On-board tool tracking system and methods of computer assisted surgery

• US 10,105,149 B2
• Filed: 03/14/2014
• Issued: 10/23/2018
• Est. Priority Date: 03/15/2013
• Status: Expired due to Fees

• Current Assignee: Board of Regents of the University of Nebraska, Trak Surgical, Inc.
• Original Assignee: Board of Regents of the University of Nebraska, Trak Surgical, Inc.
• Inventors: Haider, Hani, Al-Shawi, Ibrahim, Barrera, Osvaldo Andres, Saunders, David Scott
• Primary Examiner(s): Coley, Zade
• Application Number:
  US14/776,755
• Publication Number:
  US 20160022374A1
• Time in Patent Office: 1,684 Days
• CPC Class Codes: A61B 17/142 with reciprocating saw blades, e.g. with cutting edges at the distal end of the saw blades
• 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 17/17 Guides or aligning means for drills , mills, pins or wires
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis

Abstract

A number of improvements are provided relating to computer aided surgery utilizing an on tool tracking system. The various improvements relate generally to both the methods used during computer aided surgery and the devices used during such procedures. Other improvements relate to the structure of the tools used during a procedure and how the tools can be controlled using the OTT device. Still other improvements relate to methods of providing feedback during a procedure to improve either the efficiency or quality, or both, for a procedure including the rate of and type of data processed depending upon a CAS mode.

Claims

1. An on tool tracking and guidance device, comprising:

a housing having a surface for engagement with a surface on a saddle;

a pair of cameras within or coupled to the housing wherein when the housing is coupled to the saddle the pair of cameras are in position to provide an image output having a field of view including at least a portion of an active element of a surgical tool coupled to the saddle;

a display on the housing;

an electronic image processor within or in communication with the housing configured to receive an output from the pair of cameras and perform an image processing operation using at least a portion of the output from the pair of cameras in furtherance of at least one step of a computer assisted surgery procedure; and

a communication element within the housing configured to provide information related to the image processing operation to a component separate from the housing, wherein the communication element is configured to provide information wirelessly, by Bluetooth, by WiFi, or by ultra-wideband technology,

wherein the on tool tracking device is configured to determine a computer aided surgery (CAS) processing mode based upon an evaluation of one or more of;

a physical parameter within the surgical field such as a position or a combination of positions of one or more elements tracked in the field through reference frames attached to the one or more elements, a reference frame input, a projected image, a motion detected from a sensor, a motion detection from a calculation, the overall progress of a computer aided surgery procedure, a measured or predicted deviation from a previously prepared computer aided surgery plan wherein the CAS processing mode is selected from one of a number of predefined processing modes including a hover mode, a site approach mode, and an active step mode.

2. The on tool tracking and guidance device of claim 1 wherein the display includes a touch screen.

3. The on tool tracking and guidance device of claim 2 wherein the display is configured to provide a visual output comprising information from an on tool tracking CAS processing step or to provide guidance to a user of the surgical tool related to a CAS step or to provide guidance to a user of the surgical tool to adjust the speed of the surgical tool or to provide guidance to a user of the surgical tool related to CAS data collected by the on tool tracking device and assessed during the CAS procedure.

4. The on tool tracking and guidance device of claim 1 wherein the on tool tracking device is further configured to collect and process computer assisted surgery data;

and the on tool tracking device or a processing system in communication with the on tool tracking device is configured to assess the CAS data in real time during the computer assisted surgery procedure.

5. The on tool tracking and guidance device of claim 4 wherein assessing the CAS data includes a comparison of data received from the on tool tracking device and data provided using a computer assisted surgery surgical plan.

6. The on tool tracking and guidance device of claim 1 wherein the on tool tracking device is configured to process data related to one or more of visual data from the pair of cameras, data from a sensor on the on tool tracking device, and data related to an operational characteristic of the surgical tool.

7. The on tool tracking and guidance device of claim 1 wherein the surgical tool is configured to receive a control signal from the on tool tracking device to adjust a performance parameter of the surgical tool based on the CAS data.

8. The on tool tracking and guidance device of claim 7 further comprising:

an electronic interface between the on tool tracking device and the surgical tool to send the control signal from the on tool tracking device to the surgical tool to control the operation of the surgical tool, wherein the performance parameter includes modifying a tool cutting speed or stopping a tool operation.

9. The on tool tracking and guidance device of claim 1, further comprising:

a projector within or coupled to the housing configured to provide an output at least partially within the field of view of the pair of cameras.

10. The on tool tracking and guidance device of claim 9 wherein the electronic image processor within or in communication with the housing is configured to generate an output to the projector based on the image processing operation, a step related to a computer assisted surgery procedure, an interaction with the display or a step of a freehand navigated computer assisted surgery procedure.

11. The on tool tracking and guidance device of claim 9 wherein the output from the projector is adapted for projection on a portion of the patient'"'"'s anatomy.

12. The on tool tracking and guidance device of claim 1 wherein the computer assisted surgery procedure is a freehand navigated computer assisted surgery procedure.

13. The on tool tracking and guidance device of claim 1 further comprising:

a second pair of cameras within or coupled to the housing wherein when the housing is coupled to the saddle the pair of cameras or the second pair of cameras are in position to provide an image output having a field of view including at least a portion of an active element of a surgical tool coupled to the saddle.

14. The on tool tracking and guidance device of claim 13 wherein the pair of cameras or the second pair of cameras comprises a physical or electronic filter for viewing within the infrared spectrum.

15. The on tool tracking and guidance device of claim 1 wherein the pair of cameras comprises a physical or electronic filter for viewing within the infrared spectrum.

16. The on tool tracking and guidance device of claim 1 wherein the saddle is shaped to form a complementary curve with a portion of the surgical tool.

17. The on tool tracking and guidance device of claim 1 wherein the saddle provides releasable mechanical engagement between the housing and the surgical tool.

18. The on tool tracking and guidance device of claim 1 wherein the saddle provides releasable electrical engagement between the housing and the surgical tool.

19. The on tool tracking and guidance device of claim 1 wherein when the housing is coupled to the saddle the at least a portion of the active segment of the surgical tool comprised the distal most portion of the active element.

20. The on tool tracking and guidance device of claim 1 wherein the visual axis of the first camera of the pair of camera and the visual axis of the second camera of the pair of camera are inclined at an angle of between about 0°

to about 20°

relative to a line generally parallel to a longitudinal axis of the active element.