Portable electromagnetic navigation system

• US 8,320,991 B2
• Filed: 12/01/2006
• Issued: 11/27/2012
• Est. Priority Date: 12/01/2006
• Status: Active Grant

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Jascob, Bradley A., Doerr, Vince J., Kessman, Paul, Block, Orey G., Swetnam, Jeffrey, Dukesherer, John H.
• Primary Examiner(s): Casler, Brian
• Assistant Examiner(s): HUNTLEY, DANIEL CARROLL
• Application Number:
  US11/607,762
• Publication Number:
  US 20080132909A1
• Time in Patent Office: 2,188 Days
• Field of Search: 606/130, 600/409, 600/414, 600/415, 600/417, 600420-422, 600/424, 600/426
• US Class Current: 600/424
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• 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 2034/256 having a database of accessory information, e.g. including context sensitive help or scientific articles
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• 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 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A portable system can be provided that works with a surgical navigation system. The portable system can control a localizer to assist in the tracking of a tracking device. The portable system can be provided to be substantially carried by a single user form one location to another. Further, various digital control components can be provided to assist in miniaturization, robustness, and the like.

Claims

1. A navigation system for use in an operating theatre to navigate a procedure relative to a patient, comprising:

a coil array having at least three separate coils of conductive material operating with a selected transmission system that is operable to at least one of transmit a first field, receive a second field, or combinations thereof that is changed by at least one of a time differential, a time duplex, a frequency duplex, or combinations thereof;

an instrument;

a first tracking device associated with the instrument and operable with the coil array to at least one of transmit the second field to the array, receive the first field from the array, or combinations thereof;

a coil array controller and navigation probe interface (CAC/NPI) system operable to control the at least three separate coils of the coil array and has a digital amplifier and a digital switch operable to switch a signal from the digital amplifier to each of the three separate coils according to the selected transmission type, and further has amplifiers, filters, and buffers to directly interface with the first tracking device;

a single container enclosure that contains the coil array controller and navigation probe interface system;

a display device configured with the single container to be included therewith;

wherein the display is operable to display a tracked position of the instrument via the first tracking device transmitting location information via a transmission system to the coil array controller;

wherein the digital switch is operable to switch a drive current from the digital amplifier to each of the at least three coils to determine a position of the first tracking device associated with the instrument;

wherein the single container is configured to be carried by a single person and has a volume of about 32 cm³ to about 9850 cm³ and a mass including contents of about 2 kg to about 10 kg.

2. The navigation system of claim 1, further comprising:

a digital power supply operable to provide an isolation between the tracking device or instrument and the patient.

3. The navigation system of claim 1, further comprising:

a second tracking device; and

a mounting member operable to mount the second tracking device to the patient.

4. The navigation system of claim 1, wherein the digital switch includes a MOSFET switch.

5. The navigation system of claim 4, wherein the digital amplifier includes at least three digital amplifiers wherein each of the at least three digital amplifiers is operable to drive each of the three coils in the coil array from different signals;

wherein the coil array includes a plurality of coil arrays;

wherein the digital switch is operable to switch a signal from each of the at least three digital amplifiers between each of the three coils in each of the plurality of coil arrays to separately drive each of the three coils in each of the plurality of coil arrays based on the different source signals.

6. The navigation system of claim 5, further comprising:

a first processor associated with the CAC/NPI to execute instructions to determine at least one of an X component, a Y component, a Z component, or combinations thereof of a position of the tracking device associated with the instrument.

7. The navigation system of claim 6, further comprising:

a second processor operable to determine a position of the determined X, Y, and Z components relative to an image data of the patient.

8. The navigation system of claim 7, further comprising:

wherein the first processor and the second processor are a single processor of the navigation system;

wherein the single processor and the display device are also included in the single container and operable as a single system to control the coil array, interface with the tracking device, and determine the position of the tracking device.

9. The navigation system of claim 3, wherein the transmission system is a wire transmission system, a wireless transmission system, or combinations thereof.

10. The navigation system of claim 9, wherein the wireless transmission system includes a channel hopping wireless communication system, a spread spectrum wireless communication system, or combinations thereof.

11. The navigation system of claim 1, further comprising:

a mounting member projecting from the single container of the coil array controller and the navigation probe interface to mount the single container to a surgical bed and carry the single container.

12. The navigation system of claim 1, further comprising:

a coil array memory system;

wherein the coil array memory system is associated with the coil array to transmit selected information to the CAC/NPI.

13. The navigation system of claim 1, further comprising:

a memory system;

wherein the memory system includes at least one of an image data, a diagnostic instruction, a navigation instruction, or combinations thereof.

14. The navigation system of claim 13, further comprising:

a processor, wherein the processor is operable to execute the diagnostic instruction stored in the memory system to assist in determining an operability of the CAC/NPI .

