Image guided awl/tap/screwdriver

• US RE43,328 E1
• Filed: 01/31/2002
• Issued: 04/24/2012
• Est. Priority Date: 11/20/1997
• Status: Expired due to Term

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Foley, Kevin T., Melkent, Anthony J., Carroll, Catalina J.
• Primary Examiner(s): Chen, Tse
• Assistant Examiner(s): Remaly, Mark
• Application Number:
  US10/062,265
• Time in Patent Office: 3,736 Days
• Field of Search: 600/429, 600/417, 600/407, 600/473, 600/476, 606/130, 606/79, 606/80, 606/96, 606 60- 62, 606/104
• US Class Current: 600/429
• 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 17/1655 for tapping
• CPC Class Codes: A61B 17/8875 Screwdrivers, spanners or wrenches
• CPC Class Codes: A61B 2017/0046 with a releasable handle; with handle and operating part separable for prosthetic joint-implanting tools A61F2/4603
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2055 Optical 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 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 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/96 using barcodes

Abstract

A trackable medical instrument for use in a computer assisted image guided medical and surgical navigation systems that generate images during medical and surgical procedures, includes a guide member having an emitter array for being tracked by the system and a drive shaft contained within the guide member having a proximal and a distal end, the drive shaft being rotatable within the guide member while being fixable axially inside the guide member, the proximal end of the drive shaft having a first connector for interchangeably receiving at least one drive source, and the distal end having a second connector for interchangeably receiving at least one instrument tip.

Claims

1. A trackable medical instrument for use in a computer assisted image guided surgery system having a digitizer for tracking the position of the instrument in three dimensional space and a display providing an indication of the position of the instrument with respect to images of a body part take taken preoperatively, the instrument comprising:

a guide member having an emitter array mounted thereon for being tracked by a digitizer; and

a drive shaft contained within the guide member, the drive shaft having a longitudinal axis and a proximal and a distal end, the drive shaft being rotatable within the guide member while being fixable within the guide member in a direction of the longitudinal axis, the proximal end of the drive shaft having a first connector for interchangeably receiving at least one drive source for transmitting torque to the drive shaft causing rotation of the drive shaft relative to the guide member, and the distal end having a second connector for interchangeably receiving at least one instrument tip.

2. The instrument according to claim 1, further comprising at least one instrument tip for removable connection to the distal end of the drive shaft.

3. The instrument according to claim 2, wherein the at least on one drive source comprises a drive handle for removable connection to the proximal end of the drive shaft for transmitting torque to the drive shaft and the instrument tip to cause rotation of the instrument tip.

4. The instrument according to claim 3, wherein the drive handle and the drive shaft include a male-female socket joint to removably connect the drive shaft to the drive handle.

5. The instrument according to claim 3, wherein the drive handle includes a ratchet.

6. The instrument according to claim 3, wherein the drive handle includes a motor for imparting torque to the drive shaft.

7. The instrument according to claim 2, wherein the instrument tip and the drive shaft include a male-female socket joint to removably connect the drive shaft to the instrument tip.

8. The instrument according to claim 2, wherein the instrument tip is an awl.

9. The instrument according to claim 2, wherein the instrument tip is a tap.

10. The instrument according to claim 2, wherein the instrument tip has a shaped end for mating with a workpiece to be rotated by said drive shaft.

11. The instrument according to claim 2, wherein the instrument tip is a drill bit.

12. The instrument according to claim 1, wherein the emitter array includes at least one LED array for emitting light signals.

13. The instrument according to claim 12, wherein the LED array includes a base and a plurality of LED emitters disposed on the base.

14. The instrument according to claim 1, wherein at least one bushing is provided in the guide member to reduce friction between the guide member and drive shaft.

15. The instrument according to claim 1, wherein the instrument includes a sensor which senses the removal and connection of an instrument tip to the instrument.

16. The instrument according to 15, wherein the sensor includes an electromechanical switch on the guide member electrically connected to the system.

