Automatic identification of tracked surgical devices using an electromagnetic localization system

• US 9,867,674 B2
• Filed: 07/27/2012
• Issued: 01/16/2018
• Est. Priority Date: 02/19/2007
• Status: Active Grant

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Hartmann, Steve, Tipton, Jason
• Primary Examiner(s): Moher, Amanda Lauritzen
• Assistant Examiner(s): Mohammed, Shahdeep
• Application Number:
  US13/560,483
• Publication Number:
  US 20120296203A1
• Time in Patent Office: 1,999 Days
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/108 Computer aided selection or customisation of medical implants or cutting guides
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• 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 2090/0805 automatically, e.g. by means of magnetic, optical or photoelectric detectors
• 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 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/90 Identification means for patients or instruments, e.g. tags
• CPC Class Codes: A61B 90/98 using electromagnetic means, e.g. transponders
• CPC Class Codes: G01R 33/285 Invasive instruments, e.g. catheters or biopsy needles, specially adapted for tracking, guiding or visualization by NMR
• CPC Class Codes: G01R 33/287 involving active visualization of interventional instruments, e.g. using active tracking RF coils or coils for intentionally creating magnetic field inhomogeneities

Abstract

A method and apparatus for identifying a member used in a navigation system. The navigation system can determine the identification of an instrument via an input. The input can be substantially automatic when an instrument is introduced into the navigation system field or assembly.

Claims

1. A navigation system comprising:

an instrument comprising;

a first member comprising;

a tip configured to contact a patient, and

a first identification element configured to distort an electromagnetic field, and

a second member configured to be set in a fixed position relative to the first member, wherein the second member comprises a tracking device, and wherein the tracking device is configured to (i) transmit or receive the electromagnetic field, and (ii) prior to the second member being held in the fixed position, be displaced relative to the first identification element to provide the distortion of the electromagnetic field;

a tracking system operable to determine a first position of the tracking device relative to a reference point based on a strength of the electromagnetic field relative to the tracking device; and

a processor operable to (i) identify the first member based on the distortion of the electromagnetic field during the displacement of the tracking device relative to the first identification element, and (ii) determine a second position of the tip of the instrument based on the first position,

wherein

the first member includes a first plurality of identification elements,

the first plurality of identification elements comprise the first identification element and distort the electromagnetic field, and

the first plurality of identification elements provide a distortion pattern that is unique for the instrument.

2. The navigation system of claim 1, further comprising a coil configured to generate the electromagnetic field,

wherein the tracking device is configured to (i) receive a portion of the electromagnetic field, and (ii) detect the distortion of the electromagnetic field as the tracking device moves past the first identification element.

3. The navigation system of claim 1, wherein:

the instrument comprises an interconnection device;

the first member is configured to be connected to the interconnection device;

the first member is keyed and includes a projection; and

a portion of the interconnection device is dedicated to receiving the projection.

4. The navigation system of claim 1, further comprising:

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

a display operable to display the image data,

wherein the processor is operable to select an icon based upon the instrument and display the icon relative to the image data on the display.

5. The navigation system of claim 1, wherein the instrument includes at least one of an awl, a probe, a tap, a driver, a stint, or combinations thereof.

6. The navigation system of claim 1, wherein the processor is configured to determine the second position of the tip of the instrument based on the identification of the first member.

7. The navigation system of claim 1, further comprising a reader, wherein:

the reader is configured to detect the distortion of the electromagnetic field; and

the processor is configured to identify the first member based on the detected distortion.

8. The navigation system of claim 7, wherein the tracking system and the reader are implemented as a single system.

9. The navigation system of claim 1, further comprising a third member, wherein:

the first member includes a channel;

the first member is directly connected to the third member; and

the second member is directly connected to the third member and is configured to be slid into the channel of the first member.

10. The navigation system of claim 9, wherein:

the second member includes a stylet; and

the tracking device is connected to a distal end of the stylet.

11. A navigation system comprising:

an instrument comprising;

a first member comprising;

a tip configured to contact a patient, and

a first identification element configured to distort an electromagnetic field, and

a second member configured to be set in a fixed position relative to the first member, wherein the second member comprises a tracking device, and wherein the tracking device is configured to (i) transmit or receive the electromagnetic field, and (ii) prior to the second member being held in the fixed position, be displaced relative to the first identification element to provide the distortion of the electromagnetic field;

a tracking system operable to determine a first position of the tracking device relative to a reference point based on a strength of the electromagnetic field relative to the tracking device; and

a processor operable to (i) identify the first member based on the distortion of the electromagnetic field during the displacement of the tracking device relative to the first identification element, and (ii) determine a second position of the tip of the instrument based on the first position,

wherein

the first member includes a first plurality of identification elements,

the first plurality of identification elements comprise the first identification element and distort the electromagnetic field,

each of the first plurality of identification elements distort the electromagnetic field differently than other ones of the first plurality of identification elements during displacement of the tracking device relative to the first plurality of identification elements,

the first plurality of identification elements have respective first characteristics,

the distortion of the electromagnetic field by the first plurality of identification elements generates a first distortion pattern, and

the processor is configured to identify the first member based on the first distortion pattern.

12. The navigation system of claim 11, further comprising a third member configured to replace the first member, wherein:

the third member comprises a second plurality of identification elements having respective second characteristics;

the second plurality of identification elements are configured to distort the electromagnetic field while the second member is being engaged to the third member;

the distortion of the electromagnetic field by the second plurality of identification elements generates a second distortion pattern;

the second distortion pattern is different than the first distortion pattern; and

the processor is configured to identify the second member based on the second distortion pattern.

13. The navigation system of claim 12, wherein:

the first plurality of identification elements comprise a first plurality of conductive bands;

the first plurality of conductive bands extend around at least a portion of the first member;

the first characteristics comprise different band sizes;

the second plurality of identification elements comprise a second plurality of conductive bands;

the second plurality of conductive bands extend around at least a portion of the third member; and

the second characteristics comprise different band sizes.

14. An instrument for performing a surgical procedure on a patient, the instrument comprising:

a first member comprising

tip configured to contact the patient,

a channel, and

a first identification element extending at least partially around the channel, wherein the first identification element is configured to distort an electromagnetic field; and

a second member configured to be slid into the channel of the first member, wherein the second member comprises a tracking device,

wherein the tracking device is configured to (i) transmit or receive the electromagnetic field, and (ii) be displaced relative to the first identification element while sliding the second member in the first member to provide the distortion of the electromagnetic field

wherein;

the first member includes a plurality of identification elements,

the plurality of identification elements comprise the first identification element and distort the electromagnetic field,

the plurality of identification elements provide a distortion pattern that is unique for the instrument,

the plurality of identification elements have respective characteristics, and

the distortion of the electromagnetic field by the plurality of identification elements generates the distortion pattern for identification of the first member based on the distortion pattern.

15. A navigation system comprising:

the instrument of claim 14; and

a tracking system configured to determine a position of the tracking device based on a strength of the electromagnetic field relative to the tracking device.

16. A navigation system, comprising:

the instrument of claim 14; and

a processor configured to (i) while sliding the second member in the first member, identify the first member based on the distortion of the electromagnetic field, and (ii) determine a position of the tip of the instrument based on a strength of the electromagnetic field relative to the tracking device.

17. The navigation system of claim 16, further comprising:

a tracking system operable to determine a position of the tracking device based on a strength of the electromagnetic field relative to the tracking device.