System and method for intra-operative haptic planning of a medical procedure

• US 20040034302A1
• Filed: 03/06/2003
• Published: 02/19/2004
• Est. Priority Date: 03/06/2002
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: Z-KAT, Inc.
• Inventors: Quaid, Arthur E. III, Abovitz, Rony A., Santos-Munne, Julio J.
• Granted Patent: US 7,206,627 B2
• Time in Patent Office: Days
• US Class Current: 600/428
• CPC Class Codes: A61B 17/1703 using imaging means, e.g. by X-rays
• CPC Class Codes: A61B 17/1757 for the spine
• CPC Class Codes: A61B 17/1767 for the patella
• CPC Class Codes: A61B 17/3403 Needle locating or guiding means guides for suture needles A61B17/0482; guiding or tracking by nuclear magnetic resonance G01R33/285
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00128 related to intensity or progress of surgical action
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00212 using remote controls
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/3405 using mechanical guide means
• CPC Class Codes: A61B 2034/104 Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
• 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 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/252 indicating steps of a surgical procedure
• CPC Class Codes: A61B 2034/254 being adapted depending on the stage of the surgical procedure
• CPC Class Codes: A61B 2090/031 torque limiting
• CPC Class Codes: A61B 2090/064 : for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/365 : augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/3945 : Active visible markers, e.g. light emitting diodes
• 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 34/25 : User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/32 : operating autonomously
• CPC Class Codes: A61B 34/35 : for telesurgery
• CPC Class Codes: A61B 34/37 : Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 : Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/74 : Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 34/77 : Manipulators with motion or force scaling
• CPC Class Codes: A61B 90/03 : Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61B 90/06 : Measuring instruments not otherwise provided for
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/39 : Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: B25J 13/025 : comprising haptic means
• CPC Class Codes: B25J 9/0081 : with master teach-in means

Abstract

In accordance with an embodiment of the present invention, attractive haptic objects are associated with a target region for performing a medical procedure and repulsive haptic objects are associated with anatomical features to be avoided during the medical procedure. A surgeon may perform surgical planning by moving the haptic device around. The surgeon moves the haptic device until a pose is found where haptic cues from the attractive haptic objects are active indicating that a medical device if attached to the haptic device would reach the target region, and haptic cues from the repulsive haptic objects are inactive indicating that the medical device would not penetrate any of the anatomical features to be avoided. During the planning process a virtual tool may be displayed on a display device to indicate the position and/or movement of the medical device if the medical device had been coupled to the haptic device.

Claims

1. A method for intra-operative planning of a medical procedure using a haptic device, comprising:

registering said haptic device to at least a portion of an anatomy of a patient on which said medical procedure is to be performed;

associating at least one attractive haptic object with a target region of said anatomy;

associating at least one repulsive haptic object with at least one anatomical obstacle to be avoided during said medical procedure; and

providing at least one attractive haptic cue from said at least one attractive haptic object and at least one repulsive haptic cue from said at least one repulsive haptic object to guide a user in positioning said haptic device relative to said portion of said anatomy such that a medical device when coupled to said haptic device intersects said target region without intersecting any of said at least one anatomical obstacles.

2. The method of claim 1, wherein said providing step comprises guiding said user in positioning said haptic device relative to said portion of said anatomy in a pose in which said at least one attractive haptic cue is active.

3. The method of claim 1, wherein said providing step comprises guiding said user in positioning said haptic device relative to said portion of said anatomy in a pose in which said at least one repulsive haptic cue is inactive.

4. The method of claim 1, further comprising displaying a representation of said anatomy on a display device.

5. The method of claim 4, further comprising registering said representation of said anatomy to said anatomy.

6. The method of claim 1, further comprising:

receiving an input identifying said target region; and

displaying a representation of said target region on a display device.

7. The method of claim 1, further comprising:

receiving at least one input identifying said at least one anatomical obstacle; and

displaying a representation of said at least one anatomical obstacle on a display device.

8. The method of claim 2, wherein said at least one active attractive haptic cue indicates that said medical device when coupled to said haptic device would intersect said target region.

9. The method of claim 2, wherein said providing step further comprises guiding said user in positioning said haptic device relative to said portion of said anatomy in a pose in which all of said at least one repulsive haptic cues are inactive.

10. The method of claim 9, wherein inactivation of all of said at least one repulsive haptic cues indicates that said medical device when coupled to said haptic device would not intersect any of said at least one anatomical obstacles.

11. The method of claim 1, further comprising providing a special haptic cue in response to canceling of haptic cues from at least two repulsive haptic objects.

12. The method of claim 1, further comprising displaying a virtual tool relative to a representation of said anatomy on a display device, wherein said virtual tool is a representation of said medical device.

13. The method of claim 1, further comprising displaying a virtual tool relative to a representation of said anatomy on a display device, wherein a position of said virtual tool relative to said representation of said anatomy indicates a position of said medical device relative to said anatomy.

