Trajectory storage apparatus and method for surgical navigation systems

• US 8,634,897 B2
• Filed: 12/13/2010
• Issued: 01/21/2014
• 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: Simon, David A., Foley, Kevin T., Carls, Thomas A., Melkent, Anthony J.
• Primary Examiner(s): Luong, Peter
• Application Number:
  US12/966,407
• Publication Number:
  US 20110077508A1
• Time in Patent Office: 1,135 Days
• Field of Search: 600/407, 600/424
• 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 of determining a trajectory of an object during a procedure, comprising:

tracking a three-dimensional position of the object with a tracking system;

storing a first location of the object based on a first tracked location of the object with the tracking system;

executing instructions with a computer processor to determine a second location of the object based on a second tracked location of the object with the tracking system;

generating a first representation of the object at the first location;

generating a second representation of the object at the second location; and

displaying on a display simultaneously both the first representation of the object at the first location and the second representation of the object at the second location.

2. The method of claim 1, further comprising:

displaying image data of a patient on the display;

wherein displaying both the first representation and the second representation on the display includes superimposing the both first representation and the second representation on the displayed image data.

3. The method of claim 1, further comprising:

determining at least one of an angle between the first representation and the second representation and a three-dimensional distance between an end of the first representation and an end of the second representation.

4. The method of claim 3, further comprising:

displaying with the display at least one of the determined angle between the first representation and the second representation or the three-dimensional distance between the end of the first representation and the end of the second representation.

5. The method of claim 3, further comprising:

displaying a dynamic determined three-dimensional distance between the end of the first representation and the end of the second representation as the object is tracked relative to the first location.

6. The method of claim 3, wherein storing the first location of the object tracked with the tracking system is due to a signal received by the computer processor.

7. The method of claim 6, further comprising:

executing instructions with the computer processor to freeze the first representation based on the tracked first location of the object.

8. The method of claim 1, further comprising:

determining, by executing instructions with the computer processor, a distance from an end the first representation and an end of the second representation; and

determining, by executing instructions with the computer processor, a distance between the end of the first representation and the end of the second representation.

9. The method of claim 1, wherein the second location of the object is a current location of the object and the stored location of the object is a previous location of the object that is different from the current location of the object.

10. A method of determining a trajectory of an object during a procedure, comprising:

tracking a three-dimensional position of the object with a tracking system at a first time and at a second time later than the first time;

executing instructions with a computer processor to determine a first location of the object tracked with the tracking system at the first time;

storing the first location of the object;

executing instructions with the computer processor to determine a second location of the object tracked with the tracking system at the second time, wherein the first location is different than the second location;

generating a first representation of the object at the first location;

generating a second representation of the object at the second location; and

displaying on a display simultaneously both the generated first representation of the object and the generated second representation of the object.

11. The method of claim 10, further comprising:

displaying an image of the object with the display, including both the generated first representation of the object and the generated second representation of the object simultaneously superimposed on the displayed image of the subject.

12. The method of claim 11, wherein executing instructions with the computer processor to determine the first location is determining a previous location and the second location is a current location of the object.

13. The method of claim 12, wherein executing instructions with the computer processor to determine the first location is substantially freezing a representation of the current location of the object at the first time for display on the display upon receipt of a signal to save the first location relative to a second location of the object, wherein the second location is a current location of the object at the second time.

14. The method of claim 12, further comprising:

receiving a signal to generate a static representation of the first location of the object;

wherein storing the first location and generating the first representation of the object at the first location is based on the received signal.

15. The method of claim 14, wherein receiving the signal to generate the first representation includes receiving a plurality of signals to generate a first plurality of distinct first representations.

16. The method of claim 15, further comprising:

computing with the computer processor a distance between at least one distinct representation of the first plurality of distinct first representations and the second location of the object.

17. The method of claim 16, further comprising:

displaying the computed distance; and

varying the computed distance based upon the tracked second location of the object.

18. The method of claim 14, wherein the first location includes a first plurality of locations, and further including computing with the computer processor a distance between at least one first location of the first plurality of locations and the second location of the object.

19. The method of claim 18, further comprising:

displaying the computed distance.

20. A method of determining a trajectory of an object during a procedure, comprising:

tracking a three-dimensional position of the object with a tracking system at a first time and at a second time later than the first time;

receiving a signal by a computer processor to store a first location of the object tracked with the tracking system at the first time;

storing, based on the received signal, the first location of the object;

determining a second location of the object tracked with the tracking system at the second time later than the first time by executing instructions with the computer processor; and

displaying on a display simultaneously both a generated first representation of the object and a generated second representation of the object;

wherein the displayed first representation and the second representation are generated by the computer processor based on the tracked first location and the tracked second location.

21. The method of claim 20, wherein determining the second location is determining a current location of the object tracked by the tracking system.

22. The method of claim 21, further comprising:

displaying an image of the object with the display;

wherein displaying on the display both the generated first representation of the object and the generated second representation of the object includes superimposing simultaneously both the generated first representation and the generated second representation on the displayed image of the subject.

23. The method of claim 22, further comprising:

computing with the computer processor a distance between the stored first location of the object and the determined second location of the object; and

displaying the computed distance.

24. The method of claim 23, further comprising:

varying the computed distance based upon the determined second location of the object;

wherein the object varies in three-dimensional distance relative to the stored first location due to moving the object.

25. The method of claim 22, further comprising:

computing with the computer processor an angle between the stored first location of the object and the determined second location of the object; and

displaying the computed angle.

26. The method of claim 25, further comprising:

varying the computed angle based upon the determined second location of the object;

wherein the object varies in three-dimensional angle relative to the stored first location due to moving the object.