Multi-configuration tracking array and related method

• US 9,179,984 B2
• Filed: 02/19/2007
• Issued: 11/10/2015
• Est. Priority Date: 02/19/2007
• Status: Active Grant

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Teichman, Robert, Mire, David, Tipton, Jason, Hartmann, Steven L.
• Primary Examiner(s): REMALY, MARK DONALD
• Application Number:
  US11/708,152
• Publication Number:
  US 20080200794A1
• Time in Patent Office: 3,186 Days
• Field of Search: 600/407, 600/409, 600/410, 600/411, 600424-429, 600/437, 600/473, 600/476
• US Class Current: 1/1
• CPC Class Codes: A61B 2017/00464 for use with different instruments
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• 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 2090/365 augmented reality, i.e. correlating a live optical image with another image
• 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 90/39 Markers, e.g. radio-opaque or breast lesions markers

Abstract

A navigation system generally determines a location of a portion of a first medical instrument relative to a patient. The navigation system generally includes a multi-configuration tracking array that extends from the first medical instrument. A plurality of tracking devices can be positioned on the multi-configuration tracking array. At least one of the tracking devices changes to define at least a first condition and a second condition. A tracking system detects the tracking devices and relates a change between the first condition and the second condition with a change between at least a first instrument configuration and a second instrument configuration.

Claims

1. A method of performing a procedure with a first instrument so that a configuration of the first instrument is included in a view produced from a surgical navigation process used to perform the procedure, the method comprising:

detecting a location in a first configuration relative to each other of at least a first tracking emitter with a medical instrument holder and at least three second tracking emitters defining a plane with a tracking device holder;

changing a pattern of said first and second tracking emitters;

detecting said changed pattern of said first and second tracking emitters; and

relating said changed pattern of said first and second tracking emitters with a change between a first instrument configuration and a second instrument configuration, wherein changing a pattern of said first and second tracking emitters includes switching a first signal module between a first condition and a second condition and wherein said change between said first condition and said second condition comprises;

emitting light and not emitting light from at least one of said first and second tracking emitters while maintaining the first configuration relative to each other.

2. The method of claim 1 wherein said changing of said pattern of said first and second tracking emitters includes rotating the tracking device holder with respect to the medical instrument holder.

3. The method of claim 1 wherein said change between said first instrument configuration and said second instrument configuration includes at least a change in an orientation of the first instrument relative to the patient.

4. The method of claim 1 wherein said change between said first instrument configuration and said second instrument configuration includes at least coupling or uncoupling a component to the first instrument.

5. The method of claim 1 wherein said change between said first instrument configuration and said second instrument configuration includes at least uncoupling said tracking apparatus from the first instrument and coupling said tracking apparatus to a second instrument that is different than the first instrument.

6. The method of claim 1 further comprising acquiring image data with an imaging system from a patient, said image data collected at least one of pre-operatively, intra-operatively, or post-operatively.

7. The method of claim 1 further comprising obtaining data with a system, said data based on at least one of atlas models, patient specific atlas models, previous images obtained with an imaging system and one or more combinations thereof.

8. The method of claim 6 further comprising:

displaying a first icon over said image data, said first icon indicative of said first instrument configuration;

automatically changing from said first icon to a second icon based on said changing of at least one of said signal or pattern of said first and second tracking devices; and

displaying said second icon over said image data, wherein said second icon reflects said change between said first instrument configuration and a second instrument configuration so that said second icon at least partially represents said second instrument configuration.

9. The method of claim 8 wherein automatically changing from said first icon to said second icon indicates at least one of:

a camera extending from a tip of the first medical instrument such that said camera established a new tip of the first medical instrument,

changing an orientation of the first medical instrument that defines an asymmetric probe,

connecting one or more additional components to the first medical instrument,

a drill bit extending from an awl/tap/probe such that the drill bit establishes a new tip of the probe,

an implant attached to an implant inserter,

a change in drill speed of a drill associated with the first medical instrument, and

one or more combinations thereof.

10. The method of claim 1 further comprising rotating a body having an asymmetric thickness from a first unlocked position to a second locked position to selectively lock the position of the first and second tracking devices by selectively urging the first and second tracking devices together.

11. The method according to claim 1 wherein the first tracking emitter and second tracking emitters define a first detectable pattern in the first condition and the first tracking device and second tracking devices define a second detectable pattern in the second condition.

