Fluoroscopic image guided surgery system with intraoperative registration
First Claim
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1. A method of performing an image guided surgery on an anatomy, comprising:
- obtaining image data of a region of the anatomy including a bone portion and a pelvis of the anatomy, wherein obtaining image data includes obtaining a first fluoroscopic two-dimensional x-ray image and a second fluoroscopic two-dimensional x-ray image that is at an angle to the first fluoroscopic x-ray image;
attaching a reference bar to the pelvis, wherein the pelvis defines a first portion of a joint;
selecting a bone portion separate and different from the pelvis in the anatomy and defining a second portion of the joint, wherein the reference bar is not inserted into the bone portion;
placing only a single registration pin in the selected bone portion;
registering the obtained image data to the selected bone portion with the single registration pin and the outline of the bone portion in the first fluoroscopic two-dimensional x-ray image and the second fluoroscopic two-dimensional x-ray image;
tracking the reference bar to determine a location of the pelvis;
tracking and guiding an instrument with a tracking device to determine a location of the instrument relative to the reference bar attached to the pelvis; and
while tracking and guiding the instrument, performing a procedure with the instrument on the bone portion that is separate and different from the pelvis to which the reference bar is attached, wherein the procedure includes fusing a first segment of the bone portion and a second segment of the bone portion wherein at least one of the first segment or the second segment form the joint with the pelvis;
calculating a plane in which the pelvis lies in relation to the reference bar;
wherein registering the obtained image data to the selected bone portion further includes using a spherical femoral head to increase registration accuracy.
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Abstract
A system and apparatus allows the tracking of a selected body portion, instrument, or both. A tracking device can be interconnected to a body portion at a mounting site. A procedure can be performed at a location remote from the mounting site of the tracking device. The tracking device can be interconnected with the body in a low invasive manner.
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Citations
17 Claims
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1. A method of performing an image guided surgery on an anatomy, comprising:
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obtaining image data of a region of the anatomy including a bone portion and a pelvis of the anatomy, wherein obtaining image data includes obtaining a first fluoroscopic two-dimensional x-ray image and a second fluoroscopic two-dimensional x-ray image that is at an angle to the first fluoroscopic x-ray image; attaching a reference bar to the pelvis, wherein the pelvis defines a first portion of a joint; selecting a bone portion separate and different from the pelvis in the anatomy and defining a second portion of the joint, wherein the reference bar is not inserted into the bone portion; placing only a single registration pin in the selected bone portion; registering the obtained image data to the selected bone portion with the single registration pin and the outline of the bone portion in the first fluoroscopic two-dimensional x-ray image and the second fluoroscopic two-dimensional x-ray image; tracking the reference bar to determine a location of the pelvis; tracking and guiding an instrument with a tracking device to determine a location of the instrument relative to the reference bar attached to the pelvis; and while tracking and guiding the instrument, performing a procedure with the instrument on the bone portion that is separate and different from the pelvis to which the reference bar is attached, wherein the procedure includes fusing a first segment of the bone portion and a second segment of the bone portion wherein at least one of the first segment or the second segment form the joint with the pelvis; calculating a plane in which the pelvis lies in relation to the reference bar; wherein registering the obtained image data to the selected bone portion further includes using a spherical femoral head to increase registration accuracy. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of performing an image guided surgery on an anatomy, comprising:
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obtaining image data of a hip joint region of the anatomy including the hip joint defined by a pelvis of the anatomy and a spherical femoral head of a femur of the anatomy, wherein obtaining image data includes obtaining a first fluoroscopic two-dimensional x-ray image and a second fluoroscopic two-dimensional x-ray image that is at an angle to the first fluoroscopic x-ray image; attaching a reference bar to an ilium of the pelvis; tracking the reference bar to determine a location of the pelvis and the femur; registering the obtained image data to the hip joint of the anatomy including the pelvis and the femur using only a single registration pin inserted into the femur and the spherical femoral head to increase registration accuracy; and tracking a tracking device attached to an instrument to determine a location of the instrument relative to the femur based on tracking the reference bar attached to the pelvis while performing a procedure with the instrument on the femur in the anatomy, wherein performing the procedure includes fusing a first segment of the femur and a second segment of the femur, wherein at least one of the first segment or the second segment form the hip joint with the pelvis; displaying the determined location of the instrument superimposed on the registered obtained image data to show the location of the instrument relative to the location of the femur based upon the tracked position of the tracking device attached to the instrument that is tracked relative to tracked location of the reference bar; calculating a plane in which the pelvis lies in relation to the reference bar; wherein the femur is naturally moveable relative to the pelvis, is separate from the pelvis, and is different from the pelvis; wherein the reference bar remains unfixed to the femur. - View Dependent Claims (13, 14)
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15. A method of performing an image guided surgery on an anatomy, comprising:
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obtaining a first fluoroscopic two-dimensional x-ray image data of a region of the anatomy including a femoral joint between a pelvis of the anatomy and a spherical femoral head of a femur of the anatomy with an imaging device at a first position; obtaining a second fluoroscopic two-dimensional x-ray image data of the region of the anatomy including the femoral joint between the pelvis of the anatomy and the spherical femoral head of the femur of the anatomy with the imaging device at a second position that is at an angle to the first position; attaching a reference bar to an illium of the pelvis; attaching only a single registration pin to the femur at a location away from the illium; registering the first fluoroscopic two-dimensional x-ray image data and the second fluoroscopic two-dimensional x-ray image data to at least the spherical femoral head of the femur of the anatomy using the single registration pin and an outline of the femur in the first fluoroscopic two-dimensional x-ray image and the second fluoroscopic two-dimensional x-ray image, wherein registering includes using the spherical femoral head to increase registration accuracy; calculating a plane in which the pelvis lies in relation to the reference bar; tracking the reference bar to determine a location of the pelvis and the femur; and tracking an instrument with a tracking device to determine a location of the instrument relative to the reference bar attached to the pelvis while performing a procedure with the instrument on the femur portion in the anatomy, wherein fusing a first segment of the femur and a second segment of the femur, wherein at least one of the first segment or the second segment form the joint with the pelvis; wherein the femur is naturally moveable relative to the pelvis, is separate from the pelvis, and is different from the pelvis; wherein the reference bar remains unfixed to the femur. - View Dependent Claims (16, 17)
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Specification