Method and apparatus for optimizing a computer assisted surgical procedure

• US 9,597,154 B2
• Filed: 02/24/2014
• Issued: 03/21/2017
• Est. Priority Date: 09/29/2006
• Status: Active Grant

• Current Assignee: Medtronic Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Incorporated (Medtronic Plc)
• Inventors: Simon, David A., Lent, Mark S., Singhal, Ruchika, Csavoy, Andrew N.
• Primary Examiner(s): Brutus, Joel F
• Application Number:
  US14/187,601
• Publication Number:
  US 20140171791A1
• Time in Patent Office: 1,121 Days
• Field of Search: 600/424
• US Class Current: 1/1
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• 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 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 5/0066 Optical coherence imaging
• CPC Class Codes: A61B 5/0084 for introduction into the body, e.g. by catheters A61B5/1459 takes precedence
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/066 Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
• CPC Class Codes: A61B 5/7435 Displaying user selection data, e.g. icons in a graphical user interface
• CPC Class Codes: A61B 90/06 Measuring instruments not otherwise provided for
• CPC Class Codes: A61N 1/0534 Electrodes for deep brain stimulation
• CPC Class Codes: A61N 5/1048 Monitoring, verifying, controlling systems and methods
• CPC Class Codes: G16H 10/60 for patient-specific data, e.g. for electronic patient records
• CPC Class Codes: G16H 20/40 relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 20/70 relating to mental therapies, e.g. psychological therapy or autogenous training
• CPC Class Codes: G16H 30/20 for handling medical images, e.g. DICOM, HL7 or PACS
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders

Abstract

A method and apparatus for optimizing a computer assisted procedure is provided. A method and apparatus for performing a procedure is also provided. Data can be accessed and processed to optimize and perform a procedure. The data can be augmented or supplemented with patient specific data.

Claims

1. A system for performing a procedure on an anatomy of a patient, comprising:

a first memory system configured to store database data;

an instrument having a sensor configured to be positioned in a brain of the patient to obtain functional patient specific data; and

a processor operable to access the first memory system and operable to execute instructions to;

perform an initial registration of a patient specific image data and the database data, and

perform a second registration of the patient specific image data and the database data after the initial registration based at least in part on the functional patient specific data obtained with the sensor from the patient with the instrument having the sensor.

2. The system of claim 1, wherein the database data includes atlas data, average functional data, the functional patient specific data previously acquired, or combinations thereof.

3. The system of claim 1, further comprising:

a display device operable to display the patient specific image data after performing the second registration; and

wherein a first icon is displayed on the display device to identify a target in the patient specific image data displayed on the display device.

4. The system of claim 3, wherein the first icon is illustrated at a location defined via a user input, an automatic determination of the target by the processor, or combinations thereof.

5. The system of claim 3, wherein a second icon is displayed on the display device operable to illustrate a predicted localized physiological affect of a therapy superimposed on the patient specific image data.

6. The system of claim 5, wherein the second icon displays a localized physiological affect of a voltage, an affect of a pulse width, an affect of a chemical volume delivered, an affect of a biological treatment delivered, an affect of a radiation treatment delivered, an affect of therapy over time, or combinations thereof.

7. The system of claim 6, further comprising:

a deep brain stimulation lead operable to be implanted in the anatomy of the patient; and

a treatment device operable to be programmed to provide a therapy through the deep brain stimulation lead implanted in the anatomy based at least in part on the localized physiological affect displayed on the display device.

8. The system of claim 7, further comprising:

a tracking system including a localizer and a tracking device, wherein the tracking device is associated with at least one of the deep brain stimulation lead or the instrument.

9. The system of claim 1, further comprising:

an imaging system operable to obtain the patient specific image data; and

a tracking system including a localizer and a tracking device;

wherein a position of the tracking device is operable to be determined and indicated relative to the patient specific image data.

10. The system of claim 1, wherein the functional patient specific data includes at least one of a microelectrode recording data, a pressure data, a gating data, or combinations thereof.

11. The system of claim 1, wherein the instrument includes at least one of a microelectrode recorder, a catheter, a scope, a pressure monitor, or combinations thereof.

12. A system for performing a procedure on an anatomy of a patient, comprising:

an electronic processor to execute instructions to perform an initial registration of a patient specific image data and a database data at a first time; and

an instrument having a sensing portion configured to be placed within the anatomy of the patient and to obtain functional patient specific data after the first time with the sensing portion;

wherein the electronic processor executes further instructions to perform a second registration of the patient specific image data and the database data at a second time after the first time based at least in part on the functional patient specific data obtained with the instrument.

13. The system of claim 12, further comprising:

a first memory system configured to store the database data;

wherein the electronic processor is in communication with the first memory system.

14. The system of claim 13, further comprising:

a display device in communication with the electronic processor and configured to display the patient specific image data after at least the second registration.

15. The system of claim 14, further comprising:

a tracking system having at least a tracking device associated with the instrument operable with a localizer to track a location of the instrument.

16. The system of claim 15, wherein the tracking system includes at least one of an electromagnetic localizer or an optical localizer.

17. The system of claim 15, wherein the electronic processor is configured to execute instructions to illustrate a tracked location of the instrument superimposed on the patient specific image data illustrated with the display device.

18. The system of claim 13, further comprising:

an imaging system operable to obtain the patient specific image data for registration to the database data.

19. A system for performing a procedure on an anatomy of a patient, comprising:

an instrument having a sensing portion to sense functional patient specific data in at least one location within the anatomy of the patient;

a tracking system having at least a tracking device associated with the instrument to track the instrument in the at least one location within the anatomy of the patient;

an electronic processor to execute instructions to perform a refined registration of a patient specific image data and a database data based upon at least one tracked location of the instrument; and

a display device configured to display the patient specific image data and at least one icon superimposed on the patient specific image data displayed on the display device illustrating the at least one location of the functional patient specific data sensed with the sensing portion;

wherein the refined registration follows an initial registration.

20. The system of claim 19, wherein the electronic processor is further configured to execute instructions to perform the initial registration of the patient specific image data and the database data prior to the refined registration.

21. The system of claim 20, further comprising:

a deep brain stimulation lead configured to be placed at a patient target location represented in the patient specific image data.

22. The system of claim 21, further comprising:

an imaging system configured to obtain the patient specific image data.

23. The system of claim 19, wherein the electronic processor is further configured to execute instructions to determine a patient target based on the performed refined registration.