Navigating a surgical instrument

• US 9,232,985 B2
• Filed: 08/05/2013
• Issued: 01/12/2016
• Est. Priority Date: 03/10/2009
• Status: Active Grant

• Current Assignee: Medtronic Xomed Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Xomed Incorporated (Medtronic Plc)
• Inventors: Jacobsen, Brad, Mowlai-Ashtiani, Ali, Burg, Bruce M., Smetzer, Ross, Hartmann, Steven L., Bzostek, Andrew, Nadeau, Matthew J., Koenig, Matthew W.
• Primary Examiner(s): Le, Long V
• Assistant Examiner(s): Hoffa, Angela M
• Application Number:
  US13/959,123
• Publication Number:
  US 20130317355A1
• Time in Patent Office: 890 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 17/16 Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans arthroscopic bone cutters A61B17/320016; dental implant drills potentially for other surgical use A61C8/0089; bone grinders A61F2/4644, A22C17/06; A61B17/1662 takes precedence over all other subgroups except A61B17/17
• CPC Class Codes: A61B 17/32 Surgical cutting instruments A61B18/042 takes precedence; suture cutters A61B17/0467; instruments for ligaturing or cutting A61B17/128; instruments for rupturing the amniotic membrane A61B17/4208; specially adapted knives for eye surgery A61F9/0133
• CPC Class Codes: A61B 17/32002 with continuously rotating, oscillating or reciprocating cutting instruments
• 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 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 2562/242 Packaging, i.e. for packaging the sensor or apparatus before use
• 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 5/062 using magnetic field
• CPC Class Codes: A61B 8/0841 for locating instruments
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers

Abstract

An instrument tracking device for cooperating with an instrument during a surgical procedure where the instrument has an elongated body extending along a first longitudinal axis and including a working member at a distal tip includes a body having a distal end and a proximal end. An opening can be formed through the body along a second longitudinal axis. The opening can define a passthrough in the body from the distal end to the proximal end. A first tracking coil can be disposed in the body and can define a first tracking coil axis that is substantially coaxial with the second longitudinal axis of the body. A connection mechanism cooperates between the elongated housing and the body that secures the body to the elongated housing of the instrument upon passing at least a portion of the elongated housing through the passthrough of the body in an assembled position.

Claims

1. An instrument tracking device for an instrument, wherein the instrument has an elongated housing extending along a first longitudinal axis and includes a working member at a distal tip of the instrument, the instrument tracking device comprising:

a body that has an opening along a second longitudinal axis of the body, wherein the body is configured to be attached to the elongated housing such that at least a portion of the working member extends through the opening, and wherein the first longitudinal axis and the second longitudinal axis are collinear;

a first tracking coil disposed in the body and radially offset relative to the second longitudinal axis, wherein the first tracking coil defines a first tracking coil plane, wherein the second longitudinal axis line intersects the first tracking coil plane such that the second longitudinal axis extends within the first tracking coil plane, wherein the first tracking coil generates a first output signal indicative of a position of the working member relative to the first tracking coil plane;

a second tracking coil disposed in the body and radially offset relative to the second longitudinal axis, wherein the second tracking coil defines a second tracking coil plane, wherein the second longitudinal axis line intersects the second tracking coil plane such that the second longitudinal axis extends within the second tracking coil plane, wherein the second tracking coil generates a second output signal indicative of the position of the working member relative to the second tracking coil plane;

a third tracking coil disposed in the body and radially offset relative to the second longitudinal axis, wherein the third tracking coil defines a third tracking coil plane, wherein the second longitudinal axis line intersects the third tracking coil plane such that the second longitudinal axis extends within the third tracking coil plane, wherein the third tracking coil generates a third output signal indicative of the position of the working member relative to the third tracking coil plane; and

wherein

the first tracking coil, the second tracking coil and the third tracking coil are respectively wound about a first tracking coil axis, a second tracking coil axis and a third tracking coil axis,

the first tracking coil, the second tracking coil and the third tracking coil are located at 120°

positions relative to each other and about the second longitudinal axis,

the first tracking coil axis, the second tracking coil axis, and the third tracking coil axis are (i) orthogonal respectively to the first tracking coil plane, the second tracking coil plane, and the third tracking coil plane, and (ii) in a plane orthogonal to the second longitudinal axis.

2. The instrument tracking device of claim 1, wherein the first tracking coil plane, the second tracking coil plane, and the third tracking coil plane intersect each other at the second longitudinal axis.

3. The instrument tracking device of claim 1, further comprising a connection mechanism configured to secure the body to the elongated housing,

wherein at least a portion of the elongated housing extends through the opening of the body.

4. The instrument tracking device of claim 3, wherein the connection mechanism is selected from a group consisting of adhesive, cooperating threads, clips, snaps and fasteners.

5. The instrument tracking device of claim 1, wherein the body comprises:

a base having the first tracking coil, the second tracking coil and the third tracking coil disposed at least partially within the base; and

a cap that covers the base.

6. The instrument tracking device of claim 5, wherein the base and the cap are formed of plastic.

7. The instrument tracking device of claim 1, wherein:

the instrument comprises a surgical handpiece; and

the working member comprises one of a blade or a bur.

8. The instrument tracking device of claim 1, wherein:

the first tracking coil extends radially outward from the body;

the second tracking coil extends radially outward from the body; and

the third tracking coil extends radially outward from the body.

9. The instrument tracking device of claim 1, wherein:

the body includes a cable support; and

the cable support is configured to support a cable assembly external to the body and between the first tracking coil and the second tracking coil.

