Method and apparatus for surgical navigation

• US 8,239,001 B2
• Filed: 07/11/2005
• Issued: 08/07/2012
• Est. Priority Date: 10/17/2003
• Status: Active Grant

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Verard, Laurent G., Hughes, Joel S., Hartmann, Steven L., Kappus, John J., Moctezuma, Joseph, DiCorleto, Matthew F., Jascob, Bradley A., Clayton, John B.
• Primary Examiner(s): Chen, Tse
• Assistant Examiner(s): Brutus, Joel F
• Application Number:
  US11/179,044
• Publication Number:
  US 20060025677A1
• Time in Patent Office: 2,584 Days
• Field of Search: None
• US Class Current: 600/424
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic 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 2034/256 having a database of accessory information, e.g. including context sensitive help or scientific articles
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3954 magnetic, e.g. NMR or MRI
• 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 5/062 using magnetic field
• CPC Class Codes: A61B 5/4504 Bones A61B5/4547 takes precedence
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• CPC Class Codes: A61B 5/7285 for synchronising or triggering a physiological measurement or image acquisition with a physiological event or waveform, e.g. an ECG signal A61B6/5205, A61B6/541, A61B8/5207, A61B8/543 take precedence
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/4405 the apparatus being movable or portable, e.g. handheld or mounted on a trolley
• CPC Class Codes: A61B 6/4423 : related to hygiene or sterilisation
• CPC Class Codes: A61B 6/4441 : the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/541 : involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 8/4245 : involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
• CPC Class Codes: A61B 8/543 : involving acquisition triggered by a physiological signal
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/39 : Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: H01F 2005/027 : wound on formers for receiving several coils with perpendicular winding axes, e.g. for antennae or inductive power transfer

Abstract

A surgical navigation system for navigating a region of a patient that may include a non-invasive dynamic reference frame and/or fiducial marker, sensor tipped instruments, and isolator circuits. The dynamic reference frame may be placed on the patient in a precise location for guiding the instruments. The dynamic reference frames may be fixedly placed on the patient. Also the dynamic reference frames may be placed to allow generally natural movements of soft tissue relative to the dynamic reference frames. Also methods are provided to determine positions of the dynamic reference frames. Anatomical landmarks may be determined intra-operatively and without access to the anatomical structure.

Claims

1. A navigation system for determining the location of a member relative to an anatomy, comprising:

a tracking system;

a sensor assembly including;

a sensor and a cap sensor body operable to be sensed by said tracking system; and

a connection portion to interconnect said cap sensor body with the anatomy having;

an anatomy engaging portion that engages the anatomy at a first location;

a body connection portion that extends from the anatomy engaging portion; and

a rotation resisting portion coupled to the anatomy engaging portion that engages the anatomy at a second location different from the first location to resist the rotation of the connection portion relative to the anatomy.

2. The navigation system of claim 1, wherein said sensor includes an electromagnetic sensor, an optical sensor, an acoustic sensor, or combinations thereof.

3. The navigation system of claim 1, wherein said sensor includes a conductive coil, an inductive coil, or combinations thereof.

4. The navigation system of claim 1, wherein said tracking system includes a coil array operable to induce a magnetic field that is received in said sensor.

5. The navigation system of claim 1, wherein said connection portion includes a projection operable to penetrate a distance into the anatomy.

6. The navigation system of claim 1, wherein said connection portion includes a first leg and a second leg extending relative to one another.

7. The navigation system of claim 6, wherein said first leg is movable relative to said second leg to engage the anatomy.

8. The navigation system of claim 6, wherein said first leg is generally immobile relative to said second leg and said first leg is operable to engage a first point and said second leg is operable to engage a second point of the anatomy to substantially reduce rotation of said sensor.

9. The navigation system of claim 1, wherein said connection portion includes:

a base plate including projections extending from a portion of the base plate;

a screw operable to interconnect the base plate and the anatomy.

10. The navigation system of claim 9, wherein said projections resist rotation of the base plate relative to the anatomy.

11. The navigation system of claim 9, wherein said connection portion extends from said base plate.

12. The navigation system of claim 1, wherein said connection portion includes a spike, a drivable member, teeth, ridges, or combinations thereof.

13. The navigation system of claim 1, wherein said connection portion is operable to selectively engage said cap sensor body.

14. The navigation system of claim 1, wherein said connection portion snap fits with said cap sensor body.

15. The navigation system of claim 1, wherein said connection portion engages said cap such that said cap must be destructively removed from said connection portion.

