Method and apparatus for surgical navigation

• US 9,504,530 B2
• Filed: 02/03/2014
• Issued: 11/29/2016
• Est. Priority Date: 10/28/1999
• Status: Expired due to Term

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Hartmann, Steven L., Burg, Bruce M., Bzostek, Andrew, Koenig, Matthew W., Jacobsen, Brad, Jascob, Bradley A., Kessman, Paul
• Primary Examiner(s): Roy, Baisakhi
• Application Number:
  US14/171,346
• Publication Number:
  US 20140148692A1
• Time in Patent Office: 1,030 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 17/1615 Drill bits, i.e. rotating tools extending from a handpiece to contact the worked material
• CPC Class Codes: A61B 17/1703 using imaging means, e.g. by X-rays
• CPC Class Codes: A61B 2017/00221 with wireless transmission of data, e.g. by infrared radiation or radiowaves
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• 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 2090/3987 Applicators for implanting markers
• 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 90/39 Markers, e.g. radio-opaque or breast lesions markers

Abstract

Disclosed is a surgical navigation system for tracking an instrument relative to a patient. The system can track a portion of the patient, an instrument, and/or both relative to image data, a coordinate system, an atlas, a morphed atlas, or combinations thereof. The system can include a tracking device on the instrument to provide six degree of freedom information regarding the location of the instrument.

Claims

1. A method of providing an instrument for a procedure, comprising:

providing a tracking device configured to be in communication with a navigation system, wherein the instrument extending along a longitudinal axis, by;

providing a first tracking portion having a first length wrapped around the longitudinal axis for a first distance and includes a plurality of turns wherein each turn of the plurality of turns is formed at a first winding angle relative to the longitudinal axis to define a first wrap axis; and

providing a second tracking portion having a second length wrapped around the longitudinal axis for a second distance and includes a plurality of turns, wherein each turn of the plurality of turns is formed at a second winding angle relative to the longitudinal axis to define a second wrap axis;

providing the first tracking portion and the second tracking portion configured to be in communication with the navigation system;

providing the first tracking portion and the second tacking portion on the instrument to generate all of a first navigation vector and a second navigation vector to intersect near a single point in a single plane.

2. The method of claim 1, further comprising:

providing the first tracking portion formed of a first material; and

providing the second tracking portion to be formed of a second material.

3. The method of claim 2, wherein the first material and the second material are the same material and a conductive material;

and the first plurality of turns and the second plurality of turns are formed around a wall of the instrument.

4. The method of claim 1, further comprising:

providing the first tracking portion spaced a distance from the second tracking portion along the longitudinal axis.

5. The method of claim 1, further comprising:

providing the first tracking portion to be formed between the second tracking portion and an outer wall of the instrument.

6. The method of claim 1, further comprising:

determining with the navigation system;

a first navigation vector of the first tracking portion and a second navigation vector of the second tracking portion; and

a location information for the tracking device based on the determined first navigation vector and the determined second navigation vector.

7. The method of claim 1, further comprising:

providing a third tracking portion wrapped a third length around the longitudinal axis for a third length, wherein the wrapped third length includes a plurality of turns and each turn is formed at a third winding angle relative to the longitudinal axis.

8. The method of claim 1, further comprising:

providing a plurality of the tracking devices; and

providing the instrument to be flexible;

wherein a first tracking device of the plurality of tracking devices is configured to track a first portion of the instrument and a second tracking device of the plurality of the plurality of tracking devices is configured to track a second portion of the instrument.

9. An instrument, comprising:

a tracking device formed around a longitudinal axis of the instrument, including;

a first tracking portion formed of a first elongated member having a wrapped first length around the longitudinal axis for a first distance, wherein the wrapped first length includes a plurality of turns and each turn of the plurality of turns of the first elongated member is formed at a first winding angle relative to the longitudinal axis to define a first wrap axis; and

a second tracking portion formed of a second elongated member having a wrapped second length around the longitudinal axis for a second distance, wherein the wrapped second length includes a plurality of turns and each turn of the plurality of turns of the second elongated member is formed at a second winding angle relative to the longitudinal axis to define a second wrap axis;

a third tracking portion formed of a third elongated member having a wrapped third length around the longitudinal axis for a third distance, wherein the wrapped third length includes a plurality of turns and each turn of the plurality of turns of the third elongated member is formed at a third winding angle relative to the longitudinal axis to define a third wrap axis;

wherein the first tracking portion is configured to define a first navigation vector, the second tracking portion is configured to define a second navigation vector, and the third tracking portion is configured to define a third navigation vector.

10. The instrument of claim 9, wherein the first tracking portion is formed of a first material and the second tracking portion is formed of a second material.

11. The instrument of claim 9, wherein the first tracking portion is spaced a distance along the longitudinal axis apart from the second tracking portion.

12. The instrument of claim 9, wherein the first tracking portion is positioned between the second tracking portion and an exterior wall of the instrument.

13. The system of claim 9, wherein at least one of the first winding angle and the second winding angle is about 40 degrees to about 50 degrees.

14. The system of claim 13, further comprising:

a tracking system localizer having a system to induce a voltage in the first tracking portion and the second tracking portion; and

a processor to receive a signal from the first tracking portion, the second tracking portion, and the third tracking portion to compute a location of the first tracking portion, the second tracking portion, and the third tracking portion based on the first navigation vector, the second navigation vector, and the third navigation vector;

wherein a representation of at least a portion of the instrument is operable to be superimposed on an image at the computed location.

15. The system of claim 9, further comprising:

an elongated member forms the instrument extending along the longitudinal axis.

16. The instrument of claim 9, wherein the first winding angle is a non-zero angle relative to the longitudinal axis.

17. A trackable instrument, comprising:

an instrument having at least an elongated portion extending along a longitudinal axis;

a tracking device, including;

a first tracking portion of a first material having a first plurality of turns around the elongated portion, wherein each turn of the first plurality of turns is formed at a first winding angle relative to the longitudinal axis;

a second tracking portion of a second material having a second plurality of turns around the elongated portion, wherein each turn of the second plurality of turns is formed at a second winding angle relative to the longitudinal axis, wherein the second winding angle is different from the first winding angle; and

a third tracking portion of a third material having a third plurality of turns around the elongated portion;

wherein the first tracking portion defines a first navigation vector and the second tracking portion defines a second navigation vector to determine an orientation of at least a first section of the elongated portion;

wherein each turn of the third plurality of turns is formed at a third winding angle relative to the longitudinal axis.

18. The trackable instrument of claim 17, wherein the instrument includes a working portion configured to act at a selected angle relative to the longitudinal axis.

19. The trackable instrument of claim 18, wherein the working portion is selected from a group consisting of an opening, an ablation needle, a biopsy window, an ablation portion, or a sensing portion.

20. The trackable instrument of claim 18, further comprising:

a display device configured to display an icon representative of at least one of an orientation or position of the working portion illustrated relative to an environment in which the elongated portion is placed.

21. The trackable instrument of claim 20, further comprising:

a tracking system localizer having a system to induce a voltage in the first tracking portion and the second tracking portion to determine at least one of a position or an orientation of the first navigation vector and the second navigation vector for display with the display device.

22. The trackable instrument of claim 17, wherein the first material, the second material, and the third material are the same material and a conductive material.