Multiple cannula image guided tool for image guided procedures

• US 7,881,770 B2
• Filed: 03/16/2004
• Issued: 02/01/2011
• Est. Priority Date: 03/01/2000
• Status: Active Grant

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Kahler, David M, Melkent, Anthony J
• Primary Examiner(s): Manahan; Todd E
• Assistant Examiner(s): COLELLO, ERIN L
• Application Number:
  US10/801,906
• Publication Number:
  US 20050113809A1
• Time in Patent Office: 2,513 Days
• Field of Search: 606/130, 600/424, 600/426, 600/427, 600/414, 600/417, 600/429
• US Class Current: 600/424
• CPC Class Codes: A61B 17/1721 for applying pins along or parallel to the axis of the femoral neck
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/252 indicating steps of a surgical procedure
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• 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 5/0035 adapted for acquisition of images from more than one imaging mode, e.g. combining MRI and optical tomography
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 5/7425 Displaying combinations of multiple images regardless of image source, e.g. displaying a reference anatomical image with a live image geometric transforms for image registration G06T3/14; enhancement using image fusion G06T5/50; algorithms for registration of images G06T7/30
• CPC Class Codes: A61B 5/743 Displaying an image simultaneously with additional graphical information, e.g. symbols, charts, function plots
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/5235 combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT
• CPC Class Codes: A61B 6/5247 combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints

Abstract

Apparatus and methods are disclosed for use within an image-guided surgical navigation system for facilitating the combined positioning and orientation of multiple surgical implements. A tool guide having multiple cannulas is tracked by a surgical navigation system in real time. Position data of the tool guide is registered and combined with pre-acquired images by the navigation computer. Concurrent graphical representations of the plurality of cannulas are superimposed over the images and displayed. The display allows the surgeon to place the tool guide into the patient'"'"'s body and position and orient the plurality of cannulas which are then used to place each of the implements.

Claims

1. An apparatus for the placement of surgical implements, comprising:

a fixture that defines a plurality of attachment points that are spaced apart and fixed relative to each other;

a plurality of cannulas coupled to the fixture with each of the plurality of cannulas coupled to a respective one of the plurality of attachment points;

at least one trackable marker mounted on a frame that is coupled to the fixture to enable an instrument location system to detect a position of each of the plurality of cannulas throughout a surgical procedure without obstructing any of the cannulas during the procedure; and

a plurality of surgical implement receivers provided on the fixture for receiving surgical implements, at least one of the plurality of receivers being substantially coaxially aligned with a respective one of the plurality of cannulas to enable a surgical implement to pass through a respective one of the plurality of receivers and a respective one of the plurality of cannulas.

2. The apparatus of claim 1, further comprising:

a peripheral structure, coupled to the fixture to move the fixture and thereby maneuver the plurality of cannulas during a surgical procedure to place the surgical implements.

3. The apparatus of claim 2, wherein at least one of the surgical receivers is a flange configured to receive the surgical implements.

4. The apparatus of claim 2, wherein at least one of the plurality of cannulas is individually adjustable to vary its length.

5. The apparatus of claim 2, wherein at least one of the plurality of cannulas is individually adjustable to vary an angular position of at least one of the plurality of cannulas relative to the fixture and the peripheral structure.

6. The apparatus of claim 5, wherein the at least one angular position is an azimuth angular position measured in a horizontal reference plane associated with the fixture.

7. The apparatus of claim 5, wherein the at least one angular position is an elevation angular position measured in a vertical reference plane associated with the fixture.

8. The apparatus of claim 2, wherein the fixture is interchangeable from the peripheral structure, and wherein the fixture is configured to accommodate at least one of:

a variable number of cannulas, cannulas having a plurality of relative placements, or cannulas having a plurality of fixed relative angles.

9. The apparatus of claim 2, wherein the peripheral structure is a pistol grip configured graspable handle.

10. The apparatus of claim 2, wherein the peripheral structure is machine operated.

11. The apparatus of claim 2, further comprising:

a plurality of interchangeable frames, at least two of the frames having a different type of trackable marker.

12. The apparatus of claim 2, wherein the surgical implement is at least one of a surgical tool or an implant.

13. The apparatus of claim 2, wherein at least one of the plurality of cannulas can be interchanged with a cannula having at least one of a different inner diameter or outer diameter.

14. The apparatus of claim 2, wherein at least one of the plurality of cannulas is individually adjustable to vary at least one of its inner diameter or outer diameter.

15. The apparatus of claim 2, wherein at least one of the plurality of cannulas includes a serrated structure for gripping portions of a patient'"'"'s anatomy.

16. The apparatus of claim 2, wherein the at least one trackable marker is selected from a group comprising a reflective marker, a light emitting marker, an acoustic marker, a magnetic marker, an optical marker, an electromagnetic marker, a radiological marker, and combinations thereof.

