Computer-aided surgery apparatus

• US 5,251,127 A
• Filed: 07/31/1990
• Issued: 10/05/1993
• Est. Priority Date: 02/01/1988
• Status: Expired due to Term

• Current Assignee: Faro Technologies Incorporated
• Original Assignee: Faro Medical Technologies Inc.
• Inventors: Raab, Simon
• Primary Examiner(s): Envall, Jr., Roy N.
• Assistant Examiner(s): Brutman, Laura
• Application Number:
  US07/562,213
• Time in Patent Office: 1,162 Days
• Field of Search: 364/413.13, 364/413.01, 128/782, 128/774, 128/653 R, 128/899, 128/660.09, 128/661.09, 606/1, 606/129, 606/130, 901/14, 901/15, 901/16, 901/46
• US Class Current: 606/130
• CPC Class Codes: A61B 17/00 Surgical instruments, devices or methods, e.g. tourniquets A61B18/00 takes precedence; contraceptive devices, pessaries, or applicators therefor A61F6/00; eye surgery A61F9/007; ear surgery A61F11/00
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2017/00973 pedal-operated
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• 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 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 46/10 specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G05B 2219/37459 Reference on workpiece, moving workpiece moves reference point
• CPC Class Codes: G05B 2219/45123 Electrogoniometer, neuronavigator, medical robot used by surgeon to operate
• CPC Class Codes: G16H 40/63 for local operation
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders
• CPC Class Codes: Y10S 128/922 including image analysis

Abstract

To aid a medical practitioner in positioning a surgical instrument or implant when performing surgery on or examining portions of a patient, patient data is developed which identifies the position and orientation of the portion to which surgical procedures or examinations are to be applied. The position and orientation of the instrument or implant is sensed and instrument data is developed from this sensing. The patient data is converted to objective signals to be displayed on a video display, and the instrument data is converted to instrument signals for presenting the position and orientation of the instrument or implant on the same display. Thus, by watching the display, the medical practitioner is aided in manipulating the instrument or implant relative to the portion.

Claims

1. A computer-aided surgical device, having an associated three-dimensional co-ordinate reference system, for aiding a medical practitioner is positioning a surgical instrument or implant when performing surgery on, or examining, portions of a orientations in or on said patient defined either by physical measurement of the positions and orientations, in said co-ordinate reference system, of said portions using said device, or by communication to said device, from an external 2- or 3-dimensional imaging information source, of the positions and orientations, in said co-ordinate reference system, of said portions, said measurement of said commutation defining two- or three-dimensional patient data of the position and orientation of said portions in said co-ordinate system;

whereby, said patient data identifies the position and orientation of said portions to which surgical procedures, or examinations, are to be applied;

said device comprising;

a reference means having a referenced point in the reference co-ordinate system thereon;

said reference means and said reference point being disposed outside of and apart from said patient;

means for determining the position and orientation of said portion on said patient in said co-ordinate reference system relative to said reference point and for developing two- or three-dimensional patient display data proportional to said position and orientation of said portion;

instrument position determining means including sensing means for sensing the position and orientation of said instrument or implant in said co-ordinate reference system relative to said reference point and for developing two- or three-dimensional instrument data proportional to said position and orientation of said instrument;

a display means;

means for converting said patient display data to objective signals for presenting an objective display on said display means,

means for converting said instrument data to instrument signals for presenting the position and orientation of said instrument or implant on said display means;

and further including means for providing a known physical relationship between said portion on said patient and said reference point;

whereby, the position and orientation of said portion and the position and orientation of said instrument or implant are both displayed on said display means;

even when said patient is moved;

whereby, to guide said medical practitioner in manipulating said instrument.

2. A device as defined in claim 1 wherein said instrument position determining means comprises:

electrogoniometer means having a mounting end and an instrument end;

a reference means;

said electrogoniometer means being mounted, at its mounting end, on said reference means at a reference point, of said co-ordinate reference system, thereof, such that said electrogoniometer means is movable about said reference point;

said surgical instruments being mountable at said instrument end of said electrogoniometer means.

