Method and apparatus for image-based navigation

• US 10,492,868 B2
• Filed: 01/28/2011
• Issued: 12/03/2019
• Est. Priority Date: 01/28/2011
• Status: Active Grant

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Hartmann, Steven L., Burg, Bruce M., Bzostek, Andrew, Jacobsen, Brad, Koenig, Matthew W.
• Primary Examiner(s): Siripurapu, Rajeev P
• Application Number:
  US13/016,762
• Publication Number:
  US 20120197109A1
• Time in Patent Office: 3,231 Days
• Field of Search: 600424, 32420711, 32420713, 32420715, 32420717
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• 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 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/487 involving fluoroscopy

Abstract

A system and method for a procedure that can be performed on any appropriate subject. Procedures can include assembling any appropriate work piece or installing members into a work piece, such as an airframe, autoframe, etc. Regardless of the subject, tracking a substantially small tracking device in a plurality of degrees of freedom is provided. The tracking device can be positioned on or be formed in an instrument to be tracked.

Claims

1. A navigation system, comprising:

an instrument that is operable to be moved relative to a subject and having an exterior wall, a distal end and an instrument axis, wherein the instrument axis extends longitudinally from the distal end to a proximal end of the instrument, wherein the instrument comprises a holding portion defined by the instrument and within a surface of the exterior wall, wherein the holding portion defines first and second oval depressions, wherein the second oval depression is on an opposite side of the exterior wall than the first oval depression, and wherein a centerline of the first oval depression extends (i) through a center of the first oval depression, (ii) perpendicular to the instrument axis and (iii) through a center of the second oval depression;

a tracking device having

a first conductive wire wound around a first winding axis to form a first oval coil, wherein the first oval coil (i) has a first end at a first radial distance from the instrument axis and a first longitudinal distance from the distal end, and (ii) a second end at a second radial distance from the instrument axis, wherein the first radial distance is different from the second radial distance, wherein the first winding axis extends through and is at a first angle relative to the instrument axis, wherein the first angle is less than 90°

, wherein the first conductive wire defines a first oval aperture and is connected in series with at least a second conductive wire, wherein the second conductive wire is wound around a second winding axis to form a second oval coil, wherein the second oval coil has a third end at the first longitudinal distance from the distal end, wherein the second conductive wire defines a second oval aperture, wherein the first oval coil is partially disposed within the first oval depression and the second oval coil is partially disposed within the second oval depression, wherein the first oval coil and the second oval coil are angularly offset about the exterior wall with respect to and disposed away from the instrument axis, and

a third conductive wire wound around a third winding axis and connected in series to at least a fourth conductive wire wound around a fourth winding axis,

wherein the first winding axis, the second winding axis, the third winding axis and the fourth winding axis are different than the instrument axis,

wherein the first conductive wire and the second conductive wire are angularly offset from one another about the instrument axis,

wherein the third conductive wire and the fourth conductive wire are at least one of axially or angularly offset from one another around the instrument axis of the instrument, and

wherein all of the first conductive wire, the second conductive wire, the third conductive wire, and the fourth conductive wire are positioned in the holding portion of the instrument;

a localizer operable with the tracking device to generate signals regarding position and orientation information of the instrument, wherein the first conductive wire, the second conductive wire, the third conductive wire and the fourth conductive wire sense an electromagnetic field generated by the localizer and generate the signals; and

a navigation processor operable to execute instructions to determine a plurality of degrees of freedom of location information regarding the instrument based on the generated signals regarding the position and the orientation information of the instrument from the tracking device.

2. The navigation system of claim 1, wherein the third conductive wire and the fourth conductive wire are wound around the third and fourth winding axes in a shape of an oval such that windings of the third conductive wire and the fourth conductive wire have a major radius aligned with the instrument axis of the instrument.

3. The navigation system of claim 2, wherein each of the major radii is angled relative to the instrument axis of the instrument, such that each of the major radii does not extend in a direction parallel to the instrument axis.

4. The navigation system of claim 2, wherein:

the first conductive wire includes a plurality of turns around the first winding axis;

the second conductive wire includes a plurality of turns around the second winding axis;

the third conductive wire includes a plurality of turns around the third winding axis; and

the fourth conductive wire includes a plurality of turns around the fourth winding axis.