39. The navigation system of claim 5, wherein the digital amplifier includes a plurality of digital amplifiers, and the digital MOSFET switch includes a plurality of digital MOSFET switches;

wherein each of the plurality of digital amplifiers is interconnected with each of the plurality of the tracking arrays through at least one of the plurality of digital MOSFET switches to allow switching of a current from each of the plurality of digital amplifiers to selectively power each one of the plurality of the tracking arrays.

40. The system of claim 39, wherein the single container includes at least two dimensions of about 1.5 feet by about six inches.

15. A navigation system for use in an operating theater to navigate a procedure relative to a patient comprising:

an imaging device to obtain image data of the patient;

a surgical instrument to assist in performing a surgical procedure on the patient;

a tracking system including;

a tracking device interconnected with the surgical instrument;

a plurality of tracking arrays; and

a system controller including;

a tracking array controller having;

a digital power source operable to digitally control an alternating current power supply to the tracking array controller,

a first circuit board,

a drive system included on the first circuit board and including a digital amplifier to amplify the current from the digital power source to drive each of the tracking arrays,

a D/A converter on the first circuit board, and

a digital MOSFET switch on the first circuit board; and

a tracking device interface powered via the digital power source and having amplifiers, filters, and buffers to directly interface with the tracking device;

wherein each of the plurality of tracking arrays include at least one coil operable to be driven by an amplified current from the digital amplifier to produce an electromagnetic field relative to the patient;

wherein the tracking device includes an electromagnetic field sensitive element operable to sense the electromagnetic field produced by the at least one coil;

wherein the digital MOSFET switch is operable to switch the current from the digital amplifier between the at least one coil of each of the plurality of the tracking arrays; and

a single container enclosure that contains the system controller including the tracking array controller and the tracking device interface.

16. The navigation system of claim 15, wherein the tracking system further comprises:

a processor system including a memory and a processor operable to execute instructions stored in the memory to determine at least one of an X component, a Y component, a Z component, or combinations of the components of a position of the tracking device in space relative to the patient and to determine the position of the tracking device relative to the image data based upon the determined at least one of the X component, Y component, Z component, or combinations of the components of the position of the tracking device;

wherein the processor system and the tracking system are fixed in a single container.

17. The navigation system of claim 15, wherein the tracking array controller includes a processor operable to execute instructions;

wherein the tracking device interface is interconnected with the tracking device to communicate information regarding the tracking device in the field produced by the tracking array to be processed by the processor;

wherein the processor is operable to execute instructions to determine at least one of an X component, a Y component, a Z component, or combinations thereof components of a position of the tracking device in space relative to the patient.

18. The navigation system of claim 17,

wherein the processor is operable to determine the position of the tracking device relative to the image data based upon the determined X component, Y component, Z component, or combinations of the components of the position of the tracking device.

19. The navigation system of claim 18, further comprising:

a display operable to display a representation of the position of the surgical instrument relative to the image data based upon the determined position component of the tracking device.

20. The navigation system of claim 15, further comprising:

a wireless transmission system operable to transmit a signal from the tracking device to the tracking array controller.

21. The navigation system of claim 15, wherein the tracking array controller includes a processor and a memory system;

wherein the memory system includes a diagnostic program operable to be executed by the processor to determine appropriate operation of the tracking array controller, the tracking array, the digital amplifier, or combinations thereof.

22. The navigation system of claim 15, wherein the digital amplifier includes a plurality of digital amplifiers, and the digital MOSFET switch includes a plurality of digital MOSFET switches;

wherein each of the plurality of digital amplifiers is interconnected with each of the plurality of the tracking arrays through at least one of the plurality of digital MOSFET switches to allow switching of a current from each of the plurality of digital amplifiers to selectively power each one of the plurality of the tracking arrays.

23. The navigation system of claim 22,

wherein each of the plurality of tracking arrays includes a plurality of coils;

wherein the plurality of digital MOSFET switches is operable to switch a drive current from one of each of the plurality of coils in one of the plurality of the tracking arrays to another of each of the plurality of coils in another of the plurality of the tracking arrays.

24. The navigation system of claim 22, wherein the CAC/NPI further comprises a first circuit board;

wherein at least the plurality of digital amplifiers and the plurality of digital MOSFET switches are connected to the first circuit board.

25. The navigation system of claim 24, wherein the CAC/NPI further comprises a digital power source.

26. The navigation system of claim 22, wherein the single container is configured to be carried by a single person and has a volume of about 32 cm³ to about 9850 cm³ and a mass including contents of about 2 kg to about 10 kg.

