Method and apparatus for surgical navigation of a multiple piece construct for implantation
First Claim
Patent Images
1. A system for use in navigating an implantation of a human spinal implant, comprising:
- a first pedicle screw member and a second elongated rod member of the construct adapted to selectively interact with each other after implantation and said first pedicle screw member operable to be fixed into a boney structure;
a third pedicle screw member positionable relative to said first pedicle screw member and said second elongated rod member in an anatomical portion;
a first localization element selectively and removably fixed to said first pedicle screw member having a depressible member to operate an internal mechanism to engage and disengage from said first pedicle screw member;
a second localization element selectively and removably fixed to said second elongated rod member;
a detector operable to detect said first localization element and said second localization element when said first localization element and said second localization element is selectively fixed to at least one of said first pedicle screw member or said second elongated rod member; and
a processor configured to;
assist in navigation of said second elongated rod member relative to said first pedicle screw member;
receive position information for all of said first pedicle screw member, said second elongated rod member, and said third pedicle screw member from said detector;
determine a relative position between all of said first pedicle screw member, said second elongated rod member, and said third pedicle screw member;
assist in navigation of said third pedicle screw member relative to at least one of said first pedicle screw member or said second elongated rod member including generating icons for display on a display device without patient image data displayed on the display device; and
simultaneously track said first localization element while selectively fixed to said first pedicle screw member and said second localization element while selectively fixed to said second elongated rod member.
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Abstract
A method and apparatus for percutaneous and/or minimally invasive implantation of a construct. The construct may be implanted using a navigation system for planning and execution of a procedure. A plurality of portions of the construct may be interconnected using locations and paths determined and navigated with the navigation system.
801 Citations
81 Claims
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1. A system for use in navigating an implantation of a human spinal implant, comprising:
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a first pedicle screw member and a second elongated rod member of the construct adapted to selectively interact with each other after implantation and said first pedicle screw member operable to be fixed into a boney structure; a third pedicle screw member positionable relative to said first pedicle screw member and said second elongated rod member in an anatomical portion; a first localization element selectively and removably fixed to said first pedicle screw member having a depressible member to operate an internal mechanism to engage and disengage from said first pedicle screw member; a second localization element selectively and removably fixed to said second elongated rod member; a detector operable to detect said first localization element and said second localization element when said first localization element and said second localization element is selectively fixed to at least one of said first pedicle screw member or said second elongated rod member; and a processor configured to; assist in navigation of said second elongated rod member relative to said first pedicle screw member; receive position information for all of said first pedicle screw member, said second elongated rod member, and said third pedicle screw member from said detector; determine a relative position between all of said first pedicle screw member, said second elongated rod member, and said third pedicle screw member; assist in navigation of said third pedicle screw member relative to at least one of said first pedicle screw member or said second elongated rod member including generating icons for display on a display device without patient image data displayed on the display device; and simultaneously track said first localization element while selectively fixed to said first pedicle screw member and said second localization element while selectively fixed to said second elongated rod member. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A system for use in determining a position of a first implantable member and planning and navigating relative to the first member for positioning a second member to interact with said first member, the system comprising:
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the first member including a bone engaging portion for fixation to a boney structure; a tracking element interconnected with the first member operable to be used to determine a position of the first member; a first detector operable to detect said tracking element; a processor configured to determine a position of the first member depending upon the detection of said first detector; a navigable instrument operable to move the second member relative to the first member; a second detector operable to detect said navigable instrument; and a display to display a first icon representing a first location of the first member and a second icon representing a second location of the second member; wherein the tracking element remains connected to the first member during the movement of the navigable instrument; wherein said processor is configured to determine a position of the second member relative to the first member in at least two planes; wherein said processor is configured to navigate said navigable instrument relative to said tracking element for positioning of the second member relative to the first member in a substantially patient imageless display; and wherein said processor is configured to track the tracking element fixed to said first member while tracking said navigable instrument; wherein the substantially patient imageless display includes said first icon and said second icon representing the first member and the second member in the at least two planes with no displayed images of the patient. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34)
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35. A method of implanting a construct having at least a first member, a second member, or a third member, the method comprising:
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positioning the first member into a first boney structure; tracking a position of the first member in a selected space with a first tracking element connected to the first member; positioning the second member in a second boney structure relative to the first member; tracking a position of the second member in the selected space with a second tracking element connected to the second member while positioning the second member relative to the first member; navigating the third member relative to the first member and the second member, while tracking the first tracking element connected with the first member and tracking the second tracking element connected to the second member, including; determining with a processor a real time optimal position of the third member in the selected space; and determining a real time position of the third member relative to at least one of the first member or the second member; displaying an icon on a display to illustrate the determined real time optimal position of the third member; and displaying an icon to represent the position of at least two of the first member, the second member, or the third member without displaying images acquired of the patient on the display. - View Dependent Claims (36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56)
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57. A method of implanting a construct of at least a first member, a second member, or a third member substantially at least one of percutaneously or minimally invasively, comprising:
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selecting a final orientation of at least one of the first member, the second member, or the third member relative to at least one other of the first member, the second member, or the third member to interconnect vertebra; tracking a position of the first member while tracking a position of the second member in order to provide a dynamic reference frame; displaying said position of each of the first member and the second member as two or more icons on a display; selecting a characteristic of at least one of the first member, the second member, or the third member; navigably positioning at least one of the first member, the second member, or the third member relative to another of at least one of the first member, the second member, or the third member to achieve the selected final orientation with assistance of the two or more icons; and displaying a current position icon relative to the two or more icons to illustrate the current position of at least one of the first member, the second member, or the third member relative to said selected final orientation without images acquire of a patient. - View Dependent Claims (58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73)
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74. A method of implanting a construct having at least a first pedicle screw member, a second pedicle screw member, and a third elongate rod member, the method comprising:
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positioning the first pedicle screw member into a boney structure vertebra; removably and fixedly connecting a first tracking element to the first pedicle screw member; tracking a position of the first pedicle screw member in a selected space with the first tracking element connected to the first member; positioning the second pedicle screw member relative to the first pedicle screw member in a second boney structure vertebra; removably and fixedly connecting a second tracking element to the second pedicle screw member while maintaining connection of the first tracking element to the first pedicle screw member; tracking a position of the second pedicle screw member in the selected space with a second tracking element connected to the second member; determining an alignment in a first plane and an alignment in a second plane of the first pedicle screw member and the second pedicle screw member; navigating the third elongated rod member relative to the first pedicle screw member and the second pedicle screw member, while tracking the first tracking element connected with the first pedicle screw member and tracking the second tracking element connected to the second pedicle screw member, including; removably and fixedly connecting a third tracking element to the third elongate rod member while maintaining the connection of the first tracking element to the first pedicle screw member and the second tracking element to the second pedicle screw member; determining a characteristic of the third elongated rod member to achieve the determined alignment in the first plane and the second plane; determining a real time position of the third elongated rod member relative to at least one of the first pedicle screw member or the second pedicle screw member with the respective connected first, second, and third tracking elements; and displaying a first member icon, a second member icon, and a third member on a display to illustrate the determined real time position of the first pedicle screw member, the second pedicle screw member, and the third elongated rod member without displaying representations of the boney structure. - View Dependent Claims (75, 76, 77, 78, 79, 80, 81)
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Specification