Method and apparatus for image-based navigation

• US 9,974,501 B2
• Filed: 01/28/2011
• Issued: 05/22/2018
• Est. Priority Date: 01/28/2011
• Status: Active Grant

• Current Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Navigation Incorporated (Medtronic Plc)
• Inventors: Hartmann, Steven L., Burg, Bruce M., Bzostek, Andrew, Jacobsen, Brad, Koenig, Matthew W.
• Primary Examiner(s): SIRIPURAPU, RAJEEV P
• Application Number:
  US13/016,765
• Publication Number:
  US 20120197110A1
• Time in Patent Office: 2,671 Days
• Field of Search: 600424, 32420711, 32420713, 32420715, 32420717
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/397 electromagnetic other than visible, e.g. microwave
• 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 6/4405 the apparatus being movable or portable, e.g. handheld or mounted on a trolley
• CPC Class Codes: H01F 5/00 Coils superconducting coils H01F6/06; fixed inductances of the signal type H01F17/00

Abstract

A system and method for a procedure that can be performed on any appropriate subject. Procedures can include assembling any appropriate work piece or installing members into a work piece, such as an airframe, autoframe, etc. Regardless of the subject, tracking a substantially small tracking device in a plurality of degrees of freedom is provided. The tracking device can be positioned on or be formed in an instrument to be tracked.

Claims

1. A navigation system, comprising:

an instrument that is operable to be moved relative to a subject and having an exterior wall that defines an instrument axis;

a first holding portion defined by the instrument within a surface of the exterior wall having a first holding portion diameter, the first holding portion defining a cavity having a pair of tapered surfaces and a first pair of opposed flat surfaces extending from the pair of tapered surfaces and angled with respect to the instrument axis; and

a tracking device formed of at least a first portion having a first conductive wire wound around a first core to form a first coil defining a first navigation vector angled with respect to the instrument axis, wherein the first coil has a first central portion having a first coil diameter larger than the first holding portion diameter of the exterior wall, the central portion being tapered to a first pair of ends, the tracking device being configured to be aligned by the pair of tapered surfaces and the first pair of opposed flat surfaces,

wherein the first coil comprises a second pair of opposed surfaces configured to engage the first pair of opposed flat surfaces and is positioned in the first holding portion of the instrument.

2. The navigation system of claim 1, wherein the tracking device further comprises:

a second holding portion having a second conductive wire wound around a second core to form a second coil, wherein the second coil has a second central portion tapered to a second pair of ends;

wherein the second coil is positioned in the second holding portion;

wherein the second coil defines a second navigation vector that is at an angle relative to the first navigation vector.

3. The navigation system of claim 2, wherein the tracking device further comprises:

a third holding portion having a third conductive wire wound around a third core to form a third coil, wherein the third core has a third central portion tapered to a third pair of ends;

wherein the third coil is positioned in the third holding portion;

the third coil defining a third navigation vector that is at an angle relative to both the first navigation vector and the second navigation vector.

4. The navigation system of claim 3, wherein each of the first navigation vector, the second navigation vector, and the third navigation vector are orthogonal to one another.

5. The navigation system of claim 3, wherein the first holding portion includes an internal enclosed portion of the instrument completely enclosing the tracking device.

6. The navigation system of claim 2, wherein the first coil and the second coil are spaced a distance apart along the instrument axis of the instrument.

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

a localizer operable to generate an electromagnetic field; and

a navigation processor operable to execute instructions;

wherein the tracking device is operable to sense the electromagnetic field and produce a signal based on the electromagnetic field;

wherein the navigation processor is operable to determine at least six degrees of position information and orientation information regarding the instrument based on the signal from the tracking device.

23. The navigation system according to claim 1 wherein the instrument has an instrument feature having a second diameter smaller than the holding portion diameter.

24. The navigation system according to claim 1 wherein the tapered surfaces are angled at an acute angle with respect to the instrument axis.

8. A navigation system, comprising:

a navigation processor operable to execute instructions;

an instrument that is operable to be moved relative to a subject and having an exterior wall that defines an instrument axis;

a tracking device having,

a first portion having a first conductive wire wound around a first core to form a first coil, wherein the first core defines a shaped member having a first center portion having a first center portion core diameter and a pair of first core ends each having a first end core diameter, wherein the first center portion core diameter is greater than the first end core diameter, wherein the first portion defines a first navigation vector along a first axis;

a second portion having a second conductive wire wound around a second core to form a second coil, wherein the second core defines a shaped member having a second center portion having a second center portion core diameter, and a pair of second ends each having a second end core diameter, wherein the second center portion core diameter is greater than the second end core diameter, wherein the second portion defines a second navigation vector along a second axis angled with respect to the instrument axis; and

a third portion having a third conductive wire wound around a third core to form a third coil, wherein the third core defines a shaped member having a third center portion having a third center portion core diameter, and a pair of third ends each having a third end core diameter, wherein the third center portion core diameter is greater than the third end core diameter, wherein the third portion defines a third navigation vector along a third axis;

wherein each of the first navigation vector, the second navigation vector, and the third navigation vector define positive and non-zero angles relative to one another; and

the first holding portion defined by the instrument within a surface of the exterior wall to hold the first portion relative to the instrument, the first holding portion defines a first pair of opposed planar surfaces at an acute angle with respect to the instrument axis and perpendicular to the first navigation vector, and the first coil comprises a second pair of opposed planar surfaces configured to engage the first pair of opposed planar surfaces.

