Surgical navigation system

• US 8,657,809 B2
• Filed: 09/29/2010
• Issued: 02/25/2014
• Est. Priority Date: 09/29/2010
• Status: Active Grant

• Current Assignee: Stryker European Operations Holdings, LLC (Stryker Corporation)
• Original Assignee: Stryker Leibinger GmbH & Co. KG (Stryker Corporation)
• Inventors: Schoepp, Hans
• Primary Examiner(s): Thomson, Bill
• Assistant Examiner(s): LIPITZ, JEFFREY BRIAN
• Application Number:
  US12/893,821
• Publication Number:
  US 20120078236A1
• Time in Patent Office: 1,245 Days
• Field of Search: 600424-427, 606/1
• US Class Current: 606/1
• CPC Class Codes: A61B 2017/0023 disposable
• CPC Class Codes: A61B 2017/00738 part of the tool being offset with respect to a main axis, e.g. for better view for the surgeon
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2034/207 Divots for calibration
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• 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 5/061 Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms

Abstract

A surgical navigation system is disclosed including a camera that is fixedly attached to a patient. The camera space merges with the patient space and thereby eliminates the need for a separate patient tracker. The surgical navigation system calculates the position of a surgical tool with a tracking device in view of the camera and shows on a display device the position of the surgical tool with respect to the patient superimposed and in correlation with a scan image of the patient.

Claims

1. A surgical navigation system comprising:

a camera attached in a fixed position to a patient with a non-invasive attachment mechanism, wherein the camera has a field of view;

a surgical tool having a tip and including a tracking element readable by the camera, wherein the tracking element comprises one or more optical navigation markers, and wherein the tracking element is attached to the surgical tool such that the one or more optical navigation markers are oriented facing toward the tip of the surgical tool;

a computer processing unit comprising means for recognizing the tracking element in an image obtained by the camera and means for tracking the position of the surgical tool; and

a communication link adapted to transmit images from the camera to the computer processing unit;

wherein the field of view of the camera is pointing away from the patient.

2. The surgical navigation system of claim 1, wherein the non-invasive attachment mechanism includes an adhesive.

3. The surgical navigation system of claim 2, wherein the camera is configured to be disposed on one side of a resilient base plate and the adhesive is disposed on an opposite side of the base plate.

4. The surgical navigation system of claim 1, wherein the camera further comprises one or more fiducial markers sufficient to define a position of the camera, wherein the fiducial markers are disposed in a known pre-defined spatial relationship with respect to the camera, and wherein the computer processing unit further comprises means for registering the position of the camera from the position of the fiducial markers with an image of a patient.

5. The surgical navigation system of claim 4, wherein the camera has a completely known optical geometry.

6. The surgical navigation system of claim 1, wherein the surgical navigation system comprises a second camera attached in a fixed position to the patient and in communication with the computer processing unit.

7. The surgical navigation system of claim 1, wherein at least one of the optical navigation markers comprises an optical pattern from which the means for recognizing can identify the surgical tool and calculate the position of the surgical tool.

8. The surgical navigation system of claim 7, wherein the optical pattern comprises a localization pattern and an identification pattern.

9. The surgical navigation system of claim 8, further comprising a second surgical tool including a second tracking element, wherein the second tracking element comprises the localization pattern and a different second identification pattern.

10. The surgical navigation system of claim 1, wherein the means for tracking is adapted to track the position of the surgical tool with respect to the patient by directly concatenating a positional vector from the surgical tool to the camera without concatenating a positional vector from the camera to a separate patient tracker.

11. A surgical navigation system comprising:

a camera assembly comprising a top side and a bottom side;

a non-invasive attachment means for fixedly attaching the bottom side of the camera assembly to a patient;

a camera pointing in a direction that is outwardly away from the bottom side of the camera assembly;

a surgical tool having a tip and including a tracking element readable by the camera, wherein the tracking element comprises one or more optical navigation markers, and wherein the tracking element is attached to the surgical tool such that the one or more optical navigation markers are oriented facing toward the tip of the surgical tool; and

a computer processing unit comprising means for determining a position of the surgical tool relative to the camera from an image obtained by the camera that includes the tracking element.

12. The surgical navigation system of claim 11, wherein the image plane of the camera is substantially parallel to the top side of the camera assembly.

13. A surgical navigation system comprising:

a camera capable of being attached in a fixed position to a patient, wherein the camera has a field of view;

a surgical tool having a tip and including a tracking element readable by the camera, wherein the tracking element comprises one or more optical navigation markers, and wherein the tracking element is attached to the surgical tool such that the one or more optical navigation markers are oriented facing toward the tip of the surgical tool;

a computer processing unit comprising an image recognition module for recognizing the one or more optical navigation markers in an image obtained by the camera and a tracking module for tracking the position of the surgical tool; and

a communication link adapted to transmit images from the camera to the computer processing unit.

14. The surgical navigation system of claim 13, wherein the one or more optical navigation markers comprise passive navigation markers.

15. The surgical navigation system of claim 13, wherein the tracking element is dimensionally stable.

16. The surgical navigation system of claim 13, further comprising a pin capable of attaching the camera to a bony structure of the patient.

17. The surgical navigation system of claim 13, further comprising a non-invasive attachment mechanism capable of attaching the camera to the patient in a fixed position.

18. The surgical navigation system of claim 17, wherein the non-invasive attachment mechanism includes an adhesive.

19. The surgical navigation system of claim 18, wherein the camera is configured to be disposed on one side of a resilient base plate and the adhesive is disposed on an opposite side of the base plate.

20. The surgical navigation system of claim 13, further comprising one or more fiducial markers sufficient to define a position of the camera, wherein the fiducial markers are disposed in a known pre-defined spatial relationship with respect to the camera, and wherein the computer processing unit further comprises a registration module for registering the position of the camera from the position of the fiducial markers with an image of a patient.

21. The surgical navigation system of claim 20, wherein the camera has a known optical geometry.

22. The surgical navigation system of claim 13, further comprising a second camera capable of being attached in a fixed position to the patient and in communication with the computer processing unit.

23. The surgical navigation system of claim 13, wherein at least one of the optical navigation markers comprises an optical pattern from which the image recognition module can identify the surgical tool and calculate the position of the surgical tool.

24. The surgical navigation system of claim 23, wherein the optical pattern comprises a localization pattern and a first identification pattern.

25. The surgical navigation system of claim 24, further comprising a second surgical tool including a second tracking element, wherein the second tracking element comprises the localization pattern and a second identification pattern, wherein the first identification pattern is different from the second identification pattern.

26. The surgical navigation system of claim 13, wherein the tracking module is adapted to track the position of the surgical tool with respect to the patient by directly concatenating a positional vector from the surgical tool to the camera without concatenating a positional vector from the camera to a separate patient tracker.