System and method for 3-D tracking of surgical instrument in relation to patient body
First Claim
1. A method for tracking the three-dimensional position of a surgical instrument while the instrument is being utilized within a patient body during a surgery, comprising the steps of:
- capturing a stereoscopic image of an exterior of the patient body during the surgery;
wirelessly determining the three-dimensional position of the patient body relative to a first reference point;
wirelessly determining the three-dimensional position of the surgical instrument relative to the first reference point;
calculating the three-dimensional position of the surgical instrument relative to the patient body; and
superimposing a graphical representation of the surgical instrument and its three-dimensional position upon the captured stereoscopic image of the patient body.
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Accused Products
Abstract
A system and method for tracking the three-dimensional position and orientation of a surgical instrument as the instrument is being utilized within the interior of a patient body. A stereoscopic camera system generates a stereoscopic image of the patient body which is subsequently rendered on a display device. A wireless signal transmitted by an electromagnetic field generator is received by a sensor on the surgical instrument. Utilizing this sensor data, a processor calculates the position and orientation of the surgical instrument and then superimposes upon the rendered stereoscopic image of the patient body a graphical representation indicative of the position and orientation of the surgical instrument.
100 Citations
25 Claims
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1. A method for tracking the three-dimensional position of a surgical instrument while the instrument is being utilized within a patient body during a surgery, comprising the steps of:
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capturing a stereoscopic image of an exterior of the patient body during the surgery;
wirelessly determining the three-dimensional position of the patient body relative to a first reference point;
wirelessly determining the three-dimensional position of the surgical instrument relative to the first reference point;
calculating the three-dimensional position of the surgical instrument relative to the patient body; and
superimposing a graphical representation of the surgical instrument and its three-dimensional position upon the captured stereoscopic image of the patient body. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for tracking the three-dimensional position and orientation of a surgical instrument while the instrument is being utilized within a patient body during a surgery, comprising:
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a stereoscopic camera system for generating one or more stereoscopic images of the patient body;
a display device for rendering the one or more stereoscopic images of the patient body;
at least one surgical instrument configured to be inserted into the patient body for the monitoring and/or manipulation of tissue;
an electromagnetic field (EMF) generator for wirelessly transmitting an electromagnetic field;
at least one electromagnetic (EMF) sensor that is incorporated into or mounted upon the stereoscopic camera system and which detects the electromagnetic field transmitted by the EMF generator and outputs a signal;
at least one electromagnetic (EMF) sensor that is incorporated into or mounted upon the at least one surgical instrument and which detects the electromagnetic field transmitted by the EMF generator and outputs a signal; and
a processor for receiving both the output signal from the EMF sensor associated with the stereoscopic camera system and the output signal from the EMF sensor associated with the surgical instrument, calculating the three-dimensional position and orientation of the EMF sensor associated with the surgical instrument relative to the patient body, and superimposing a graphical representation of the surgical instrument upon the one or more stereoscopic images of the patient body being rendered on the display device, wherein the superimposed graphical representation of the surgical instrument indicates in real-time the three-dimensional position and orientation of the surgical instrument relative to the patient body. - View Dependent Claims (12, 13, 14, 15, 16)
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17. A system for tracking the three-dimensional position and orientation of a surgical instrument while the instrument is being utilized within a patient body during a surgery, comprising:
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at least one surgical instrument configured to be inserted into the patient body for the monitoring and/or manipulation of tissue;
means for projecting a pattern of light upon the patient body;
an electromagnetic field (EMF) generator for wirelessly transmitting an electromagnetic field;
at least one electromagnetic (EMF) sensor that is incorporated into or mounted upon the at least one surgical instrument and which detects the electromagnetic field transmitted by the EMF generator and outputs a signal;
at least one electromagnetic (EMF) sensor that is incorporated into or mounted upon the projecting means and which detects the electromagnetic field transmitted by the EMF generator and outputs a signal; and
a processor for receiving both the output signal from the EMF sensor associated with the projecting means and the output signal from the EMF sensor associated with the surgical instrument, calculating the three-dimensional position and orientation of the EMF sensor associated with the surgical instrument relative to the patient body, and controlling the projecting means to project a pattern of light upon the patient body, wherein the pattern of light projected upon the patient body visually indicates the position and orientation of the surgical instrument being utilized within the patient body.
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18. A method of tracking the position and orientation of a surgical instrument as the instrument is being utilized within a patient body during a surgery, comprising the steps of:
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capturing a stereoscopic image of an exterior of the patient body from at least one perspective and rendering the image on a display device;
wirelessly determining the position and orientation of the surgical instrument with respect to the patient body; and
superimposing a graphical representation of the surgical instrument upon the rendered stereoscopic image of the patient body indicating the three-dimensional position and orientation of the surgical instrument relative to the patient body. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25)
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Specification