17. A trackable medical instrument for use in a computer assisted image guided surgery system having a digitizer for receiving signals representing a position of the instrument during surgery, a computer for processing the signals received, and a display for providing an image representing the position of the instrument in three dimensional space during surgery, the instrument comprising:

guiding means for guiding the instrument in three dimensional space, the guiding means including signaling means for providing a signal representing the trajectory of the instrument and the location of the instrument; and

driving means for driving the instrument contained within the guiding means, the driving means having a longitudinal axis and being fixable in relation to the guiding means in a direction of the longitudinal axis while being rotatable in relation to the guiding means, the driving means having a first end adapted to interchangeably receive at least one medical instrument tip and an opposite end adapted to interchangeably receive at least one drive source.

18. The instrument according to claim 17, wherein the instrument includes a sensing means for sensing the removal and the connection of an instrument tip to the instrument.

19. The instrument according to 18, wherein the sensing means includes an electromechanical switch on the guiding means connected to the a means for processing.

20. The instrument according to claim 17, wherein the guiding means comprises a housing for receiving the driving means, the driving means being rotatable within the housing while being retained axially within the housing.

21. The instrument according to claim 20 wherein the signaling means comprises an LED array.

22. The instrument according to claim 21, further comprising an instrument tip for connection to the first end of the driving means.

23. The instrument according to claim 22, further comprising a drive handle for connection to the opposite end of the driving means for transmitting torque to the instrument tip to cause rotation of the instrument tip.

24. The instrument according to claim 20, wherein the driving means comprises a drive shaft having mating connectors on both ends for connection to corresponding connectors disposed on an instrument tip and a drive source.

25. The instrument according to claim 24, wherein at least one bushing is provided between the housing and the drive shaft to reduce friction between the guide handle and drive shaft.

26. The instrument according to claim 22, wherein the instrument tip is an awl.

27. The instrument according to claim 22, wherein the instrument tip is a tap.

28. The instrument according to claim 22, wherein the instrument tip has a shaped end for mating with a workpiece.

29. A trackable medical instrument for use in a computer assisted image guided surgery system having a digitizer for tracking the position of the instrument in three dimensional space and a display providing an indication of the position of the instrument with respect to images of a body part take taken preoperatively, the instrument comprising:

a guide member having an emitter array mounted thereon for being tracked by a digitizer;

a drive shaft contained within the guide member, the drive shaft having a longitudinal axis and a proximal and a distal end, the drive shaft being rotatable within the guide member while being fixable within the guide member in a direction of the longitudinal axis;

an instrument tip extending from the proximal end of the drive shaft;

wherein the instrument tip rotates freely relative to the guide member while being fixable axially relative to the guide member; and

a drive handle extending from the distal end of the drive shaft for guiding the instrument, including the guide member, and for imparting rotary motion to the drive shaft and the instrument tip independent of the guide member.

30. The instrument according to claim 29, further comprising a proximal coupler for interchangeably coupling the drive source to the drive shaft.

31. The instrument according to claim 30, wherein the proximal coupler comprises a male-female socket joint disposed on the drive shaft and the drive source to removably connect the drive source to the drive shaft.

32. The instrument according to claim 29, wherein the drive handle includes a ratchet.

33. The instrument according to claim 29, wherein the drive handle includes a motor for imparting rotary motion to the drive shaft.

34. The instrument according to claim 29, further comprising a distal coupler for interchangeably coupling the instrument tip to the drive shaft.

35. The instrument according to claim 34, wherein the distal coupler includes a male-female socket joint disposed on the drive shaft and the instrument tip to removably connect the instrument tip to the drive shaft.

36. The instrument according to claim 29, wherein the instrument tip is an awl.

37. The instrument according to claim 29, wherein the instrument tip is a tap.

38. The instrument according to claim 29, wherein the instrument tip has a shaped end for mating with a workpiece to be rotated by said drive shaft.

39. The instrument according to claim 29, wherein the instrument tip is a drill bit.

40. The instrument according to claim 29, wherein the emitter array includes at least one LED array for emitting light signals.

41. The instrument according to claim 29, wherein the at least one LED array includes a base and a plurality of LED emitters disposed on the base.

42. The instrument according to claim 29, wherein at least one bushing is provided in the guide member to reduce friction between the guide member and drive shaft.

