System and method for identifying a landmark

• US 8,945,147 B2
• Filed: 04/27/2010
• Issued: 02/03/2015
• Est. Priority Date: 04/27/2009
• Status: Active Grant

• Current Assignee: Northern Digital Inc. (Roper Technologies, Inc.), Smith & Nephew Incorporated (Smith & Nephew PLC)
• Original Assignee: Northern Digital Inc. (Roper Technologies, Inc.), Smith & Nephew Incorporated (Smith & Nephew PLC)
• Inventors: Ritchey, Nicholas S., Wilhelm, Hoa La, Grusin, Nathaniel Kelley, Kirsch, Stefan R.
• Primary Examiner(s): SEVILLA, CHRISTIAN ANTHONY
• Application Number:
  US12/768,689
• Publication Number:
  US 20100274256A1
• Time in Patent Office: 1,743 Days
• Field of Search: 606/96, 606/98, 606/130, 600/424, 362/240
• US Class Current: 606/130
• CPC Class Codes: A61B 17/1703 using imaging means, e.g. by X-rays
• CPC Class Codes: A61B 17/1707 using electromagnetic effects, e.g. with magnet and external sensors
• CPC Class Codes: A61B 17/1725 for applying transverse screws or pins through intramedullary nails or pins
• CPC Class Codes: A61B 17/7233 with special means of locking the nail to the bone
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• 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 2090/0813 Accessories designed for easy sterilising, i.e. re-usable
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/3958 emitting a signal
• CPC Class Codes: A61B 2090/397 electromagnetic other than visible, e.g. microwave
• 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 5/05 Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves impedance plethysmography A61B5/0295; measuring movement of the entire body or parts thereof A61B5/11; detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof A61B5/24
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• 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 5/1127 using markers
• CPC Class Codes: A61B 5/4504 Bones A61B5/4547 takes precedence
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61L 2/07 Steam
• CPC Class Codes: A61L 2/081 Gamma radiation
• CPC Class Codes: H01F 41/00 : Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
• CPC Class Codes: Y10T 29/4902 : Electromagnet, transformer or inductor

Abstract

A field generator for use in a surgical targeting system is disclosed. The field generator includes a mounting structure including elements that are configured to receive components of an electromagnetic field generator. The elements are disposed on the mounting structure at locations and orientations relative to each other. The field generator includes at least one covering formed over the mounting structure, wherein, in use, the locations and orientations of the elements relative to each other remain substantially unaltered after exposure to one or more sterilization processes.

Claims

1. A field generator for use in a surgical targeting system, the field generator comprising:

a mounting structure comprising receiving elements disposed on the mounting structure at locations and orientations relative to each other, the mounting structure comprising a reinforced epoxy laminate;

electromagnetic field generating components received in the receiving elements, the electromagnetic field generating components being configured to produce a sequence of multiple different magnetic field distributions; and

at least one covering formed over the mounting structure,

wherein the mounting structure is configured to maintain the locations and orientations of the receiving elements within a predetermined tolerance relative to each other after the field generator is subjected to one or more autoclave sterilization processes.

2. The field generator of claim 1, wherein the mounting structure further defines one or more openings and one of a hollow insert and a foam material disposed in the one or more openings.

3. The field generator of claim 1, wherein the field generator has a center of gravity,

wherein the field generator further comprises at least one of a sleeve and sleeve attachment having a longitudinal axis aligned with the center of gravity.

4. The field generator of claim 1, wherein the mounting structure is formed from a material that does not undergo a structural change during an autoclave sterilization process.

5. The field generator of claim 1, wherein the electromagnetic field generating components are electromagnetic induction coils mounted in the receiving elements at the locations and orientations relative to each other.

6. The field generator of claim 1, wherein the at least one covering comprises a first covering disposed over each of the receiving elements.

7. The field generator of claim 6, wherein the first covering comprises a silicone material.

8. The field generator of claim 1, further comprising a coupling member coupled to the mounting structure and configured to receive one of a removable sleeve and removable sleeve attachment.

9. The field generator of claim 8, wherein the sleeve and the sleeve attachment comprise a frustoconical portion.

10. The field generator of claim 3, wherein the mounting structure extends along a plane, and the at least one of the sleeve and sleeve attachment extends along an axis substantially perpendicular to the plane.

11. The field generator of claim 1, wherein the electromagnetic field generating components are mounted on the mounting structure such that autoclave sterilization of the field generator does not change the orientation of one or more of the electromagnetic field generating components by more than 2 degrees in any direction.