27. A navigation system for use in an operating theater to navigate a procedure relative to a patient, comprising:

a container operable to be carried and transported by a single user enclosing a volume of about 32 cc to about 9850 cc, wherein the container contains at least a tracking array controller having at least one digital switch and at least one digital amplifier, a navigation probe interface, and the container encloses a space to contain a tracking array;

wherein the tracking array controller can power and control a plurality of coils of a tracking array using the at least one digital switch and the at least one digital amplifier,

wherein the tracking array controller can control the tracking array to determine a location of a tracking device to be displayed on a display,

wherein the navigation probe interface includes an input receiving interface for a tracking device,

wherein the tracking array includes a plurality of tracking coils, the at least one digital amplifier includes a plurality of digital amplifiers, and the at least one digital switch includes a plurality of digital switches;

wherein each of the plurality of digital amplifiers is interconnected with each of the plurality of the tracking coils through at least one of the plurality of digital switches to allow switching of a current from each of the plurality of digital amplifiers to selectively power each one of the plurality of the tracking coils.

28. The navigation system of claim 27, further comprising:

a tracking device including a coil to at least one of transmit a field and receive a field; and

the plurality of coils positioned relative to one another and each of the coils driven through the at least one digital amplifier;

wherein the tracking array is operable to at least one of transmit a field and receive a field relative to the tracking device.

29. The navigation system of claim 28,

wherein the tracking array includes a plurality of tracking arrays, wherein each of the tracking arrays includes a plurality of coils;

wherein the plurality of digital switches are operable to switch a drive current from one of each of the plurality of coils in one of the plurality of the tracking arrays to another of each of the plurality of coils in another of the plurality of the tracking arrays.

30. The navigation system of claim 29, wherein the tracking device is operable to be influenced by a field produced by the tracking array and produce a signal based upon an induced voltage from the field produced by the tracking array.

31. The navigation system of claim 30, wherein the tracking array controller includes a processor operable to execute instructions to determine a position component of the tracking device based upon the induced voltage.

32. The navigation system of claim 31,

wherein the display is operable to display the determined position component of the tracking device.

33. The navigation system of claim 32, further comprising:

a processor operable to execute instructions to determine a position of the tracking device relative to an image data of the patient;

wherein the determined position of the tracking device can be displayed relative to the image data.

34. The navigation system of claim 33, further comprising:

a surgical instrument;

wherein the tracking device is operably associated with the instrument to determine a position of the instrument;

wherein a representation of the instrument is operable to be displayed on the display relative to the image data.

35. The navigation system of claim 28, further comprising:

a communications system wherein the tracking device is operable to communicate to the tracking array controller a signal.

36. The navigation system of claim 35, wherein the communication system is a wireless communications system.

37. The navigation system of claim 28,

wherein each of the plurality of digital switches is a digital MOSFET switch;

wherein the digital MOSFET switch is operable to control a drive current from each of the plurality of digital amplifiers to each of the plurality of the tracking arrays.

38. The navigation system of claim 27, further comprising:

at least one of a navigation processor and an image processor; and

a wireless communication system operable to transmit data between the navigation processor, the image processor, the tracking array controller, the navigation probe interface, or combinations thereof.

41. A method of navigating an instrument relative to a patient with a navigation system in an operating theater, comprising:

transporting by a single user a single container enclosing a volume of about 32 cc to about 9850 cc, wherein the single container contains at least a tracking array controller and navigation probe interface system (TAC/NPI) having a plurality of digital switches and a plurality of digital amplifiers, and the container encloses a space to contain a tracking array;

providing in the container a first circuit board to which is fixed a digital power source operable to digitally control an alternating current power supply to the TAC/NPI, a drive system including the plurality of digital amplifiers to amplify the current from the digital power source to drive a plurality of tracking arrays, a D/A converter, and the plurality of a digital switches;

powering and controlling a plurality of coils of the plurality of tracking arrays using the plurality of digital switches and the plurality of digital amplifiers of the TAC/NPI;

at least one of transmitting a field and receiving a field with a tracking device having a coil, wherein each of the plurality of tracking arrays are operable to at least one of transmit a field and receive a field relative to the tracking device;

determining a location of a tracking device to be displayed on a display at least by executing instructions with a processor included in the container;

wherein each of the plurality of digital amplifiers is interconnected with each of the plurality of the tracking arrays through at least one of the plurality of digital switches to allow switching of a current from each of the plurality of digital amplifiers to selectively power each one of the plurality of the tracking arrays;

wherein the plurality of digital switches are operable to switch a drive current from one of each of the plurality of coils in one of the plurality of the tracking arrays to another of each of the plurality of coils in another of the plurality of the tracking arrays.

42. The method of claim 41, further comprising producing a signal with the tracking device based upon an induced voltage from the field produced by at least one of the plurality of the tracking arrays.