Method and apparatus for display of an image guided drill bit
First Claim
1. A computer assisted surgery system for positioning a surgical instrument relative to a body part, comprising:
- a first surgical instrument having an attached elongate portion for inserting into the body part;
a second surgical instrument having a channel portion capable of receiving and directing the elongate portion of the first surgical tool;
a localizing device for measuring the poses of the first surgical instrument and the channel portion of the second surgical instrument;
means for calculating the pose of the elongate portion of the first surgical instrument from the pose of the channel portion of the second surgical instrument and the pose of the first surgical instrument; and
means for displaying a representation of the elongate portion of the first surgical instrument relative to an image of the body part or to a representation of the second or a third surgical instrument.
2 Assignments
0 Petitions
Accused Products
Abstract
A computer assisted surgery system for accurate positioning of a drill bit into a body part. The system includes a drill guide and a drill with attached localizing emitters whose poses are determined by a localizing device. The drill bit is attached to the drill and the location of the tip of the drill bit is determined during a calibration step. During drilling, the drill bit is inserted through the bore of the drill guide and the pose of the drill bit is calculated from measured position data of both the drill guide and drill. A graphic representation of the drill bit is then displayed on a monitor screen in an appropriate position relative to stored images or other surgical instruments.
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Citations
27 Claims
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1. A computer assisted surgery system for positioning a surgical instrument relative to a body part, comprising:
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a first surgical instrument having an attached elongate portion for inserting into the body part;
a second surgical instrument having a channel portion capable of receiving and directing the elongate portion of the first surgical tool;
a localizing device for measuring the poses of the first surgical instrument and the channel portion of the second surgical instrument;
means for calculating the pose of the elongate portion of the first surgical instrument from the pose of the channel portion of the second surgical instrument and the pose of the first surgical instrument; and
means for displaying a representation of the elongate portion of the first surgical instrument relative to an image of the body part or to a representation of the second or a third surgical instrument. - View Dependent Claims (2, 3)
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4. A computer assisted surgery system for positioning a surgical instrument relative to a body part, comprising:
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a first surgical instrument with an elongate portion for inserting into the body part;
a second surgical instrument with a channel portion capable of receiving and directing the elongate portion of the first surgical tool;
a localizing device for measuring the location of the first surgical instrument and the pose of the channel portion of the second surgical instrument;
means for calculating the pose of the elongate portion of the first surgical instrument from the pose of the channel portion of the second surgical instrument and the location of the first surgical instrument; and
means for displaying a representation of the elongate portion of the first surgical instrument relative to an image of the body part or to a representation of the second or a third surgical instrument. - View Dependent Claims (5)
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6. A computer assisted surgery system for positioning a surgical instrument relative to a body part, comprising:
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a first surgical instrument with an elongate portion, said elongate portion having a tip;
a second surgical instrument comprising a channel portion capable of receiving the elongate portion of the first surgical instrument and further comprising a calibration portion capable of receiving the tip of the elongate portion of the first surgical instrument;
a localizing device for measuring the pose or location of the first surgical instrument and the pose of the second surgical instrument; and
means for calculating the relationship between the tip of the elongate portion and the first instrument when the tip is placed into the calibration portion of the second instrument. - View Dependent Claims (7, 8)
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9. A computer assisted surgery system for positioning a drill bit relative to a body part, comprising:
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a drill comprising a drill bit having a tip;
a drill guide having a bore capable of receiving and directing the drill bit;
a localizing device for measuring the poses of the drill and the drill guide;
means for calculating the pose of the drill bit from the pose of the bore of the drill guide and the pose of the drill; and
means for displaying a representation of the drill bit relative to an image of the body part or to a representation of the drill guide or a third surgical instrument. - View Dependent Claims (10, 11, 12, 13, 15, 16, 17, 19, 20, 21)
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14. A computer assisted surgery system for positioning a surgical instrument relative to a body part, comprising:
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a drill with a drill bit having a tip;
a drill guide with a bore capable of receiving and directing the drill bit;
a localizing device for measuring the location of the drill and the pose of the drill guide;
means for calculating the pose of the drill bit from the orientation of the bore of the drill guide and the location of the drill; and
means for displaying a representation of the drill bit relative to an image of the body part or to a representation of the second or a third surgical instrument.
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18. A method for generating a graphic representation of a surgical instrument comprising the steps of:
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providing a first surgical instrument comprising a body, a reference point, and an elongate portion extending from the body and having a tip;
providing a second surgical instrument comprising a channel portion;
providing a localizing device;
measuring and storing the distance between the reference point and the tip of the elongate portion of the first surgical instrument;
inserting the elongate portion of the first surgical instrument through the channel portion of the second surgical instrument;
measuring the location of the reference point of the first surgical instrument and the orientation of the second surgical instrument with the localizing device;
calculating the location of the tip of the elongate portion based on the measured location of the reference point of the first surgical instrument, the stored distance between the reference point and the tip of the elongate portion of the first surgical instrument, and the measured orientation of the second surgical instrument; and
displaying a representation of the elongate portion of the first surgical instrument using the measured orientation of the second surgical instrument and the calculated location of the tip of the elongate portion of the first surgical instrument.
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22. A method for generating a graphic representation of a drill bit comprising the steps of:
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providing a drill with a reference point and a drill bit having a tip;
providing a drill guide comprising a bore;
providing a localizing device;
measuring and storing the distance between the tip of the drill bit and the reference point of the drill;
inserting the drill bit through the bore of the drill guide;
measuring the location of the reference point of the drill and the orientation of the drill guide;
calculating the location of the tip of the drill bit from the measured location of the reference point of the drill, the stored distance from the tip of the drill bit to the reference point, and the measured orientation of the drill guide; and
displaying a representation of the drill bit using the measured orientation of the drill guide and the calculated location of the tip of the drill bit. - View Dependent Claims (23, 24, 25, 27)
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26. A surgical drill for use with a computer assisted surgery system comprising:
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an elongated body; and
at least three localizing emitters mounted on and integral with the body and arranged such that they are simultaneously viewable by a localizing device, the emitters being spaced sufficiently apart from one another to provide accurate pose information.
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Specification