Methods and apparatuses for providing a reference array input device

• US 7,477,926 B2
• Filed: 03/30/2005
• Issued: 01/13/2009
• Est. Priority Date: 03/31/2004
• Status: Active Grant

• Current Assignee: Smith & Nephew Incorporated (Smith & Nephew PLC)
• Original Assignee: Smith & Nephew Incorporated (Smith & Nephew PLC)
• Inventors: McCombs, Daniel L.
• Primary Examiner(s): Winakur; Eric F
• Assistant Examiner(s): Rozanski; Michael T.
• Application Number:
  US10/907,374
• Publication Number:
  US 20050228266A1
• Time in Patent Office: 1,385 Days
• Field of Search: 600/407, 600/414, 600/426, 600/429, 382/128, 606/130, 345/156
• US Class Current: 600/407
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• CPC Class Codes: A61B 2034/108 Computer aided selection or customisation of medical implants or cutting guides
• 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 2034/207 Divots for calibration
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• 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 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers

Abstract

Methods and apparatuses for providing a reference array input device for use with a computer-aided surgical navigation system. A reference array input device according to an embodiment of the present invention is configured to provide a plurality of fiducial members comprising portions capable of being sensed by at least two sensors associated with the computer-aided surgical navigation system in order to determine position and orientation of the reference array input device by the system. The reference array input device can include a plurality of indicator detectors adapted to facilitate selection of a corresponding instruction associated with the computer-aided surgical navigation system. The reference array input device can also include a mount adapted to support the reference array input device adjacent to an object, a surgical instrument, or a joint replacement prosthesis.

Claims

1. A system comprising a reference array input device and a computer-aided surgical navigation system, wherein the reference array input device can be sensed by at least two sensors associated with the computer-aided surgical navigation system, and wherein a relative position and orientation associated with the reference array input device may be determined by the computer-aided surgical navigation system, the reference array input device comprising:

(a) a plurality of fiducial markers positioned on the reference array input device and adapted to be sensed by the computer-aided surgical navigation system, wherein a position and orientation associated with the reference array input device can be determined when at least some of the fiducial markers are sensed by the computer-aided surgical navigation system;

(b) at least one indication detector positioned on the reference array input device, wherein a positioning of a first object at said at least one indication detector indicates at least one instruction for execution by the computer-aided surgical navigation system; and

(c) a mount adapted to support the reference array input device adjacent to a second object.

2. The system of claim 1, wherein at least three of the fiducial markers are oriented in a flat, coplanar, Y-shaped configuration.

3. The system of claim 1, wherein at least a portion of each fiducial markers can be sensed by the computer-aided surgical navigation system using at least one of the following:

infrared, sound, visual, magnetic, electromagnetic, and x-ray.

4. The system of claim 3, wherein the fiducial markers can be at least one of the following:

a geometric shape, a sphere, a block, and a plate.

5. The system of claim 1, wherein the at least one indication detector can comprise at least one of the following:

an input button, an input device, a contact device, a sensor device, a detector device, a transmitter device, a receiver device, or an infrared device.

6. The system of claim 1, wherein the at least one indication detector comprises an identification indicator.

7. The system of claim 6, wherein the identification indicator can comprise at least one of the following:

a triangle, a square, a circle, a star, a polygon, an oval, a unique geometrical shape, a number, a letter, alphanumeric text, a symbol, a color.

8. The system of claim 1, wherein the instruction for the computer-aided surgical navigation system can comprise at least one of the following:

a tab command, a focus command, a select command, an increment function, a decrement function, a forward function, a backward function, a functional command, a function, an operational command, an operation.

9. The system of claim 1, wherein the instruction for the computer-aided surgical navigation system is associated with at least one of the following:

a size selection, a shape selection, a numeric selection, an alphanumeric selection, a selection of a range of sizes, a selection of a range of numbers, a material selection, a body component selection, an orthopedic component selection, or a surgical procedure selection.

10. The system of claim 1, wherein the first object comprises a probe.

11. The system of claim 1, wherein the mount comprises at least one of the following:

a pronged connector, a magnet, a threaded connector, an adhesive, and a bone screw.