12. The method of claim 8 wherein said change between said first condition and said second condition further comprises:

changing an intensity of light from at least one of said first and second tracking emitters.

13. The method of claim 12 wherein said change between said first condition and said second condition further comprises:

one or more combinations of changing an intensity of light from at least one of said first and second tracking emitters, or

emitting light and not emitting light from at least one of said first and second tracking emitters while maintaining the first configuration relative to each other.

14. The method of claim 8 wherein said change between said first condition and said second condition further comprises:

changing a color of light from at least one of said first and second tracking emitters.

15. A method of performing a procedure with a first instrument and a second instrument so that a configuration of the first instrument and the second instrument are included with a view produced from a surgical navigation process, the method comprising:

detecting a first tracking device and a second tracking device on a tracking apparatus having a tracking device holder member with said first tracking device and an instrument holder member with said second tracking device, said instrument holder member removably coupled to the first instrument, such that said instrument holder member is operable to be connected separately to both the first instrument and the second instrument;

operating at least one tracking emitter of at least one of said first tracking device or said second tracking device to emit light to generate a first pattern or not emit light to generate a second pattern different than the first pattern; and

detecting the first pattern or the second pattern of light emitted from said first tracking device and second tracking device.

16. The method of claim 15, further comprising:

providing the first tracking device to define a detectable plane.

17. The method of claim 16, further comprising:

movably coupling the tracking device holder member to the instrument holder member.

18. The method of claim 15 wherein operating at least one tracking emitter of at least one of said first tracking device or said second tracking device to emit light to generate said first pattern or not emit light to generate said second pattern different than the first pattern includes at least a change in an orientation of the first instrument relative to a patient.

19. The method of claim 15 wherein operating at least one tracking emitter of at least one of said first tracking device or said second tracking device to emit light to generate said first pattern or not emit light to generate said second pattern different than the first pattern includes at least coupling or uncoupling a component to the first instrument.

20. The method of claim 15 wherein operating at least one tracking emitter of at least one of said first tracking device or said second tracking device to emit light to generate said first pattern or not emit light to generate said second pattern different than the first pattern is based on a connection to the first instrument or connection to the second instrument.

21. A method of selecting a view of a first instrument so that a configuration of the first instrument is included in a view produced from a surgical navigation system, the method comprising:

selecting at least one of a first medical instrument tip with a connected first tracking device or a second medical instrument tip with a connected second tracking device;

connecting said selected first medical instrument tip or said second medical instrument tip to a device holder having a connected third tracking device;

operating the surgical navigation system to determine a first pattern or a second pattern including a relative location of said connected third tracking device and at least one of said first tracking device or said second tracking device; and

operating the surgical navigation system to determine the identification of the selected first instrument tip or the second instrument tip for producing the view.

22. The method of claim 21, further comprising:

selecting the other of the first instrument tip or the second instrument tip;

connecting the selected other of the first instrument tip or the second instrument tip to change from the first pattern to the second pattern of said first tracking device or said second tracking device relative to said connected third tracking device;

detecting said change from the first pattern to the second pattern; and

relating said change from the first pattern to the second pattern with a change between the first instrument tip and the second instrument tip.

23. The method of claim 22, wherein change from the first pattern to the second pattern of said first tracking device or said second tracking device relative to said connected third tracking device includes switching a first signal module between a first condition and a second condition.

24. The method of claim 21, further comprising:

selecting all of the said first tracking device, said second tracking device, and said connected third tracking device to be optical tracking devices.

25. The method of claim 21, further comprising:

selecting said first medical instrument tip with a first connection portion, wherein said first tracking device is a first distance from said first connection portion; and

selecting said second medical instrument tip with a second connection portion, wherein said second tracking device is a second distance from said second connection portion and said second distance is different than the first distance;

wherein connecting said selected first medical instrument tip or said second medical instrument tip to said device holder includes connecting said selected first medical instrument tip at said first connection portion to said device holder or connecting said second medical instrument tip to said device holder at said second connection portion.

26. The method of claim 22, wherein operating the surgical navigation system to determine the identification of said selected first instrument tip or said second instrument tip includes operating the surgical navigation system to identify a first pattern of said first tracking device and said connected third tracking device or a second pattern of said second tracking device and said connected third tracking device;

wherein said first pattern is different from said second pattern.