5. The navigation system of claim 4, wherein the first conductive wire and the second conductive wire are connected in series and angularly positioned 180-degrees from one another around and spaced away from the instrument axis of the instrument.

6. The navigation system of claim 5, wherein the third conductive wire and the fourth conductive are connected in series to one another and angularly positioned 180-degrees from one another around and spaced away from the axis of the instrument.

7. The navigation system of claim 1, further comprising a fifth conductive wire wound around a winding axis such that the winding axis of the fifth conductive wire is aligned with the instrument axis.

8. The instrument according to claim 1, wherein the first oval coil and the second oval coil provide a combined electromagnetic signal strength that is greater than electromagnetic signal strengths of each of the first oval coil and the second oval coil.

9. The instrument according to claim 1, wherein:

the first end of the first oval coil is a distal end of the first oval coil;

the third end of the second oval coil is a distal end of the second oval coil;

the second end of the first oval coil is a proximal end of the first oval coil;

a fourth end of the second oval coil is a proximal end of the second oval coil;

the third end is at a third radial distance from the instrument axis;

the fourth end is at a fourth radial distance from the instrument axis;

the first radial distance is equal to the third radial distance; and

the fourth radial distance is different than the second radial distance.

10. The instrument according to claim 1, wherein:

the first oval coil has an interference fit with the first oval depression; and

the second oval coil has an interference fit with the second oval depression.

18. The navigation system of claim 1, wherein:

the second end of the first oval coil is at a second longitudinal distance from the distal end;

the second longitudinal distance is greater than the first longitudinal distance;

the second oval coil has a fourth end at the second longitudinal distance;

the third end of the second oval coil is at a third radial distance;

the fourth end of the second oval coil is at a fourth radial distance;

the second radial distance is greater than the first radial distance; and

the fourth radial distance is greater than the third radial distance.

19. The navigation system of claim 18, wherein:

the third conductive wire is wound around the third winding axis to form a third oval coil;

the fourth conductive wire is wound around the fourth winding axis to form a fourth oval coil;

the third oval coil has a fifth end at the first longitudinal distance and a sixth end at the second longitudinal distance;

the fourth oval coil has a seventh end at the first longitudinal distance and a eighth end at the second longitudinal distance;

the sixth end is further from the instrument axis than the fifth end; and

the eighth end is further from the instrument axis than the seventh end.

20. The navigation system of claim 1, wherein:

the second end of the first oval coil is at a second longitudinal distance from the distal end;

the second longitudinal distance is greater than the first longitudinal distance;

the second oval coil has a fourth end at the second longitudinal distance;

the third end of the second oval coil is at a third radial distance;

the fourth end of the second oval coil is at a fourth radial distance;

the second radial distance is less than the first radial distance; and

the fourth radial distance is less than the third radial distance.

11. A method of making and using an instrument for navigation relative to a subject, comprising:

providing a flexible instrument having a distal end that is operable to be moved relative to a subject and having an exterior wall and an instrument axis, wherein the instrument axis extends longitudinally from the distal end to a proximal end of the instrument;

forming a holding portion defined by the instrument and within a surface of the exterior wall, wherein the holding portion defines first and second oval depressions, wherein the second oval depression is on an opposite side of the exterior wall than the first oval depression, and wherein a centerline of the first oval depression extends (i) through a center of the first oval depression, (ii) perpendicular to the instrument axis and (iii) through a center of the second oval depression; and

forming a tracking device by

winding a first conductive wire around a first winding axis a first distance from the distal end to form a first oval winding defining a first oval aperture, wherein the first winding axis intersects the instrument axis at a first angle less than 90°

, wherein the first oval winding is partially disposed within the first oval depression,

winding a second conductive wire around a second winding axis at the first distance from the distal end to form a second oval winding defining a second oval aperture, wherein the second winding axis is not parallel to the instrument axis and intersects the instrument axis at a second angle less than 90°

, and wherein the second oval winding is partially disposed within the second oval depression,

connecting in series the first winding and the second winding,

winding a third conductive wire around a third winding axis to form a third oval winding,

winding a fourth conductive wire around a fourth winding axis to form a fourth oval winding,

connecting in series the third oval winding and the fourth oval winding, and

the first, second, third and fourth oval windings are displaced away from the instrument axis and are angularly offset from each other.