12. The field generator of claim 1, wherein the electromagnetic field generating components are mounted on the mounting structure such that autoclave sterilization of the field generator does not change the locations of the electromagnetic field generating components by more than 0.005 inches in any direction.

13. The field generator of claim 1, wherein the mounting structure has a flexural strength of at least 10,000 psi.

14. The field generator of claim 1, wherein the mounting structure defines channels, and lead wires for the electromagnetic field generating components are routed within the channels.

15. The field generator of claim 1, wherein the at least one covering is formed of one or more of titanium, ceramic, polypropylene, polypropylene copolymer, polycarbonate, polymethylpentene, polytetrafluoroethylene resin, polymethyl methacrylate, ethylene tetrafluoroethylene, ethylene chlorotrifluoroethlyene, fluoro ethylene propylene, polyether imide, perfluoroalkoxy, polyketone, polyphenylene oxide, polysulfone, polyvinyl chloride, polyvinylidene fluoride, silicone, and thermoplastic elastomer.

16. The field generator of claim 1, further comprising a material molded over the mounting structure and disposed between the mounting structure and the at least one covering.

17. The field generator of claim 16, wherein the material defines surface features and a portion of the at least one covering is disposed in the surface features.

18. The field generator of claim 16, wherein openings between the mounting structure and the at least one covering are filled with the material.

19. The field generator of claim 16, wherein the material has a lower density than the at least one covering.

20. The field generator of claim 19, wherein the material is a compressible closed-cell foam material.

21. The field generator of claim 1, wherein, when the electromagnetic field generating components are activated, the electromagnetic field generating components generate electromagnetic fields that are usable to determine, in six degrees of freedom, the location and orientation of a sensor receiving the electromagnetic fields.

22. A field generator comprising:

a disc-shaped mounting structure having components of an electromagnetic field generator mounted on the mounting structure at predetermined locations and orientations, the components being configured to produce electromagnetic fields from which a magnetic field sensor detecting the electromagnetic fields can produce an output indicating a location of the magnetic field sensor relative to the field generator in three dimensions, the mounting structure comprising a reinforced epoxy laminate material; and

at least one covering disposed around the mounting structure and the components,

wherein the mounting structure maintains the predetermined locations and orientations of the components during autoclave sterilization processes.

23. The field generator of claim 22, wherein the components of the electromagnetic field generator comprise electromagnetic induction coils, and wherein the disc-shaped mounting structure includes receiving elements that receive the electromagnetic induction coils, the receiving elements each including at least one of a post and a receptacle.

24. The field generator of claim 22, wherein the components of the electromagnetic field generator are arranged to define a magnetic reference frame such that, when the components are active, the components produce electromagnetic fields from which a magnetic field sensor detecting the electromagnetic fields can produce an output indicating a position of the magnetic field sensor relative to the field generator in six degrees of freedom.

25. A field generator comprising:

a mounting structure comprising receiving elements disposed on the mounting structure at predetermined locations and orientations relative to each other, the mounting structure being formed of a glass-reinforced laminate material;

electromagnetic induction coils received in the receiving elements, the field generator being configured to produce a defined set of magnetic field distributions using the electromagnetic induction coils;

at least one covering that encapsulates the mounting structure, the receiving elements, and the induction coils, the at least one covering being formed at least in part of silicone,

wherein the mounting structure maintains the locations and orientations of the receiving elements relative to each other within operational tolerances of the predetermined locations and orientations when the field generator is subjected to autoclave sterilization at a temperature of at least 120 degrees Celsius.

26. The field generator of claim 25, wherein the field generator has been sterilized through one or more autoclave sterilization processes, and after being sterilized through the one or more autoclave sterilization processes, the locations and orientations of the receiving elements relative to each other remain within the operational tolerances.

27. The field generator of claim 25, wherein the mounting structure maintains the locations and orientations of the receiving elements within the operational tolerances by securing the induction coils such that autoclave sterilization of the field generator at a temperature of 120 degrees Celsius (i) does not change the orientation of any of the induction coils by more than 2 degrees in any direction, and (ii) does not change the locations of the electromagnetic induction coils by more than 0.005 inches in any direction.

28. The field generator of claim 25, wherein the electromagnetic induction coils, when active, produce electromagnetic fields that enable a magnetic field sensor having two orthogonal coils to produce outputs indicative of the location and orientation of the magnetic field sensor in six degrees of freedom.