14. The method of claim 1, further comprising displaying a virtual tool relative to a representation of said anatomy on a display device, wherein an angle of said virtual tool relative to said representation of said anatomy indicates an angle of said medical device relative to said anatomy.

15. The method of claim 12, further comprising dynamically changing a position of said virtual tool displayed on said display device in response to a change in position of said haptic device.

16. The method of claim 12, further comprising dynamically changing an orientation of said virtual tool displayed on said display device in response to a change in orientation of said haptic device.

17. The method of claim 1, further comprising locking said haptic device in a current pose in response to receiving an input from said user.

18. The method of claim 12, further comprising:

displaying a representation of said target region on said display device; and

positioning said haptic device relative to said target region such that at least a portion of said virtual tool displayed on said display device intersects said representation of said target region.

19. The method of claim 12, further comprising:

displaying a representation of said at least one anatomical obstacle on said display device; and

positioning said haptic device relative to said target region such that said virtual tool displayed on said display device does not intersect said representation of said at least one anatomical obstacle.

20. The method of claim 1, further comprising determining, based at least in part on said at least one attractive haptic cue and said at least one repulsive haptic cue, a pose for said haptic device in which said medical device when coupled to said haptic device intersects said target region without intersecting any of said at least one anatomical obstacles.

21. The method of claim 1, further comprising positioning, based at least in part on said at least one attractive haptic cue and said at least one repulsive haptic cue, said haptic device relative to said portion of said anatomy such that said medical device when coupled to said haptic device intersects said target region without intersecting any of said at least one anatomical obstacles.

22. A method for intra-operative planning of a medical procedure using a haptic device, comprising:

registering said haptic device to at least a portion of an anatomy of a patient on which said medical procedure is to be performed;

associating at least one attractive haptic object with a target region of said anatomy;

associating at least one repulsive haptic object with at least one anatomical obstacle to be avoided during said medical procedure; and

providing at least one attractive haptic cue from said at least one attractive haptic object and at least one repulsive haptic cue from said at least one repulsive haptic object to guide a user in positioning said haptic device relative to said portion of said anatomy such that a medical device coupled to said haptic device intersects said target region without intersecting any of said at least one anatomical obstacles when said medical device is in an operating state.

23. The method of claim 22, wherein said providing step comprises guiding said user in positioning said haptic device relative to said portion of said anatomy in a pose where said at least one attractive haptic cue is active.

24. The method of claim 23, wherein said providing step further comprises guiding said user in positioning said haptic device relative to said portion of said anatomy in a pose where said at least one repulsive haptic cue is inactive.

25. The method of claim 22, further comprising providing a special haptic cue in response to canceling of haptic cues from multiple haptic objects.

26. The method of claim 22, further comprising displaying a virtual tool relative to a representation of said anatomy on a display device, wherein said virtual tool is a representation of said medical device in its operating state.

27. The method of claim 26, further comprising dynamically changing a position of said virtual tool displayed on said display device in response to a change in position of said haptic device.

28. The method of claim 26, further comprising dynamically changing an orientation of said virtual tool displayed on said display device in response to a change in orientation of said haptic device.

29. The method of claim 26, further comprising:

displaying a representation of said target region on said display device; and

positioning said haptic device relative to said target region such that at least a portion of said virtual tool displayed on said display device intersects said representation of said target region.

30. The method of claim 26, further comprising:

displaying a representation of said at least one anatomical obstacle on said display device; and

positioning said haptic device relative to said target region such that said virtual tool displayed on said display device does not intersect said representation of said at least one anatomical obstacle.

31. A method for intra-operative planning of a medical procedure using a haptic device, comprising:

registering said haptic device to at least a portion of an anatomy of a patient on which said medical procedure is to be performed;

associating at least one attractive haptic object with a target region of said anatomy;

associating at least one repulsive haptic object with at least one anatomical obstacle to be avoided during said medical procedure; and

determining, based at least in part on at least one attractive haptic cue provided by said at least one attractive haptic object and at least one repulsive haptic cue provided by said repulsive haptic object, a pose for said haptic device relative to said portion of said anatomy where a medical device when coupled to said haptic device intersects said target region without intersecting any of said at least one anatomical obstacles.

32. The method of claim 31, further comprising positioning said haptic device in said pose relative to said portion of said anatomy.

33. The method of claim 31, further comprising locking said haptic device in said pose such that said medical device when coupled to said haptic device would intersect said target region.

34. The method of claim 31, wherein said determining step comprises determining, based at least in part on said at least one attractive haptic cue and said at least one repulsive haptic cue, said pose for said haptic device where said at least one attractive haptic cue is active and said at least one repulsive haptic cue is inactive.