12. The method of claim 11, further comprising forming the angular offset at ninety-degrees.

13. The method of claim 11, further comprising winding a fifth conductive wire around a fifth winding axis such that the fifth winding axis of the fifth conductive wire is aligned with the instrument axis of the instrument.

14. The method of claim 11, further comprising:

producing an electromagnetic field via a localizer;

based on the electromagnetic field, producing signals with the tracking device regarding position and orientation information of the instrument; and

executing instructions with a navigation processor to determine at least six degrees of freedom of location information regarding the instrument based on the produced signals regarding position and orientation information of the instrument from the tracking device.

15. The method of claim 14, further comprising:

moving the instrument relative to the subject;

receiving the produced signals from the tracking device at the navigation processor as the instrument is moved relative to the subject; and

displaying a representation of a determined location of the instrument relative to the subject.

16. The method of claim 11, further comprising:

forming a third oval depression and a fourth oval depression in the exterior wall, wherein the fourth oval depression is on an opposite side of the exterior wall than the third oval depression, and wherein a centerline of the third oval depression extends (i) through a center of the third oval depression, (ii) perpendicular to the instrument axis and (iii) through a center of the fourth oval depression;

connecting the third oval winding in series with the fourth oval winding; and

adhering the third oval winding partially in the third oval depression and the fourth oval winding partially in the fourth oval depression, such that (i) the third winding axis extends through and is at a third angle relative to the instrument axis, and (ii) the fourth winding axis extends through and is at a fourth angle relative to the instrument axis.

17. The method of claim 11, further comprising:

forming a third oval depression and a fourth oval depression in the exterior wall, wherein the fourth oval depression is on an opposite side of the exterior wall than the third oval depression, and wherein a centerline of the third oval depression extends (i) through a center of the third oval depression, (ii) perpendicular to the instrument axis and (iii) through a center of the fourth oval depression;

connecting the third oval winding in series with the fourth oval winding; and

adhering the third oval winding partially in the third oval depression and the fourth oval winding partially in the fourth oval depression, such that (i) the third winding axis extends through and is at a third angle relative to the instrument axis, wherein the third angle is less than 90°

, (ii) the fourth winding axis extends through and is at a fourth angle relative to the instrument axis, wherein the fourth angle is different than the third angle, and (iii) the third oval winding and the fourth oval winding define respective navigation vectors.

21. The method of claim 11, wherein:

the first oval winding has a first end a first longitudinal distance from the distal end and a second end a second longitudinal distance from the distal end;

the second oval winding has a third end the first longitudinal distance from the distal end and a fourth end the second longitudinal distance from the distal end;

the second longitudinal distance is greater than the first longitudinal distance;

the second end of the first oval winding is further from the instrument axis than the first end; and

the fourth end of the second oval winding is further from the instrument axis than the third end.

22. The method of claim 21, wherein:

the third oval winding has a fifth end at the first longitudinal distance and a sixth end at the second longitudinal distance;

the fourth oval winding has a seventh end at the first longitudinal distance and a eighth end at the second longitudinal distance;

the sixth end is further from the instrument axis than the fifth end; and

the eighth end is further from the instrument axis than the seventh end.

23. The method of claim 11, wherein:

the first oval winding has a first end a first longitudinal distance from the distal end and a second end a second longitudinal distance from the distal end;

the second oval winding has a third end the first longitudinal distance from the distal end and a fourth end the second longitudinal distance from the distal end;

the second longitudinal distance is greater than the first longitudinal distance;

the first end of the first oval winding is further from the instrument axis than the second end; and

the third end of the second oval winding is further from the instrument axis than the fourth end.

24. The method of claim 11, further comprising:

producing a plurality of electromagnetic fields via the first oval winding and the second oval winding;

sensing the plurality of electromagnetic fields at a localizer and generating tracking signals; and

executing instructions with a navigation processor to determine at least six degrees of freedom of location information of the instrument based on the tracking signals, wherein the at least six degrees of freedom of location information includes position and orientation information of the instrument.

25. The method of claim 24, further comprising:

moving the instrument relative to the subject;

receiving the tracking signals from the localizer at the navigation processor while the instrument is moved relative to the subject; and

displaying a representation of a determined location of the instrument relative to the subject based on the at least six degrees of freedom of location information.