12. A method for performing a surgical procedure using a reference array input device and a computer-aided surgical navigation system, wherein the reference array input device can be sensed by at least two sensors associated with the computer-aided surgical navigation system, and wherein a relative position and orientation of the reference array input device may be determined by the computer-aided surgical navigation system, the method comprising:

(a) mounting a reference array input device adjacent to a first object, wherein the reference array input device comprises;

(i) a plurality of fiducial markers positioned on the reference array input device and adapted to be sensed by the computer-aided surgical navigation system, wherein a position and orientation associated with the reference array input device can be determined when at least some of the fiducial markers are sensed by the computer-aided surgical navigation system;

(ii) at least one indication detector positioned on the reference array input device; and

(iii) a mount adapted to support the reference array input device adjacent to the first object;

(b) sensing the relative position and orientation of the reference array input device by the computer-aided surgical navigation system;

(c) determining a position associated with the first object based in part on sensing the relative position and orientation of the reference array input device; and

(d) positioning a second object at the indication detector to select at least one corresponding instruction for execution by the computer-aided surgical navigation system.

13. The method of claim 12, wherein at least three of the fiducial markers are oriented in a flat, coplanar, Y-shaped configuration.

14. The method of claim 12, wherein at least a portion of each fiducial marker can be sensed by the computer-aided surgical navigation system using at least one of the following:

infrared, sound, visual, magnetic, electromagnetic, and x-ray.

15. The method of claim 14, wherein the fiducial markers can be at least one of the following:

a geometric shape, a sphere, a block, and a plate.

16. The method of claim 14, wherein the indication detector can comprise at least one of the following:

an input button, an input device, a contact device, a sensor device, a detector device, a transmitter device, a receiver device, or an infrared device.

17. The method of claim 14, wherein the indication detector can further comprise an identification indicator.

18. The method of claim 17, wherein the identification indicator can comprise at least one of the following:

a triangle, a square, a circle, a star, a polygon, an oval, a unique geometrical shape, a number, a letter, alphanumeric text, a symbol, a color.

19. The method of claim 14, wherein the instruction for a computer-aided surgical navigation system can comprise at least one of the following:

a tab command, an increment function, a decrement function, a forward function, a backward function, a functional command, a function, an operational command, an operation.

20. The method of claim 14, wherein the instruction for the computer-aided surgical navigation system is associated with at least one of the following:

a size selection, a shape selection, a numeric selection, an alphanumeric selection, a selection of a range of sizes, a selection of a range of numbers, a material selection, a body component selection, an orthopedic component selection, or a surgical procedure selection.

21. The method of claim 14, wherein the mount comprises at least one of the following:

a pronged connector, a magnet, a threaded connector, an adhesive, and a bone screw.

22. The method of claim 12, wherein the second object comprises a probe.

23. An input system comprising:

(a) a computer-aided navigation system;

(b) a surgical instrument; and

(c) a reference array input device comprising;

(i) a plurality of fiducial markers positioned on the reference array input device and adapted to be sensed by the computer-aided surgical navigation system, wherein a position and orientation of the reference array input device can be determined from sensing at least some of the fiducial markers by the computer-aided surgical navigation system;

(ii) at least one indication detector positioned on the reference array input device, wherein positioning the surgical instrument at the at least one indication detector indicates at least one instruction for execution b the computer-aided surgical navigation system; and

(iii) a mount adapted to support the reference array input device adjacent to an object.

24. The system of claim 23, wherein at least three of the fiducial markers are oriented in a flat, coplanar, Y-shaped configuration.

25. The system of claim 23, wherein at least a portion of each fiducial marker can be sensed by the computer-aided surgical navigation system using at least one of the following:

infrared, sound, visual, magnetic, electromagnetic, and x-ray.

26. The system of claim 23, further comprising a plurality of fiducial markers attached to the surgical instrument.

27. The system of claim 26, wherein the surgical instrument comprises a probe.

28. The system of claim 23, wherein the indication detector can comprise at least one of the following:

an input button, an input device, a contact device, a sensor device, a detector device, a transmitter device, a receiver device, or an infrared device.