27. The method of claim 26, wherein said connected third tracking device includes a plurality of third tracking devices;

wherein said plurality of third tracking devices are fixed relative to one another.

28. The method of claim 21, further comprising:

engaging a first keyed portion of said first medical instrument tip or a second keyed portion of said second medical instrument tip with said device holder to communicate with the surgical navigation system.

29. The method of claim 28, wherein operating the surgical navigation system to determine the identification of said selected first instrument tip or said second instrument tip is automatic in response to said communication with the surgical navigation system.

30. The method of claim 22, wherein operating the surgical navigation system to determine the identification of said selected first instrument tip or said second instrument tip is automatic in response to detecting said changed pattern.

31. A method of producing a view from a surgical navigation system, the method comprising:

selecting at least one of a first medical instrument tip with a connected first tracking device or a second medical instrument tip with a connected second tracking device;

selecting a device holder having a connected at least one third tracking device;

connecting said selected first medical instrument tip or said second medical instrument tip to said selected device holder to form a first pattern of said connected first tracking device and said at least one third tracking device or a second pattern of said second tracking device and said at least one third tracking device;

operating the surgical navigation system to detect said first pattern or said second pattern, wherein said first pattern is different from said second pattern;

operating the surgical navigation system to determine an identification of a feature of said first medical instrument tip or said second medical instrument tip based on said operation of the surgical navigation system to detect said first pattern or said second pattern; and

operating the surgical navigation system to display the determined feature.

32. The method of claim 31, further comprising:

changing from said first pattern to said second pattern by disconnecting said first medical instrument tip from said device holder and connecting said second medical instrument tip to said device holder;

wherein said operating the surgical navigation system to detect said first pattern or said second pattern is automatic when said change occurs.

33. The method of claim 31, further comprising:

changing from said second pattern to said first pattern by disconnecting said second medical instrument tip from said device holder and connecting said first medical instrument tip to said device holder;

wherein said operating the surgical navigation system to detect said first pattern or said second pattern is automatic when said change occurs.

34. The method of claim 31, further comprising:

engaging a first keyed portion of said first medical instrument tip or a second keyed portion of said second medical instrument tip to said device holder;

wherein said operating the surgical navigation system to detect said first pattern or said second pattern is automatic when said first keyed portion or said second keyed portion is engaged.

35. The method of claim 31, further comprising:

selecting all of said connected first tracking device, said connected second tracking device, said connected at least one third tracking device to be electromagnetic tracking devices.

36. The method of claim 31, wherein the first pattern and the second pattern differ by at least a distance of said connected first tracking device and said connected second tracking device relative to said connected at least one third tracking device.

37. A navigation system that determines a location of a portion of a first medical instrument relative to a patient, the navigation system comprising:

a tracking apparatus having at least one first tracking device connected thereto;

a device holder having a tip connection portion, wherein the tracking apparatus is connected to the device holder at a fixed position relative to the tip connection portion;

a first instrument tip having a first connection portion configured to connect to the tip connection portion of the device holder and a second tracking device connected to the first instrument tip a first distance from the first connection portion;

a second instrument tip having a second connection portion configured to connect to the tip connection portion of the device holder and a third tracking device connected to the second instrument tip a second distance from the second connection portion different than the first distance;

a tracking system configured to detect all of the at least one first tracking device, the second tracking device, and the third tracking device;

a surgical navigation system configured to identify a first feature of the first instrument tip when connected to the device holder based on a first pattern of the at least one first tracking device and the second tracking device and identify a second feature of the second instrument tip when connected to the device holder based on a second pattern of the at least one first tracking device and the third tracking device.

38. The system of claim 37, further comprising:

a display device configured to display a first icon representing the first feature or a second icon representing the second feature;

wherein the icon is based on a signal from the surgical navigation system after the identification.

39. The system of claim 37, wherein the surgical navigation system automatically identifies the first feature or the second feature when a change between the first pattern and the second pattern is detected based on the tracking system detecting the at least one first tracking device and at least one of the second tracking device or the third tracking device.

40. The system of claim 39, wherein the at least one first tracking device, the second tracking device, and the third tracking device are emitters;

wherein the tracking system is configured to detect the emitters.