43. A trackable medical instrument for use in a computer assisted image guided surgery system having a digitizer for tracking the position of the instrument in three dimensional space and a display providing an indication of the position of the instrument with respect to images of a body part taken preoperatively, the instrument comprising:

a guide member having a tracking device mounted thereon for being tracked by a digitizer;

a drive shaft contained within the guide member, the drive shaft having a longitudinal axis and a proximal and a distal end, the drive shaft being rotatable within the guide member while being fixable within the guide member in a direction of the longitudinal axis;

an instrument tip extending from the proximal end of the drive shaft;

wherein the instrument tip rotates freely relative to the guide member while being fixable axially relative to the guide member; and

a drive handle extending from the distal end of the drive shaft for guiding the instrument, including the guide member, and for imparting rotary motion to the drive shaft and the instrument tip independent of the guide member.

44. The instrument according to claim 43, wherein the tracking device includes a passive signal generator.

45. The instrument according to claim 44, wherein the instrument comprises at least one reflective surface for reflecting signals to be tracked by the digitizer.

46. The instrument according to claim 44, wherein the instrument comprises at least three reflective surfaces for reflecting signals to be tracked by the digitizer.

47. The instrument according to claim 43, further comprising a proximal coupler for interchangeably coupling the drive source to the drive shaft.

48. The instrument according to claim 47, wherein the proximal coupler comprises a male-female socket joint disposed on the drive shaft and the drive source to removably connect the drive source to the drive shaft.

49. The instrument according to claim 43, further comprising a distal coupler for interchangeably coupling the instrument tip to the drive shaft.

50. The instrument according to claim 49, wherein the distal coupler includes a male-female socket joint disposed on the drive shaft and the instrument tip to removably connect the instrument tip to the drive shaft.

51. A trackable medical instrument for use in a computer assisted image guided surgery system having a digitizer for tracking the position of the instrument in three dimensional space and a display providing an indication of the position of the instrument with respect to images of a body part taken preoperatively, the instrument comprising:

a guide member having an emitter array mounted thereon for being tracked by a digitizer; and

a drive shaft contained within the guide member, the drive shaft having a longitudinal axis and a proximal and a distal end, the drive shaft being rotatable within the guide member while being fixable within the guide member in a direction of the longitudinal axis, the proximal end of the drive shaft having a first connector for receiving at least one drive source for transmitting torque to the drive shaft causing rotation of the drive shaft relative to the guide member, and the distal end having a second connector for receiving at least one instrument tip.

52. A trackable medical instrument for use with a surgical navigation system, the trackable medical instrument comprising:

a surgical implement having a distal end;

a guide member coupled to the surgical implement; and

a tracking device mounted to the guide member, wherein the tracking device is rotatable relative to the surgical implement wherein the relationship between the tracking device and the distal end of the surgical implement remains substantially constant upon rotating the tracking device relative to the surgical implement and the substantially constant relationship enables the distal end of the surgical implement to be tracked by the surgical navigation system.

53. The trackable medical instrument as defined in claim 52, wherein the substantially constant relationship between the tracking device and the distal end of the surgical implement is a distance between the tracking device and the distal end of the surgical implement.

54. The trackable medical instrument as defined in claim 52, wherein the surgical implement comprises a proximal end comprising a coupling member.

55. The trackable medical instrument as defined in claim 52, wherein the substantially constant relationship enables both orientation in three-dimensional space of the surgical implement and a depth the distal end of the surgical implement has been inserted into a body part to be tracked by the surgical navigation system.

56. The trackable medical instrument as defined in claim 52, wherein the tracking device is fixed axially with respect to the distal end of the surgical implement.

57. The trackable medical instrument as defined in claim 52, wherein the surgical implement is rotatably coupled to the guide member.

58. The trackable medical instrument as defined in claim 57, wherein the tracking device is fixedly secured to the guide member.

59. The trackable medical instrument as defined in claim 52, wherein the surgical implement and the guide member are integral.

60. The trackable medical instrument as defined in claim 52, wherein the tracking device is selected from at least one of a LED, a reflector, an acoustic device, a magnetic device, an electromagnetic device, a radiologic device, a micropulsed radar device or combinations thereof.