29. The system of claim 23, wherein the indication detector can further comprise an identification indicator.

30. The system of claim 29, wherein the identification indicator can comprise at least one of the following:

a triangle, a square, a circle, a star, a polygon, an oval, a unique geometrical shape, a number, a letter, alphanumeric text, a symbol, a color.

31. The system of claim 23, wherein the instruction for the computer-aided surgical navigation system can comprise at least one of the following:

a tab command, a focus command, a select command, an increment function, a decrement function, a forward function, a backward function, a functional command, a function, an operational command, an operation.

32. The system of claim 23, wherein the instruction for a computer-aided surgical navigation system is associated with at least one of the following:

a size selection, a shape selection, a numeric selection, an alphanumeric selection, a selection of a range of sizes, a selection of a range of numbers, a material selection, a body component selection, an orthopedic component selection, or a surgical procedure selection.

33. The system of claim 23, wherein the mount can be mounted to at least one of the following:

a portion of a patient'"'"'s body, a second surgical instrument, a surgical item, an item associated with a surgery.

34. The system of claim 23, wherein the mount comprises at least one of the following:

a pronged connector, a magnet, a threaded connector, an adhesive, and a bone screw.

35. A method for performing a surgical procedure using an input system and a computer-aided surgical navigation system, the method comprising:

(a) mounting a reference array input device adjacent to a first surgical instrument, wherein the reference array input device comprises;

(i) a plurality of fiducial markers positioned on the reference array input device and adapted to be sensed by the computer-aided surgical navigation system, wherein a relative position and orientation associated with the reference array input device can be determined from sensing at least some of the fiducial markers by the computer-aided surgical navigation system;

(ii) at least one indication detector positioned on the reference array input device; and

(iii) a mount adapted to support the reference array input device adjacent to the first surgical instrument;

(b) sensing a portion of at least three of the fiducial markers by the computer-aided surgical navigation system;

(c) determining a position associated with the first surgical instrument based in part on sensing the portions of the at least three of the fiducial markers; and

(d) positioning a second surgical instrument at the at least one indication detector to indicate at least one corresponding instruction for execution by the computer-aided surgical navigation system.

36. The method of claim 35, wherein at least three of the fiducial markers are oriented in a flat, coplanar, Y-shaped configuration.

37. The method of claim 35, wherein at least a portion of each fiducial marker can be sensed by the computer-aided surgical navigation system using at least one of the following:

infrared, sound, visual, magnetic, electromagnetic, and x- ray.

38. The method of claim 37, wherein the fiducial markers can be at least one of the following:

a geometric shape, a sphere, a block, and a plate.

39. The method of claim 35, wherein the at least one indication detector can comprise at least one of the following:

an input button, an input device, a contact device, a sensor device, a detector device, a transmitter device, a receiver device, or an infrared device.

40. The method of claim 35, wherein the at least one indication detector can further comprise an identification indicator.

41. The method of claim 40, wherein the identification indicator can comprise at least one of the following:

a triangle, a square, a circle, a star, a polygon, an oval, a unique geometrical shape, a number, a letter, alphanumeric text, a symbol, a color.

42. The method of claim 35, wherein the instruction for the computer-aided surgical navigation system can comprise at least one of the following:

a tab command, a focus command, a select command, an increment function, a decrement function, a forward function, a backward function, a functional command, a function, an operational command, an operation.

43. The method of claim 35, wherein the instruction for the computer-aided surgical navigation system is associated with at least one of the following:

a size selection, a shape selection, a numeric selection, an alphanumeric selection, a selection of a range of sizes, a selection of a range of numbers, a material selection, a body component selection, an orthopedic component selection, or a surgical procedure selection.

44. The method of claim 35, wherein the mount comprises at least one of the following:

a pronged connector, a magnet, a threaded connector, an adhesive, and a bone screw.

45. The method of claim 35, wherein the first surgical instrument comprises at least one of the following:

a surgical implement, a surgical reference, a surgical trial, an implant, a cutting block, a reamer, a drill, a saw, an extramedullary rod, and an intramedullar rod.

46. The method of claim 35, wherein the second surgical instrument comprises a probe.