35. The method of claim 31, wherein said determining step comprises determining, based at least in part on said at least one attractive haptic cue and said at least one repulsive haptic cue, said pose for said haptic device where said at least one attractive haptic cue is active and all of said at least one repulsive haptic cues are is inactive.

36. A system for intra-operative planning of a medical procedure using a haptic device, comprising:

application logic operatively associated with said haptic device and operable to;

register said haptic device to at least a portion of an anatomy of a patient to be operated on; and

provide at least one attractive haptic cue from at least one attractive haptic object associated with a target region of said anatomy on which said medical procedure is to be performed and at least one repulsive haptic cue from a repulsive haptic object associated with at least one anatomical obstacle to be avoided during said medical procedure to guide a user in positioning said haptic device relative to said target region such that a medical device when coupled to said haptic device intersects said target region without intersecting any of said at least one anatomical obstacles.

37. The system of claim 36, wherein said application logic is further operable to guide said user in positioning said haptic device relative to said anatomy in a pose in which said at least one attractive haptic cue is active.

38. The system of claim 37, wherein said application logic is further operable to guide said user in positioning said haptic device relative to said anatomy in a pose in which said at least one repulsive haptic cue is inactive.

39. The system of claim 37, wherein said application logic is further operable to guide said user in positioning said haptic device relative to said anatomy in a pose in which all of said at least one repulsive haptic cues are inactive.

40. The system of claim 36, further comprising a display device operable to display a representation of said anatomy.

41. The system of claim 36, further comprising a display device operable to display a representation of said target region.

42. The system of claim 36, further comprising a display device operable to display a representation of said at least one anatomical obstacle.

43. The system of claim 40, wherein said application logic is further operable to register said representation of said anatomy to said anatomy.

44. The system of claim 36, wherein said application logic is further operable to provide a special haptic cue in response to canceling of haptic cues from at least two repulsive haptic objects.

45. The system of claim 36, wherein said application logic is further operable to display a virtual tool relative to a representation of said anatomy on a display device, wherein said virtual tool is a representation of said medical device.

46. The system of claim 45, wherein said application logic is further operable to dynamically change a position of said virtual tool displayed on said display device in response to a change in position of said haptic device.

47. The system of claim 45, wherein said application logic is further operable to dynamically change an orientation of said virtual tool displayed on said display device in response to a change in orientation of said haptic device.

48. The system of claim 45, wherein said application logic is further operable to:

display a representation of said target region on said display device; and

position said haptic device relative to said target region such that at least a portion of said virtual tool displayed on said display device intersects said representation of said target region.

49. The system of claim 45, wherein said application logic is further operable to:

display a representation of said at least one anatomical obstacle on said display device; and

position said haptic device relative to said target region such that said virtual tool displayed on said display device does not intersect said representation of said at least one anatomical obstacle.

50. The system of claim 36, wherein said application logic is further operable to determine, based at least in part on said at least one attractive haptic cue and said at least one repulsive haptic cue, a pose for said haptic device in which said medical device when coupled to said haptic device intersects said target region without intersecting any of said at least one anatomical obstacles.

51. A haptic surgical system, comprising:

a computer-aided surgery system;

a haptic device coupled to said computer-aided surgery system and registered to at least a portion of an anatomy of a patient on which said medical procedure is to be performed; and

application logic operatively associated with said haptic device and operable to;

provide at least one attractive haptic cue from at least one attractive haptic object associated with a target region of said anatomy of the patient and at least one repulsive haptic cue from a repulsive haptic object associated with at least one anatomical obstacle to be avoided during said medical procedure to guide a user in positioning said haptic device relative to said target region such that a medical device coupled to said haptic device intersects said target region without intersecting any of said at least one anatomical obstacles when said medical device is in an operating state.

52. The haptic surgical system of claim 51, wherein said application logic is further operable to:

guide said user in positioning said haptic device relative to said anatomy in a pose in which said at least one attractive haptic cue is active; and

guide said user in positioning said haptic device relative to said anatomy in said pose in which said at least one repulsive haptic cue is inactive.

53. The haptic surgical system of claim 51, wherein said application logic is further operable to:

guide said user in positioning said haptic device relative to said anatomy in a pose in which said at least one attractive haptic cue is active; and

guide said user in positioning said baptic device relative to said anatomy in said pose in which all of said at least one repulsive haptic cues are inactive.

54. The haptic surgical system of claim 51, wherein said computer-aided surgery system comprises a display device operable to display a representation of said anatomy, a representation of said target region, and a representation of said at least one anatomical obstacle.

55. The haptic surgical system of claim 52, wherein said at least one active attractive haptic cue indicates that said medical device when in said operating state would intersect said target region.

56. The haptic surgical system of claim 53, wherein inactivation of all of said at least one repulsive haptic cues indicates that said medical device when in said operating state would not intersect any of said at least one anatomical obstacles.