising an imaging device configured to obtain image data of the patient.

7. The surgical navigation system of claim 6, further comprising a display device configured to display the image data of the patient, the display device further configured to display a graphical representation of at least the alignment device, the instrument, or combinations thereof relative to the image data.

8. The surgical navigation system of claim 7, wherein the processor is configured to process data to determine a tracked location of the alignment device, the instrument, or combinations thereof for display on the display device.

9. The surgical navigation system of claim 1, further comprising a fourth coil integrated into the base, wherein the processor is configured to independently determine a position of the second coil and the fourth coil to at least check an integrity of the first navigation field, the base, the alignment device, the instrument, or combinations thereof.

22. The surgical navigation system of claim 1, wherein the patient support includes a bed portion configured to support at least a portion of a torso of the patient, the head support portion integrated with the patient support, the first coil being positioned within the head support portion.

10. A surgical navigation system, comprising:

a processor operably associated with a first coil, a second coil, a third coil, and a fourth coil;

the first coil configured to generate a first navigation field encompassing a volume relative to a patient;

an alignment device including a base member and a trajectory guide member, the base member configured to be connected directly to a head of the patient, the trajectory guide member selectively moveable relative to the base member and configured to guide an instrument relative thereto;

the second coil coupled to the base member and configured to sense the first navigation field generated by the first coil;

the third coil coupled to the trajectory guide member and configured to sense a second navigation field generated by the second coil such that the processor can determine a trajectory of the trajectory guide member relative to the base member, the second navigation field being generated independently of the first navigation field; and

the fourth coil being coupled to the instrument;

wherein the processor is configured to cooperate with at least the second coil and the fourth coil to determine a position of the instrument, and wherein the processor is configured to drive the first coil to generate the first navigation field and the second coil to generate the second navigation field substantially independently such that the second navigation field is generated after ceasing the first navigation field.

11. The surgical navigation system of claim 10, further comprising a head support portion configured to support at least the head of the patient, the first coil being fixed to the head support.

12. The surgical navigation system of claim 11, further comprising a patient support that includes a bed portion configured to support at least a portion of a torso of the patient, the head support portion integrated with the patient support.

13. The surgical navigation system of claim 10, wherein the first coil includes at least three electromagnetic coils configured to form the first navigation field.

14. The surgical navigation system of claim 10, wherein the fourth coil is configured to sense the first navigation field, the second navigation field, or combinations thereof;

and

wherein the processor is configured to cooperate with the fourth coil to determine a location of a first instrument portion independently moveable relative to the base member, a location of a second instrument portion moveable relative to a third instrument portion, or combinations thereof.

15. The surgical navigation system of claim 10, further comprising a fifth coil integrated into the base member, wherein the processor is configured to independently determine a position of the second coil and the fifth coil to at least check an integrity of the first navigation field, the alignment device, the instrument, or combinations thereof.

16. The surgical navigation system of claim 10, wherein the processor is configured to drive the first coil to generate the first navigation field to encompass only a head of the patient, and to drive the second coil to generate the second navigation field so as to encompass only a range of motion of the instrument.

17. The surgical navigation system of claim 10, further comprising:

an imaging device configured to obtain image data of the patient; and

a display device configured to display the image data of the patient, the display device further configured to display a graphical representation of at least the alignment device, the instrument, or combinations thereof relative to the image data.

18. A surgical navigation system, comprising:

a processor operably associated with a first coil, a second coil, a third coil and a fourth coil;

the first coil associated with a head support portion of a patient support, the processor configured to drive the first coil to generate a first navigation field;

an alignment device including a base member and a trajectory guide member, the base member configured to be connected directly to a head of the patient, the trajectory guide member selectively moveable relative to the base member and configured to guide an instrument relative thereto, the second coil integrated into the base member and configured to sense the first navigation field generated by the first coil;

the third coil being fixed to the trajectory guide member and configured to sense a second navigation field generated by the second coil such that the processor can determine a trajectory of the trajectory guide member relative to the base member; and

the fourth coil being coupled to the instrument;

wherein the processor is configured to drive the second coil to generate the second navigation field independently of the first navigation field;

wherein the processor is configured to cooperate with at least the second coil and the fourth coil to determine a position of the instrument, and wherein the processor is configured to control the second coil to sense the first navigation field at a first time to facilitate guiding the alignment device relative to the patient, and to drive the second coil to generate the second navigation field at a second time after the first coil ceases generating the first navigation field.

19. The surgical navigation system of claim 18, wherein the second coil is configured to cooperate with the third coil and the fourth coil such that the processor can determine a trajectory of the instrument guided by the trajectory guide member and an axial position of the instrument relative to the trajectory guide member or the base member.

20. The surgical navigation system of claim 18, wherein the processor is configured to drive the first coil to generate the first navigation field to encompass the head of the patient, and to drive the second coil to generate the second navigation field of the second size so as to encompass only a range of motion of the instrument.

21. The surgical navigation system of claim 18, further comprising:

an imaging device configured to obtain image data of the patient; and

a display device configured to display the image data of the patient, the display device further configured to display a graphical representation of at least the alignment device, the instrument, or combinations thereof relative to the image data.