16. The navigation system of claim 1, wherein said sensor is integrally molded with the cap sensor body.

17. The navigation system of claim 1, wherein the cap sensor body includes a recess that receives the connection portion.

18. The navigation system of claim 17, wherein the cap sensor body is keyed against rotation relative to the connection portion.

19. The navigation system of claim 1, wherein the anatomy engaging portion extends through the rotation resisting portion.

20. A navigation system for determining the location of a member relative to an anatomy, comprising:

an instrument having a first end and a second end;

a working end defined near said second end;

a first tracking sensor positioned at said second end near said working end;

a second tracking sensor positioned at said second end, said second tracking sensor spaced apart from said first tracking sensor;

a tracking system operable to track said first and second tracking sensors;

wherein said instrument includes a hollow tube and said first and second tracking sensors extend helically about an outer diameter of said hollow tube at said second end; and

a display that displays an icon representative of the working end of the instrument superimposed on an image of the anatomy.

21. The navigation system of claim 20, wherein said hollow tube defines an elongated passage, and the tracking sensors comprise electromagnetic sensor coils that are wound concentrically about said elongated passage.

22. The navigation system of claim 20, wherein the first and second tracking sensors are spaced apart at a predetermined distance, and wherein the tracking system is further operable to compare a signal received from the first tracking sensor to a signal received from the second tracking sensor.

23. A navigation system for determining the location of a member relative to an anatomy, comprising:

a non-trackable instrument having a first end and a second end, the instrument defining a bore and having a working end near said second end;

a stylet including a plurality of tracking sensors formed helically around an axis of said stylet, said stylet received within the bore such that the stylet extends from the first end to the second end of the instrument and such that said tracking sensors are positioned near said second end;

a tracking system operable to track said tracking sensor to thereby determine a location of the working end of the instrument; and

wherein said instrument includes a handle at the first end and an interchangeable member that comprises said second end, and each of said handle and said interchangeable member define a bore for receipt of at least a portion of said stylet.

24. The navigation system of claim 23, wherein said stylet is operable to be positioned in said instrument.

25. The navigation system of claim 23, wherein said stylet is operable to be fixed relative to said instrument.

26. The navigation system of claim 23, wherein the bore has a closed end.

27. The navigation system of claim 23, wherein the bore has an open end.

28. The navigation system of claim 23, wherein the stylet includes a handle that extends beyond an end of the handle of the instrument.

29. The navigation system of claim 28, wherein the handle of the stylet includes at least one electrical contact that is in communication with the tracking sensor and in communication with the tracking system to transmit a signal from the tracking sensor to the tracking system.

30. The navigation system of claim 23, wherein the stylet is received within the instrument so that the tracking sensor is not exposed.

31. The navigation system of claim 23, wherein the stylet is interconnected to the instrument.

32. The navigation system of claim 23, wherein the non-trackable instrument engages the stylet to prevent the stylet from extending out of the second end of the non-trackable instrument.

33. A method of tracking a tracking sensor with a tracking system to determine the location of a working end of an instrument, comprising:

positioning a non-trackable cannulated instrument having a first end and a working end relative to an anatomy;

slidably inserting a stylet having a plurality of tracking sensors helically wound around an axis of the stylet near a distal end into the cannulated instrument such that the stylet extends from the first end to the working end of the cannulated instrument and such that the plurality of tracking sensors are near the working end of the instrument;

tracking the plurality of tracking sensors with the tracking system;

determining a location of the plurality of tracking sensors; and

determining a location of the working end of the instrument according to the location of the plurality of tracking sensors.

34. The method of claim 33, further comprising:

deforming the instrument; and

maintaining the plurality of tracking sensors near the working end of the instrument.

35. The method of claim 33, wherein determining a location of the working end of the instrument substantially includes determining a location of the plurality of tracking sensors.

36. The method of claim 33, further comprising:

displaying an icon representative of the location of the working end of the instrument superimposed on an image of an anatomy.

37. The method of claim 33, wherein inserting the stylet further comprises:

inserting the stylet having the plurality of tracking sensors helically wound about the distal end of the stylet.

38. The method of claim 33, further comprising:

guiding the working end of the instrument to a desired position within the anatomy; and

performing a procedure on the anatomy with the instrument.

39. The method of claim 33, further comprising interconnecting the stylet to the instrument.

40. The method of claim 33, wherein slidably inserting the stylet includes preventing the distal end of the stylet from extending out of the working end of the cannulated instrument.