61. The trackable medical instrument as defined in claim 52, wherein the tracking device is one of either an active tracking device or a passive tracking device.

62. The trackable medical instrument as defined in claim 52, wherein the surgical implement is selected from at least one of a tap, an awl, a driving instrument, a drill, or combinations thereof.

63. The trackable medical instrument as defined in claim 52, further comprising a drive source coupled to the guide member to drive the surgical implement.

64. The trackable medical instrument as defined in claim 63, wherein the drive source, the surgical implement and the guide member are integral.

65. The trackable medical instrument as defined in claim 63, wherein the drive source is a drive handle.

66. The trackable medical instrument as defined in claim 65, wherein the drive handle includes a ratchet.

67. The trackable medical instrument as defined in claim 63, wherein the drive source is a motor.

68. The trackable medical instrument as defined in claim 63, further comprising a drive shaft housed within the guide member, wherein the drive source is operable to rotate the drive shaft to rotate the surgical implement.

69. The trackable medical instrument as defined in claim 68, wherein the surgical implement and the drive source are removable from the drive shaft.

70. The trackable medical instrument as defined in claim 52, wherein the tracking device includes a plurality of tracking devices.

71. The trackable medical instrument as defined in claim 52, further comprising a sensor operable to sense a removal and connection of the surgical implement to the medical instrument.

72. The trackable medical instrument as defined in claim 52, further comprising a bushing operable to allow the tracking device to be rotated relative to the surgical implement.

73. The trackable medical instrument as defined in claim 72, wherein the bushing is positioned within the guide member.

74. The trackable medical instrument as defined in claim 52, further comprising a plurality of surgical implements each operable to be interchangeably coupled to the guide member.

75. The trackable medical instrument as defined in claim 52, wherein the tracking device includes a tracking array mounted to the guide member.

76. The trackable medical instrument as defined in claim 52, wherein the guide member includes a mount for mounting the tracking device.

77. The trackable medical instrument as defined in claim 76, wherein the guide member further includes an elongated tubular body with the guide member mount extending from the elongated tubular body.

78. A trackable medical instrument for use with a surgical navigation system, the trackable medical instrument comprising:

a surgical implement having a distal end;

a guide member coupled to the surgical implement;

a tracking device mounted to the guide member; and

a means for rotating the tracking device relative to the surgical implement;

wherein the relationship between the tracking device and the distal end of the surgical implement remains substantially constant upon rotating the tracking device relative to the surgical implement and the substantially constant relationship enables the distal end of the surgical implement to be tracked.

79. The trackable medical instrument as defined in claim 78, wherein the surgical implement is rotatably coupled to the guide member.

80. The trackable medical instrument as defined in claim 78, wherein the surgical implement is integral with the guide member.

81. The trackable medical instrument as defined in claim 78, wherein the tracking device is fixed axially with respect to the distal end of the surgical implement.

82. The trackable medical instrument as defined in claim 78, further comprising a drive source coupled to the guide member to drive the surgical implement.

83. The trackable medical instrument as defined in claim 78, wherein the tracking device is a passive reflective tracking device and the medical instrument is a wireless instrument.

84. The trackable medical device as defined in claim 78, wherein the surgical implement and the guide member extend along a longitudinal axis.

85. The trackable medical instrument as defined in claim 78, further comprising a sensor operable to sense a removal and connection of the surgical implement to the medical instrument.

86. A trackable medical instrument for use with a surgical navigation system, the trackable medical instrument comprising:

a surgical implement having a distal end;

a handle positioned near a proximal end of the medical instrument;

a guide member coupled to the surgical implement and handle; and

a tracking device mounted to the guide member, wherein the tracking device is rotatable relative to the surgical implement; and

the relationship between the tracking device and the distal end of the surgical implement remains substantially constant upon rotating the tracking device relative to the surgical implement.

87. The trackable medical instrument as defined in claim 86, wherein the handle is a drive handle.

88. The trackable medical instrument as defined in claim 86, wherein the surgical implement is selected from at least one of a tap, an awl, a driving instrument, a drill, or combinations thereof.