9. The navigation system of claim 8, wherein each of the first navigation vector, the second navigation vector, and the third navigation vector are orthogonal to one another.

10. The navigation system of claim 9, wherein the first holding portion includes an internal and enclosed portion of the instrument surrounding the tracking device;

wherein each of the first coil, the second coil, and the third coil are spaced apart a distance along the instrument axis of the instrument.

11. The navigation system of claim 10, wherein the instrument comprises a fourth portion being solid in cross-section.

12. The navigation system of claim 8, wherein the first core, the second core, and the third core are all formed of magnetically permeable material.

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

a localizer having a plurality of coils each operable to generate an electromagnetic field,

wherein the tracking device is operable to sense the electromagnetic field generated by each of the coils.

22. The navigation system according to claim 8, wherein the first holding portion defines a cavity having a bearing surface, the bearing surface having a pair of tapered surfaces configured to engage the first coil.

25. The navigation system according to claim 8 wherein the first coil has a central portion having a first diameter and the holding portion has a second diameter smaller than the first diameter.

26. The navigation system according to claim 25 wherein the first coil has a length along a coil axis less than the first diameter along the first axis.

27. The navigation system according to claim 8 wherein the holding portion defines a through hole.

14. A method of forming and using a navigation system, comprising:

providing an instrument that is operable to be moved relative to a subject and having an exterior wall having a first instrument diameter that defines an instrument axis and first and second holding portions in the instrument within the exterior wall, wherein the first holding portion defines a first pair of opposed flat surfaces at an acute angle with respect to the instrument axis, and a pair of tapered surfaces extending from the pair of opposed flat surfaces;

forming a tracking device, including,

forming a first tracking portion by winding a first conductive wire around a first core to form a first coil, the first core having a first core central portion having a first core central portion diameter and a pair of first core ends having a first core end diameter less than the first core central portion diameter, said first coil having a first coil central portion having a first coil central portion diameter greater than the first instrument diameter and a pair of tapered first coil ends having a first coil end diameter less than the first coil central portion diameter, wherein the first tracking portion defines a first navigation vector; and

forming a second tracking portion by winding a second conductive wire around a second core to form a second coil, the second core having a second core central portion having a second core central portion diameter and a pair of first core ends having a first core end diameter less than the first core central portion diameter, said second coil having a second coil central portion having a second coil central portion diameter and a pair of tapered second coil ends having a second coil end diameter less than the second coil central portion diameter, wherein the second tracking portion defines a second navigation vector; and

connecting the tracking device within the provided first and second holding portions so that each of the first tracking portion and the second tracking portion are spaced apart a distance along the instrument axis of the instrument within the first and second holding portions and so that each of the first navigation vector and the second navigation vector are defined at non-zero at angles relative to one another and the instrument axis and wherein the first tracking portion engages the first pair of opposed flat surfaces and is configured to be aligned by the tapered surfaces.

15. The method of claim 14, further comprising:

forming the first holding portion in the instrument within the exterior wall to hold the tracking device relative to the instrument.

16. The method of claim 15, further comprising:

providing a passage through the instrument operable to allow passage of a second instrument through the provided passage.

17. The method of claim 15, wherein connecting the tracking device with the provided instrument includes:

positioning each of the formed first tracking portion and the formed second tracking portion so that the first navigation vector and the second navigation vector are orthogonal to one another in the first and second holding portions.

18. The method of claim 17, wherein connecting the tracking device with the provided instrument further includes adhering each of the formed first tracking portion and the formed second tracking portion respectively to the first and second holding portions and interconnecting the holding portion with the provided instrument.

19. The method of claim 17, wherein connecting the tracking device with the provided instrument further includes:

providing a first bore in the instrument;

fixing the first formed first tracking portion in the first bore;

providing a second bore in the instrument; and

fixing the second formed second tracking portion in the second bore.

20. The method of claim 19, wherein connecting the tracking device with the provided instrument further includes positioning each of the respective formed first tracking portion and formed second tracking portion in a keyed orientation in each of the respective first bore and second bore.

21. The method of claim 18, further comprising:

generating an electromagnetic field;

sensing the electromagnetic field with all of the first tracking portion and the second tracking portion; and

determining at least six degrees of freedom position information and orientation information regarding the instrument based on the sensed electromagnetic field.