Trajectory storage apparatus and method for surgical navigation systems

• US 7,853,305 B2
• Filed: 05/13/2005
• Issued: 12/14/2010
• Est. Priority Date: 04/07/2000
• Status: Expired due to Fees

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Foley, Kevin T, Simon, David A, Carls, Thomas A, Melkent, Anthony J
• Primary Examiner(s): Casler; Brian
• Assistant Examiner(s): Luong; Peter
• Application Number:
  US11/128,808
• Publication Number:
  US 20050234335A1
• Time in Patent Office: 2,041 Days
• Field of Search: 600/407, 600/410, 600/424, 600/429
• US Class Current: 600/424
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• 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 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/061 for measuring dimensions, e.g. length
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/378 using ultrasound
• 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 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A method and apparatus for determining, calculating, and/or viewing a trajectory. The trajectory can be displayed on a display relative to image data of a patient. A user can use the system to determine relationships between two or more trajectories that have been determined. The relationships can be within two dimensional, three-dimensional, or four dimensional space. The relationships can include distance, angle, etc. The relationships can also be determined between real time trajectories and stored trajectories, or combinations thereof.

Claims

1. A method for determining a relative location of at least two trajectories, the method comprising:

providing image data of a patient in a first plane;

tracking a three-dimensional trajectory of an object;

determining, with a surgical navigation system, a position of a first representation of a first trajectory of the object relative to the provided image data of the patient;

determining, with the surgical navigation system, a position of a second trajectory of the object relative to the image data of the patient; and

storing the first trajectory or the second trajectory.

2. The method of claim 1, further comprising:

displaying the provided image data;

forming a representation of the determined position of the first trajectory of the object; and

superimposing the formed representation of the first trajectory of the object on the displayed image data.

3. The method of claim 2, further comprising changing the formed representation to a second formed representation and superimposing the second formed representation on the displayed image data.

4. The method of claim 1 further comprising:

selecting the first and second trajectory;

projecting the first trajectory into a plane of the image data to form a first set of projected points;

projecting the second trajectory into the plane of the image data to form a second set of projected points;

calculating a first segment connecting the first set of projected points;

calculating a second segment connecting the second set of projected points;

computing an angle between the first and second segments in the plane of the image data; and

displaying the computed angle.

5. The method of claim 4 further comprising using the displayed computed angle for performing at least one of bone fragment alignment, bone fracture fixation, implant placement, bone removal and spinal implant placement.

6. The method of claim 1, further comprising storing both of the first trajectory and the second trajectory.

7. The method of claim 6, further comprising:

determining which of at least one of the determined first trajectory or the determined second trajectory is a real-time trajectory;

wherein the determined real time trajectory is stored contemporaneously with the tracking of the three-dimensional trajectory of the object.

8. The method of claim 1, wherein providing image data of a patient includes providing at least one of one-dimensional image data, two-dimensional image data, three-dimensional image data, four-dimensional image data, or combinations thereof.

9. The method of claim 1, wherein providing image data of the patient in a first plane includes providing image data of a patient in at least a first plane and a second plane.

10. The method of claim 9, wherein tracking a three-dimensional trajectory of an object includes tracking the three-dimensional trajectory of the object relative to at least the first plane or the second plane.

11. The method of claim 9, wherein providing image data of a patient in the first plane includes providing image data of a patient in at least one of an anterior to posterior plane, a lateral plane, a superior to inferior plane, a coronal plane, a sagittal plane, or combinations thereof.

12. The method of claim 9, wherein providing image data includes providing image data from an x-ray, a fluoroscope, a MRI, a PET scanner, computer topography, ultrasound scanners, or combinations thereof.

13. The method of claim 1, wherein providing image data of a patient in a first plane includes obtaining image data of the patient in a first plane prior to the tracking of the three-dimensional trajectory of the object.

14. The method of claim 1, wherein storing at least one of the first trajectory, the second trajectory, or combinations thereof, includes storing a dynamic real-time trajectory of the object.

