On-board tool tracking system and methods of computer assisted surgery

• US 9,498,231 B2
• Filed: 03/15/2013
• Issued: 11/22/2016
• Est. Priority Date: 06/27/2011
• Status: Active Grant

• Current Assignee: Board of Regents of the University of Nebraska
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Haider, Hani, Al-Shawi, Ibrahim, Barrera, Osvaldo Andres
• Primary Examiner(s): Peng, Bo J
• Application Number:
  US13/842,526
• Publication Number:
  US 20140107471A1
• Time in Patent Office: 1,348 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 1/3132 for laparoscopy
• CPC Class Codes: A61B 17/142 with reciprocating saw blades, e.g. with cutting edges at the distal end of the saw blades
• CPC Class Codes: A61B 17/1703 using imaging means, e.g. by X-rays
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2090/061 for measuring dimensions, e.g. length
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• 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 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 5/00 Measuring for diagnostic purposes radiation diagnosis A61B6/00; diagnosis by ultrasonic, sonic or infrasonic waves A61B8/00; Identification of persons
• CPC Class Codes: A61B 5/061 Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• CPC Class Codes: A61B 5/1076 for measuring dimensions inside body cavities, e.g. using catheters A61B3/1005 takes precedence
• CPC Class Codes: G06T 2207/30004 Biomedical image processing
• CPC Class Codes: G06V 2201/034 of medical instruments

Abstract

A number of improvements are provided relating to computer aided surgery utilizing an on tool tracking system. The various improvements relate generally to both the methods used during computer aided surgery and the devices used during such procedures. Other improvements relate to the structure of the tools used during a procedure and how the tools can be controlled using the OTT device. Still other improvements relate to methods of providing feedback during a procedure to improve either the efficiency or quality, or both, for a procedure including the rate of and type of data processed depending upon a CAS mode.

Claims

1. An on tool tracking and guidance device for use with a surgical tool, comprising:

a housing having a surface for releasable engagement with a portion of the surgical tool;

a first camera and a second camera within the housing in an arrangement where each of the first camera and the second camera provides an image output selected for viewing substantially all of a surgical field selected for a computer assisted surgery procedure using the surgical tool while the surgical tool is engaged with the housing;

a sensor within the housing adapted and configured to provide an indication of one or more of roll, pitch, yaw, orientation, or vibration information related to the surgical tool while the surgical tool is engaged with the housing;

a projector within the housing configured to provide an output at least partially within the surgical field of view; and

an electronic image processor within the housing configured to receive an output from each of the first and second cameras and perform an image processing operation using at least a portion of the output from each of the first and second cameras for use in the computer assisted surgery procedure.

2. The on tool tracking and guidance device of claim 1, wherein the sensor is selected from the group consisting of:

an inclinometer, a gyroscope, a two axis gyroscope, a three axis gyroscope or other multiple axis gyroscope, a one-two-three or multiple axis accelerometer, a potentiometer, and a MEMS instrument.

3. The on tool tracking and guidance device of claim 1, wherein the surgical field includes an active element of the surgical tool, wherein the active element is a saw blade, burr, or drill.

4. The on tool tracking and guidance device of claim 1, wherein the output from the projector is adapted for projection on a portion of the patient'"'"'s anatomy or on or within the surgical field.

5. The on tool tracking and guidance device of claim 4, wherein the portion of the anatomy is a bone.

6. The on tool tracking and guidance device of claim 5, wherein the adapted output is adjusted for the curvature, roughness, or condition of the bone.

7. The on tool tracking and guidance device of claim 1, further comprising an another electronic image processor is in wireless communication with the housing and is located outside of the housing.

8. The on tool tracking and guidance device of claim 1, wherein the computer assisted surgery procedure is a freehand navigated computer assisted surgery procedure.

9. The on tool tracking and guidance device of claim 1, further comprising:

a display on the housing.

10. The on tool tracking and guidance device of claim 1, wherein the projector is a pico projector.

11. The on tool tracking and guidance device of claim 1, further comprising:

a communication element within the housing configured to provide information related to the image output to a component separate from the housing.

12. The on tool tracking and guidance device of claim 11, wherein the communication element provides information wirelessly to and from the component separate from the housing.

13. The on tool tracking and guidance device of claim 11, wherein the communication element provides information via a wired connection to the component separate from the housing.

14. The on tool tracking and guidance device of claim 1, further comprising a third camera and a fourth camera within or coupled to the housing.

15. The on tool tracking and guidance device of claim 14, further comprising a fifth camera and a sixth camera within or coupled to the housing.

16. The on tool tracking and guidance device of claim 1 wherein the surface for releasable engagement is a loop and the portion of the surgical tool is a rear portion of the surgical tool.

17. The on tool tracking and guidance device of claim 1 wherein the surface for releasable engagement is an elongate member along a bottom of the housing and the portion of the surgical tool is an upper portion of the surgical tool.

18. The on tool tracking and guidance device of claim 1 wherein the surface for releasable engagement is an elongate member along a bottom and a side surfaces of the housing and the portion of the surgical tool is an upper portion and a side portion of the surgical tool.