System for determining and tracking movement during a medical procedure

• US 9,402,691 B2
• Filed: 09/16/2014
• Issued: 08/02/2016
• Est. Priority Date: 09/16/2014
• Status: Active Grant

• Current Assignee: X-Nav Technologies, Inc., X-Nav Technologies, LLC
• Original Assignee: X-Nav Technologies, LLC
• Inventors: Emery, Robert W. III, Merritt, Scott A., Marandola, Edward J., Scharff, Christopher W.
• Primary Examiner(s): Koziol, Stephen R
• Assistant Examiner(s): Gilliard, Delomia L
• Application Number:
  US14/487,987
• Publication Number:
  US 20160074129A1
• Time in Patent Office: 686 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 2090/3966 Radiopaque markers visible in an X-ray image
• 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 5/0077 Devices for viewing the surface of the body, e.g. camera, magnifying lens
• CPC Class Codes: A61B 6/51 for dentistry
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: A61C 1/082 Positioning or guiding, e.g. of drills
• CPC Class Codes: A61C 9/0046 Data acquisition means or methods

Abstract

An image guidance system for tracking a surgical instrument during a surgical procedure. The image guidance system includes a plurality of cameras adapted to be located external to a surgical area for capturing images of optically visible patterns. A processing system receives and processes the images to recognize the patterns and triangulate the locations and orientations of each pattern relative to a camera. The processing system uses a reference dataset which defines a reference coordinate system based on alignment to a portion of the oral anatomy. The processing system determines the location and orientation of the tracked instrument based on the reference dataset.

Claims

1. An image guidance system for tracking a surgical instrument during oral surgery comprising:

a fixture configured to be removably attached to a patient'"'"'s anatomy in a location spaced apart from a surgical area;

a first tracking assembly including a bracket assembly removably attached to the fixture and a first tracking pattern surface, the first tracking pattern surface including a first optically visible pattern, the bracket assembly positioning the first tracking pattern at a location spaced apart from the surgical area;

a tool for use in the surgical procedure, the tool having a proximate tip end to which a drill bit is attached, an intermediate portion adapted to be held by a user, and a distal end opposite from the tip end;

a second tracking assembly including a second tracking pattern surface mounted to the tool at a location spaced apart from the tip end of the tool so as to be spaced apart from the surgical area and positioned external to the oral cavity during use, the second tracking pattern surface including a second optically visible pattern;

a plurality of cameras mounted at a location spaced apart from the surgical area and the first and second tracking assemblies at a position that permits the cameras, when activated, to capture images of the optically visible patterns on the first and second tracking pattern surfaces;

a reference dataset including the location and orientation of the fixture with respect to a CT scan of the surgical area;

a processing system to process the captured images and configured to recognize the optically visible patterns and triangulate the locations and orientations of the first and second tracking assemblies, the processing system determining the location and orientation of the tracked tool based on the reference dataset and analyzing relative transforms between each camera of the optically visible patterns on the first and second tracking pattern surfaces.

2. An image guidance system according to claim 1 wherein the fixture is configured to removably attach to opposite sides of one or more teeth in a patient'"'"'s mouth without the need for tools for attaching and removing the fixture.

3. An image guidance system according to claim 1 wherein the bracket assembly includes a bracket mount that removably attaches to a flange on the fixture, a tracking mount that attaches to the first tracking pattern surface, and a support arm that attaches the bracket mount to the tracking mount.

4. An image guidance system according to claim 3 wherein the bracket mount includes two spaced apart mounting posts that engage with the flange.

5. An image guidance system according to claim 3 wherein the attachment of the tracking mount to the first tracking pattern surface is adjustable, the adjustable attachment of the tracking mount permitting angular adjustment of the first tracking pattern surface relative to the support arm.

6. An image guidance system according to claim 3 wherein the tracking mount includes a base with a series of indentations and protrusions.

7. An image guidance system according to claim 6 wherein the first tracking assembly includes a frame with an attachment to the tracking mount, the attachment being configured to permit the frame to be adjustable with respect to the bracket assembly.

8. An image guidance system according to claim 7 wherein the frame includes a series of indentations and protrusions that are configured to mate with the indentations and protrusions on the tracking mount so as to permit the rotational orientation of the tracking frame relative to the base to be adjustable.

9. An image guidance system according to claim 1 wherein the optically visible patterns each contain a plurality of 2D contrasting shapes, the contrasting shapes arranged so as to uniquely differentiate each optically visible pattern from the other optically visible pattern.

10. An image guidance system according to claim 9 wherein each camera is located so as to capture at least a portion of the optically visible pattern on each of the first and second tracking pattern surfaces such that the image of each optically visible pattern captured by the camera is at a different viewing angle than the image of the same optically visible pattern captured by the other camera(s), the cameras configured to send to the processor data representative of the 2D images of the optically visible patterns captured by the cameras.