15. The method of claim 1, wherein storing at least one of the first trajectory, the second trajectory, or combinations thereof, includes storing a first trajectory;

wherein determining a position of a second trajectory of the object relative to the image data of the patient includes determining a real-time trajectory;

determining a distance between the stored first trajectory and the determined position of the second trajectory;

displaying the determined distance.

16. The method of claim 15, further comprising:

updating the distance in real-time while tracking three-dimensional trajectory of the object.

17. The method of claim 15, further comprising:

projecting the first stored trajectory onto a plane of the image data;

projecting the determined position of the second trajectory in real-time on the image data;

computing a distance between the first stored trajectory and the second determined position of the second trajectory; and

displaying the determined distance.

18. The method of claim 1, further comprising determining a distance between the first stored trajectory and the second stored trajectory.

19. The method of claim 18, wherein determining the distance between the first stored trajectory and the second stored trajectory includes determining a distance in three-dimensional space.

20. The method of claim 1, further comprising determining an extension of at least one of the first trajectory, the second trajectory, or combinations thereof.

21. The method of claim 20, wherein determining the extension includes determining a projected position of the object based upon the determined first trajectory, the determined second trajectory, or combinations thereof.

22. The method of claim 20, further comprising:

selectively displaying the determined extension.

23. The method of claim 1, further comprising providing the object to have a tip and a hind:

wherein the first trajectory, the second trajectory, or combinations thereof include a trajectory of at least one of the hind or the tip.

24. An apparatus for determining a trajectory of at least one object during a surgical procedure, said apparatus comprising:

a tracking system operable to track a three-dimensional position of the object;

a computer processor in communication with said tracking system;

a memory in communication with said computer processor, said memory storing;

image data of a patient;

instructions that when executed by said computer processor, track the trajectory of the object, store a first tracked trajectory into memory upon receiving a storage command, generate representations of a second tracked trajectory and the first stored trajectory, and superimpose the representations onto the image data; and

a display operable to display the superimposed representations onto the image data.

25. The apparatus of claim 24 further comprising computer instructions that when executed by the computer processor:

selects a first and a second trajectory from memory;

projects the first trajectory into the image data to form a first set of projected points;

projects the second trajectory into the image data to form a second set of projected points;

calculates a first segment connecting the first set of projected points;

calculates a second segment connecting the second set of projected points;

computes an angle between the first and second segments; and

displays the computed angle.

26. The apparatus of claim 25, wherein the image data is two-dimensional image data of the patient and defines a plane through the patient:

wherein the computed angle between the first segment and the second segment is within the plane defined by the image data.

27. The apparatus of claim 25, wherein the image data is two-dimensional image data that defines the plane through the patient:

the computed angle between the first and second segments includes an angle defined relative to the plane.

28. The apparatus of claim 25, wherein said tracking system is operable to track a three-dimensional position of the object in real-time:

wherein the computer instructions when executed by the computer processor projects the real-time trajectory into the image stated to form a third set of projected points;

that completes a third segment connecting the third set of projected points;

computes an angle between at least the first segment or the second segment relative to the third segment.

29. The apparatus of claim 24 further comprising computer instructions that when executed by the computer processor:

selects a first and a second trajectory from memory;

computes a first point based on a tip position of the first trajectory;

computes a second point based on a tip position of the second trajectory;

computes a distance in three-dimensional space between the first point and the second point; and

displays the computed distance.

30. The apparatus of claim 29, wherein the tracking system is operable to track a real-time three-dimensional position of the object;

wherein the generated representations of the second tracked trajectory is the representation of a real-time tracking of the object relative to the first stored trajectory;

wherein computes a distance in three-dimensional space between the first point and the second point includes a dynamic distance between the first point and the second point.

31. The apparatus of claim 30, wherein the instructions executed by the computer processor are operable to change the computed distance in three-dimensional space between the first point and the second point in real time.

32. The apparatus of claim 29, wherein the image data is three-dimensional image data of the patient:

wherein displays the computed distance on the display relative to the three-dimensional image data.