3. A device as defined in claim 2 and including means for mounting a surgical instrument at said instrument end of said electrogoniometer means to maintain a rigid connection and fixed orientation between said electrogoniometer means and said instrument.

4. A device as defined in claim 2 and including a reference block mounted adjacent the mounting end of said electrogoniometer, said reference block including instrument characteristic determining means for determining the position, orientation and length of a surgical instrument.

5. A device as defined in claim 4 wherein said instrument characteristic determining means comprises:

reference holes having a predetermined length and an orientation which is fixed relative to said reference point, whereby said holes extend in a first direction;

reference surfaces having an orientation which is fixed relative to said reference point, said reference surfaces extending in said first direction; and

a V-groove drill reference whose orientation is fixed relative to said reference point, said V-groove extending between said reference surfaces.

6. A device as defined in claim 2 and further including:

a mounting means;

swingable arms mounted on said mounting means and swingable about said mounting post;

said reference means being connected to said mounting means by said swingable arms;

whereby said reference means is movable relative to said mounting means.

7. A device as defined in claim 1 wherein said means for determining the position and orientation of said portion comprises a mechanical linkage and a means for fixing said mechanical linkage to said patient.

8. A device as defined in claim 7 wherein said means for fixing said mechanical linkage to said patient comprises a double self-indexing screw comprising:

an elongated cylinder;

a screw extending centrally from one end of said elongated cylinder and being rotatable relative to said elongated cylinder;

two alignment pins extending from said one end of said elongated cylinder, said screw and said alignment pins being disposed in alignment.

9. A device as defined in claim 8 wherein said double self-indexing screw is connected to said mechanical linkage by a linear, spherical double self-indexing screw clamp comprising a ball joint and a clamping member;

the free end of said double self-indexing screw being received by said ball joint;

a shaft of said mechanical linkage being received by said clamping member.

10. A device as defined in claim 7 wherein said mechanical linkage comprises a plurality of clamping members interconnected by shafts;

each clamping member comprising at least one lateral opening for receiving a shaft and clamping means for fixedly clamping a received shaft to said clamping member.

11. A device as defined in claim 7 wherein said means for fixing said mechanical linkage to said patient comprises a saw-tooth, self-indexing screw comprising:

an elongated cylinder;

a screw extending centrally from one end of said elongated cylinder and being rotatable relative to said elongated cylinder;

said one end of said elongated cylinder comprising a saw-tooth arrangement.

12. A device as defined in claim 11 wherein said mechanical linkage comprises a plurality of clamping members interconnected by shafts;

each clamping member comprising at least one lateral opening for receiving a shaft and clamping means for fixedly clamping a received shaft to said clamping member.

13. A device as defined in claim 12 wherein said self-indexing screw is connected to said mechanical linkage by a linear, spherical self-indexing screw clamp comprising a ball joint and a clamping member;

the free end of said self-indexing screw being received by said ball joint;

a shaft of said mechanical linkage being received by said clamping member.

14. A device as defined in claim 1 wherein said means for determining the position and orientation of said portion comprises a second electrogoniometer and a means for fixing one end of said second electrogoniometer to said patient.

15. A device as defined in claim 14 wherein said means for fixing one end of said second electrogoniometer to said patient comprises a double self-indexing screw comprising:

an elongated cylinder;

a screw extending centrally from one end of said elongated cylinder and being rotatable relative to said elongated cylinder;

two alignment pins extending from said one end of said elongated cylinder, said screw and said alignment pins being disposed in alignment.

16. A device as defined in claim 14 wherein said means for fixing one end of said second electrogoniometer to said patient comprises a saw-tooth self-indexing screw comprising:

an elongated cylinder;

a screw extending centrally from one end of said elongated cylinder and being rotatable relative to said elongated cylinder;

said one end of said cylinder comprising a saw-tooth arrangement.