11. An image guidance system according to claim 10 wherein the processor includes a dataset of patterns, including location data for contrasting shapes on each of the patterns in the dataset, and wherein the processor is configured to analyze the dataset of patterns to determine which of the patterns in the dataset corresponds to each of the optically visible patterns in the 2D images received from the cameras.

12. An image guidance system according to claim 11, wherein the contrasting shapes include adjacent boxes of distinct color, each set of adjacent boxes being separated from one another by a line, and wherein a defined point is formed by a center point of two intersecting lines, and wherein the processor determines the location of defined points in the dataset of patterns and the optically visible patterns for determining whether a given pattern from the dataset of patterns corresponds to the optically visible patterns.

19. An image guidance system according to claim 1, wherein the second tracking pattern surface is mounted to an external portion of the tool so as to position the visible pattern in a field of view of the cameras.

13. An image guidance system for tracking a surgical instrument during oral surgery comprising:

a fixture configured to be removably attached to a patient'"'"'s anatomy in an oral cavity at a location spaced apart from a surgical area;

a first tracking assembly including a bracket assembly having a first end adjustably attached to the fixture and extending away from the oral cavity, the bracket assembly having a second end attached to a first tracking pattern surface, the bracket assembly permitting the first tracking pattern to be adjustable with respect to the fixture, the first tracking pattern surface including a first optically visible pattern, the bracket assembly positioning the first tracking pattern at a location spaced apart from the oral cavity;

a surgical tool for use in the surgical procedure, the tool having a proximate tip end, an intermediate portion adapted to be held by a user, and a distal end opposite from the tip end;

a second tracking assembly including a second tracking pattern surface, the second tracking assembly configured to mount to a surgical tool for use in the oral surgery at a location spaced apart from the tip end of the tool so as to be spaced apart from the surgical area and positioned external to the oral cavity during use, the second tracking pattern surface including a second optically visible pattern;

a plurality of cameras mounted at a location spaced apart from the surgical area and the first and second tracking assemblies at a position that permits the cameras, when activated, to detect images of the optically visible patterns on the first and second tracking pattern surfaces;

a reference dataset including the location and orientation of the fixture with respect to a CT scan of the oral cavity; and

a processing system to process the captured images and configured to recognize the optically visible patterns and triangulate the locations and orientations of the first and second tracking assemblies, the processing system determining the location and orientation of the tracked tool based on the reference dataset and analyzing relative transforms between each camera of the optically visible patterns on the first and second tracking pattern surfaces.

14. An image guidance system according to claim 13 wherein the fixture is configured to removably attach to opposite sides of one or more teeth in a patient'"'"'s mouth without the need for tools for attaching and removing the fixture, wherein the bracket assembly includes a bracket mount that removably attaches to a flange on the fixture, a tracking mount that attaches to the first tracking pattern surface, and a support arm that attaches the bracket mount to the tracking mount, wherein the attachment of the tracking mount to the first tracking pattern surface is adjustable, the adjustable attachment of the tracking mount permitting angular adjustment of the first tracking pattern surface relative to the support arm.

15. An image guidance system according to claim 14 wherein the tracking mount includes a base with a series of indentations and protrusions, the first tracking assembly including a frame with an attachment to the tracking mount, the attachment being configured to permit the frame to be adjustable with respect to the bracket assembly, and wherein the frame includes a series of indentations and protrusions that are configured to mate with the indentations and protrusions on the tracking mount so as to permit the rotational orientation of the tracking frame relative to the base to be adjustable.

16. An image guidance system according to claim 13 wherein the optically visible patterns each contain a plurality of 2D contrasting shapes, the contrasting shapes arranged so as to uniquely differentiate each optically visible pattern from the other optically visible pattern, and wherein each camera is located so as to capture at least a portion of the optically visible pattern on each of the first and second tracking pattern surfaces such that the image of each optically visible pattern captured by the camera is at a different viewing angle than the image of the same optically visible pattern captured by the other camera(s), the cameras configured to send to the processor data representative of the 2D images of the optically visible patterns captured by the cameras.

17. An image guidance system according to claim 16, wherein the processor includes a dataset of patterns, including location data for contrasting shapes on each of the patterns, and wherein the processor is configured to analyze the dataset of patterns to determine which of the patterns in the dataset corresponds to each of the optically visible patterns in the 2D images received from the cameras.

18. An image guidance system according to claim 17, wherein the contrasting shapes include adjacent boxes of distinct color, each set of adjacent boxes being separated from one another by a line, and wherein a defined point is formed by a center point of two intersecting lines, and wherein the processor determines the location of defined points in the dataset of patterns and the optically visible patterns for determining whether a given pattern from the dataset of patterns corresponds to the optically visible patterns.