17. The apparatus of claim 2, wherein the frame is removably coupled relative to the fixture using a dove-tail connection, wherein the dove-tail connection further comprises:

a dovetail connection member having a first planar surface and a second planar surface, wherein the first planar surface and the second planar surface are positioned at an acute angle relative to one another; and

a riser member extending a length and interconnecting the dove-tail connection member and the fixture, to position the dovetail connection member a distance from the fixture.

18. The apparatus of claim 2, wherein the peripheral structure is fixed relative to the plurality of attachment points.

19. The apparatus of claim 1, further comprising:

a display that displays an icon representative of the position of each of the plurality of cannulas overlaid onto an image of the anatomy.

20. A kit for an apparatus for the placement of surgical implements, comprising:

a first fixture having a first configuration defined by a plurality of attachment points that are spaced apart and fixed relative to each other and a first frame coupling region;

a second fixture different from the first fixture and having a second configuration defined by a plurality of attachment points that are spaced apart and fixed relative to each other and a second frame coupling region;

a plurality of cannulas each operable to be coupled to at least one of the first fixture or the second fixture via one of the respective plurality of attachment points; and

a trackable marker operable to be associated with all of the plurality of cannulas, the trackable marker mounted on a single frame, the single frame operable to be selectively coupled to the first frame coupling region of the first fixture or the second frame coupling region of the second fixture, wherein upon coupling the plurality of cannulas with the first fixture or the second fixture, the plurality of cannulas are positioned in at least one of the first configuration or the second configuration, and the trackable marker is detectable by an instrument location system to detect the position of the plurality of cannulas relative to an anatomy in real-time.

21. The apparatus of claim 20, wherein the plurality of cannulas are positioned parallel to one another in the first configuration.

22. The apparatus of claim 21, wherein the second fixture is operable to enable at least one of the plurality of cannulas to be individually adjustable to vary its angular position relative to the second fixture.

23. The apparatus of claim 20, wherein at least one of the plurality of cannulas is individually adjustable to vary its length.

24. The apparatus of claim 20, wherein at least one of the plurality of cannulas is individually adjustable to vary at least one of its angular positions.

25. The apparatus of claim 20 wherein the first frame coupling region and the second frame coupling region are substantially similar and operable to both couple with the single frame individually and separately.

26. The apparatus of claim 25, wherein the trackable marker is selected from a group comprising a reflective marker, a light emitting marker, an acoustic marker, a magnetic marker, an optical marker, an electromagnetic marker, a radiological marker, and combinations thereof.

27. The apparatus of claim 25, wherein the surgical implement is at least one of a surgical tool or an implant.

28. The apparatus of claim 25, further comprising:

a plurality of interchangeable single frames, at least two of the frames having a different type of trackable marker.

29. The apparatus of claim 25 wherein the first frame coupling region and the second frame coupling region both further comprise:

a dovetail connection member having a first planar surface and a second planar surface, wherein the first planar surface and the second planar surface are positioned at an acute angle to one another; and

a riser member extending a length and interconnecting the dovetail connection member and the fixture, to position the dovetail connection member a distance from the fixture.

30. An apparatus for the placement of surgical implements, comprising:

a fixture that includes a pistol grip configured grasping handle and a plurality of attachment points that are spaced apart and fixed relative to each other;

a plurality of cannulas each coupled to a respective one of the plurality of attachment points of the fixture so that manipulation of the pistol grip configured grasping handle maneuvers the plurality of cannulas simultaneously and the plurality of cannulas are independently adjustable relative to the fixture;

a plurality of trackable markers coupled to the fixture;

a surgical navigation system that tracks the plurality of trackable markers to determine a position of each of the plurality of cannulas relative to an anatomy; and

a display that displays an icon representative of the position of each of the plurality of cannulas superimposed onto an image of the anatomy.

31. The apparatus of claim 30, further comprising:

a plurality of surgical implement receivers provided on the fixture for receiving surgical implements, at least one of the plurality of receivers being substantially coaxially aligned with a respective one of the plurality of cannulas.

32. The apparatus of claim 31, further comprising:

an imaging device operable to acquire one or more images of the anatomy.

33. The apparatus of claim 30, wherein the fixture is interchangeable and is configured to accommodate at least one of:

a variable number of cannulas, a plurality of cannulas having a plurality of placements relative to the fixture, or a plurality of cannulas having a plurality of fixed relative angles.

34. The apparatus of claim 33, wherein the pistol grip configured grasping handle includes an elongated member operable to be grasped by a hand of a user;

wherein the elongated member extends at an angle of less than 180 degrees relative to a long axis of any of the plurality of the cannulas coupled to the fixture.

35. The apparatus of claim 30, wherein the display also displays a plurality of icons that each represent a projected trajectory for each of the plurality of cannulas superimposed onto the image of the anatomy.