41. The system of claim 39, wherein the surgical navigation system relates a change between the first pattern and the second pattern with a change between at least the first instrument tip and the second instrument tip.

42. The system of claim 41, further comprising:

a first key portion extending from the first instrument tip;

a second key portion extending form the second instrument tip;

a key receiving portion near the tip connection portion of the device holder;

wherein either of the first key portion or the second key portion is selectively received in the key receiving portion whereupon the device holder transmits a signal to at least one of the tracking system or the surgical navigation system for at least one of detecting the first pattern or the second patter or identifying the first feature or the second feature.

43. The system of claim 39, wherein the tracking apparatus includes a plurality of emitters positioned relative to each other and configured to emit a first pattern at a first condition and the plurality of emitters configured to emit a second pattern at a second condition, said plurality of emitters being changeable between the first condition and the second condition and thereby emit one of the first pattern and second pattern, wherein the first pattern is different from the second pattern.

44. The system of claim 39, wherein identifying the first feature includes identifying the first instrument tip as at least one of a delivery system, a guide wire, an arthroscopic system, an orthopedic implant, a spinal implant, a deep brain stimulation probe, an awl, a tap, or a probe.

45. The system of claim 39, wherein identifying the second feature includes identifying the second instrument tip as at least one of a delivery system, a guide wire, an arthroscopic system, an orthopedic implant, a spinal implant, a deep brain stimulation probe, an awl, a tap, or a probe.

46. A navigation system that determines a location of a portion of at least a first medical instrument relative to a patient, the navigation system comprising:

a tracking apparatus having a tracking device holder portion moveable relative to a medical device holder portion, wherein the medical device holder portion is configured to be selectively coupled to the first medical instrument, the medical device holder portion having a seat wall configured to engage the first medical instrument when a catch member moves via a lever assembly to capture the first medical instrument between the catch and the seal wall;

a lock assembly operably connected to the tracking apparatus having a nut captured in a bore of a body of the tracking apparatus and a fastener extending through a spring from a lock handle, wherein the lock handle is configured to move from a locked position to compress the spring and fix the tracking device holder portion relative to the medical device holder portion and an unlocked position to decompress the spring to allow movement of the tracking device holder portion and the medical device holder portion;

a plurality of emitters connected to the tracking device holder, wherein the plurality of emitters are positioned relative to each other and configured to emit a first pattern at a first condition and to emit a second pattern at a second condition, said plurality of emitters being changeable between said first condition and said second condition and thereby emit one of the first and second pattern, wherein the first pattern is different from the second pattern; and

a tracking system that detects said plurality of emitters and relates a change between said first condition and said second condition with a change between at least a first instrument configuration and a second instrument configuration;

wherein the lock assembly is configured to unlock the tracking device holder portion relative to the medical device holder portion to allow the change from the first pattern to the second pattern and to lock the tracking device holder portion relative to the medical device holder portion to fix the first pattern or the second pattern.

47. The system of claim 46, wherein the first pattern is operable to differ from the second pattern by at least one of changing an intensity of light from one of the plurality of emitters at a change from the first condition to the second condition, changing a color of light from one of the plurality of emitters at a change from the first condition to the second condition, changing a pattern of light from one of the plurality of emitters at a change from the first condition to the second condition, and one or more combinations thereof.

48. The system of claim 46, wherein the change between the first instrument configuration and the second instrument configuration includes at least a change in an orientation of the first medical instrument relative to the tracking apparatus.

49. The system of claim 46, wherein the change between the first instrument configuration and the second instrument configuration includes at least coupling or uncoupling a component to the first medical instrument.

50. The system of claim 48, wherein the change between the first instrument configuration and the second instrument configuration includes at least uncoupling the tracking apparatus from the first medical instrument and coupling the tracking apparatus to a second medical instrument.

51. The system of claim 50, wherein the first medical instrument is selected from a group consisting of a delivery system, a guide wire, an arthroscopic system, an orthopedic implant, a spinal implant, a deep brain stimulation probe, an awl/tap/probe and one or more combinations thereof.

52. The system of claim 46, further comprising:

a display device configured to display a first icon of the first medical instrument in the first instrument configuration and a second icon of the first medical instrument in the second instrument configuration, when the first and second tracking devices change between the first condition and the second condition.