33. The apparatus of claim 29, wherein the image data of the patient is two-dimensional image data:

wherein the display of the computed distance is a distance displayed relative to the plane defined by the two-dimensional data.

34. The apparatus of claim 33, wherein the displayed computed distance includes at least one of the computed first point or computed second point that is not in the plane defined by the image data.

35. The apparatus as defined in claim 29 further comprising computer instructions that when executed by the computer processor:

extends at least one of a path of the first trajectory and computes a first extended point;

extends a path of the second trajectory and computes a second extended point, or combinations thereof;

computes a distance in three-dimensional space between at least one of the first extended point, the second extended point, the first point, the second point, or combinations thereof; and

displays the computed distance.

36. The apparatus of claim 35, wherein the computer instructions when executed by the computer extends a path of both the first trajectory and the second trajectory and computes a first extended point from the first trajectory and computes a second extended point from the second trajectory:

computes a distance in three-dimensional space between the first extended point and the second extended point.

37. The apparatus of claim 35, wherein the computed distance is displayed relative to a three-dimensional image data of the patient.

38. The apparatus of claim 35, wherein the computed distance is displayed relative to two-dimensional image date of the patient.

39. The apparatus of claim 35, wherein the second trajectory includes a substantially real-time tracked three-dimensional trajectory of the object:

wherein the computed distance in three-dimensional space is a dynamic distance between the second extended point and the first extended point.

40. The apparatus of claim 35, wherein the image data of the patient is two-dimensional image data:

wherein the first extended point relies on a first plane and the second extended point relies on a second plane;

wherein the computed distance in three-dimensional space is between the first plane and the second plane relative to the plane defined by the two-dimensional image data.

41. The apparatus of claim 35, wherein the computer instructions when executed by the computer displays the first extended point relative to the first trajectory or displays the second extended points relative to the second trajectory on the display.

42. The apparatus of claim 41, further comprising:

a toggle portion;

wherein the toggle portion is operable to be manipulated by a user to selectively display the first extended point, the second extended point, or combinations thereof.

43. The apparatus of claim 24, wherein the object includes at least one of a tip, a hind, or combinations thereof:

wherein the first tracked trajectory, the second tracked trajectory, or combinations thereof is a tracked trajectory of at least one of the tip, the hind, or combinations thereof.

44. The apparatus of claim 43, further comprising a selection portion:

wherein the selected portion is operable to be manipulated by a user to select the display of the first trajectory relative to the tip, the first trajectory of the hind, the second trajectory at the tip, and the second trajectory of the hind, or combinations thereof.

45. The apparatus of claim 44, wherein the display is operable to display the selected trajectory.

46. The apparatus of claim 24, further comprising:

a calibration jig;

wherein the object is operable to be positioned in the calibration jig;

wherein the tracking system is operable to track the calibration jig;

wherein the instructions that when executed by the processor further tracks the calibration jig, determines a size of the object, determines a position of a tip, determines a position of a hind, or combinations thereof.

47. An apparatus for storing a trajectory of at least one object during a surgical procedure, said apparatus comprising:

a computer processor in communication with a tracking system;

a memory system in communication with said computer processor, said memory storing;

image data of a patient from at least two planes; and

instructions that when executed by said computer processor;

track the trajectory of the object,

store the trajectory into the memory system upon receiving a storage command,

generate representations of the tracked trajectory and the stored trajectory,

superimpose the representations onto at least one of the planes of the image data,

select a first and a second trajectory,

at least one of compute a distance in three-dimensional space between the first and second trajectories, compute an angle between the first and second trajectories, or combinations thereof; and

a display in communication with the computer processor operable to display at least one of the superimposed representations, the computed distance, the computed angle onto the image data, or combinations thereof.

48. The apparatus of claim 47, wherein said first and said second trajectories are from memory.

49. The apparatus of claim 47, wherein at least one of said first and said second trajectories are real time trajectories.