10. The instrument tracking device of claim 9, further comprising a printed circuit board attached to the body, wherein:

the first tracking coil, the second tracking coil, and the third tracking coil are electrically connected to the printed circuit board; and

the cable assembly is electrically connected to the printed circuit board.

11. The instrument tracking device of claim 10, wherein:

the printed circuit board comprises terminals;

the first tracking coil comprises first wires;

the second tracking coil comprises second wires;

the third tracking coil comprises third wires;

the cable assembly comprises fourth wires; and

the first wires the second wires and the third wires connect to the fourth wires at the terminals, respectively.

12. The instrument tracking device of claim 11, wherein the printed circuit board is mounted on the body distal of the first tracking coil, the second tracking coil and the third tracking coil.

13. The instrument tracking device of claim 1, further comprising:

a cable assembly mounted on the body;

a longitudinal support member mounted on the housing and comprising a plurality of grooves, wherein;

the first tracking coil comprises first wires;

the second tracking coil comprises second wires;

the third tracking coil comprises third wires;

the cable assembly comprises fourth wires; and

the first wires the second wires and the third wires connect to the fourth wires within the grooves, respectively.

14. An instrument comprising:

the instrument tracking device of claim 1;

a rotating hub connected to and proximal of the instrument tracking device; and

the working member, wherein the working member is connected to and rotated by the rotating hub.

15. The instrument of claim 14, wherein the working member comprises a blade.

16. An instrument tracking device of an instrument, wherein the instrument has an elongated housing extending along a first longitudinal axis and includes a working member at a distal tip of the instrument, the instrument tracking device comprising:

a body extending along a second longitudinal axis, wherein the body is configured to be attached to the elongated housing of the instrument;

a first tracking coil disposed on the body and radially offset relative to the second longitudinal axis, wherein the first tracking coil generates a first output signal indicative of a position of the working member relative to a first tracking coil plane;

a second tracking coil disposed on the body and radially offset relative to the second longitudinal axis, wherein the second tracking coil generates a second output signal indicative of the position of the working member relative to a second tracking coil plane;

a third tracking coil disposed on the body and radially offset relative to the second longitudinal axis, wherein the third tracking coil generates a third output signal indicative of the position of the working member relative to a third tracking coil plane; and

wherein

the first tracking coil, the second tracking coil, and the third tracking coil are radially disposed at 120°

positions relative to each other about the second longitudinal axis,

a plane orthogonal to the second longitudinal axis intersects the first tracking coil, the second tracking coil and the third tracking coil,

a radius of the first tracking coil extends in a direction parallel to the first tracking coil plane,

a radius of the second tracking coil extends in a direction parallel to the second tracking coil plane,

a radius of the third tracking coil extends in a direction parallel to the third tracking coil plane, and

the first tracking coil plane, the second tracking coil plane and the third tracking coil plane intersect each other at the second longitudinal axis.

17. The instrument tracking device of claim 16, wherein the body includes:

a first lobe that projects radially from the body and holds the first tracking coil;

a second lobe that projects radially from the body and holds the second tracking coil; and

a third lobe that projects radially from the body and holds the third tracking coil.

18. The instrument tracking device of claim 16, further comprising a longitudinal support member connected to the body and configured to hold a cable, wherein:

terminal ends of each of the first tracking coil, the second tracking coil and the third tracking coil are electrically connected to wires of the cable; and

the longitudinal support member prevents separation of the cable from the body.

19. An instrument comprising:

an elongated housing extending along a first longitudinal axis;

a working member at a distal tip of the instrument;

a body having a base and a cap, wherein the cap covers the base, wherein the body extends along a second longitudinal axis and is attached to the elongated housing;

a first tracking coil disposed on the body and radially offset relative to the second longitudinal axis, wherein a radius of the first tracking coil extends in a direction parallel to a first tracking coil plane, and wherein the first tracking coil generates a first output signal indicative of a position of the working member relative to the first tracking coil plane;

a second tracking coil disposed on the body and radially offset relative to the second longitudinal axis, wherein a radius of the second tracking coil extends in a direction parallel to a second tracking coil plane, and wherein the second tracking coil generates a second output signal indicative of the position of the working member relative to the second tracking coil plane; and

a third tracking coil disposed on the body and radially offset relative to the second longitudinal axis, wherein a radius of the third tracking coil extends in a direction parallel to a third tracking coil plane, wherein the third tracking coil generates a third output signal indicative of the position of the working member relative to the third tracking coil plane,

wherein

the first tracking coil, the second tracking coil, and the third tracking coil are disposed at radially equidistant locations around the body,

the first tracking coil plane, the second tracking coil plane, and the third tracking coil plane intersect each other, and

a plane orthogonal to the second longitudinal axis intersects the first tracking coil, the second tracking coil and the third tracking coil.

20. The instrument of claim 19, wherein:

the body has an opening along the second longitudinal axis;

the body is configured to be attached to the elongated housing such that at least a portion of the elongated housing extends through the opening; and

the first longitudinal axis and the second longitudinal axis are collinear.

21. The instrument of claim 19, wherein:

the body includes a cable support member; and

the cable support member is configured to hold a cable external to the body and between the first tracking coil and the second tracking coil.

22. The instrument tracking device of claim 21, further comprising a printed circuit board attached to the body, wherein:

the first tracking coil, the second tracking coil, and the third tracking coil are electrically connected to the printed circuit board; and

the cable is electrically connected to the printed circuit board.