50. The apparatus of claim 47 further comprising computer instructions that when executed by the computer processor:

projects the first trajectory into the image data to form a first set of projected points;

projects the second trajectory into the image data to form a second set of projected points;

calculates a first segment connecting the first set of projected points;

calculates a second segment connecting the second set of projected points;

computes the angle between the first and second segments; and

displays the computed angle.

51. The apparatus of claim 47, wherein the computed angle between the first segment and the second segment is within at least one of the planes defined by the image data.

52. The apparatus of claim 47, wherein the computed angle between the first and second trajectories includes an angle defined relative to at least one of the planes of the image data.

53. The apparatus of claim 47 wherein the object has a tip and wherein computer instructions that when executed by the computer processor:

selects a first and a second trajectory from memory;

computes a first point based on a tip position of the first trajectory;

computes a second point based on a tip position of the second trajectory;

computes a distance in three-dimensional space between the first point and the second point; and

displays the computed distance.

54. The apparatus of claim 53, wherein the instructions executed by the computer processor are operable to change the computed distance in three-dimensional space between the first point and the second point in real time.

55. The apparatus of claim 47, wherein the computed three-dimensional distance is between the two planes.

56. The apparatus of claim 47, wherein the image data is three-dimensional image data of the patient:

wherein displays the computed distance on the display relative to the three-dimensional image data.

57. The apparatus of claim 47, wherein the displayed computed distance includes at least one of the computed first point or computed second point that is not in the plane defined by the image data.

58. The apparatus of claim 57, wherein the displayed computed distance includes one of the computed first point or computed second point is in the plane defined by the image data and the other of the computed first point or computed second point is not in the plane defined by the image data.

59. The apparatus as defined in claim 47 further comprising computer instructions that when executed by the computer processor:

extends at least one of a path of the first trajectory and computes a first extended point, extends a path of the second trajectory and computes a second extended point, or combinations thereof;

computes a distance in three-dimensional space between at least one of the first extended point, the second extended point, the first point, the second point, or combinations thereof; and

displays the computed distance.

60. The apparatus of claim 59, wherein the computer instructions when executed by the computer extends a path of both the first trajectory and the second trajectory and computes a first extended point from the first trajectory and computes a second extended point from the second trajectory:

and

computes a distance in three-dimensional space between the first extended point and the second extended point.

61. The apparatus of claim 59, wherein the first extended point lies on a first plane and the second extended point lies on a second plane;

wherein the computed distance in three-dimensional space is between the first plane and the second plane relative to the plane defined by the two-dimensional image data.

62. The apparatus of claim 59, wherein the computer instructions when executed by the computer displays the first extended point relative to the first trajectory or displays the second extended points relative to the second trajectory on the display.

63. The apparatus of claim 62, further comprising:

a toggle portion;

wherein the toggle portion is operable to be manipulated by a user to selectively display the first extended point, the second extended point, or combinations thereof.

64. The apparatus of claim 47, wherein the computed distance in three-dimensional space is a dynamic distance between the second extended point and the first extended point.

65. The apparatus of claim 47, wherein the object includes at least one of a tip, a hind, or combinations thereof:

wherein the first tracked trajectory, the second tracked trajectory, or combinations thereof is a tracked trajectory of at least one of the tip, the hind, or combinations thereof.

66. The apparatus of claim 65, further comprising:

a selection portion;

wherein the selected portion is operable to be manipulated by a user to select the display of the first trajectory relative to the tip, the first trajectory of the hind, the second trajectory at the tip, and the second trajectory of the hind, or combinations thereof.

67. The apparatus of claim 66, wherein the display is operable to display the selected trajectory.

68. The apparatus of claim 47, further comprising:

a calibration jig;

wherein the object is operable to be positioned in the calibration jig;

wherein the tracking system is operable to track the calibration jig;

wherein the instructions when executed by the processor further tracks the calibration jig, determines a size of the object, determines a position of a tip, determines a position of a hind, or combinations thereof.