Systems and methods for surgical navigation with a tracker instrument

Patent metadata

Field	Value
Publication number	US-11259878-B2
Application number	US-201815991334-A
Country	US
Kind code	B2
Filing date	May 29, 2018
Priority date	May 29, 2017
Publication date	Mar 1, 2022
Grant date	Mar 1, 2022

Abstract

There is provided a surgical instrument for navigated surgeries and systems and methods using such a surgical instrument. The surgical tool comprises a tip; a tool interface, separate from the tip; and an optically trackable target. The tip is configured to probe positions in a space and identify the positions using optical information from the optically trackable target. The tool interface is configured to mate with a surgical tool such that the optical trackable target then provides optical information with which to determine positional information for the surgical tool in the space. In one example, the system provides navigational information during surgery using the surgical instrument, namely, a single integrated tracker instrument with two or more mechanical interfaces for coupling the tracker instrument with anatomical features and/or surgical tools.

First claim

What is claimed is:

1. A system to provide navigational information during a surgery comprising:
an instrument comprising:
a tip;
a tool interface, separate from the tip, the tool interface for coupling to a separate surgical tool; and
an optically trackable target;

a computing unit comprising a processor and a storage device storing instructions which when executed by the processor configure the computing unit to:
receive from a camera optical information of the optically trackable target;
calculate a pose of the instrument based on the optical information;
determine a position of the tip based on the pose of the instrument;
determine first navigational information based on the position of the tip;
determine a pose of the tool interface based on the pose of the instrument;
determine second navigational information based on the pose of the tool interface; and
provide at least one of the first and second navigational information to one or more of: a display unit for displaying to a user, computer memory for storage, and a robotic control system.

2. The system of claim 1 wherein the instrument has two opposite ends, and the tip is on one end, the tool interface is on the other end, and the optically trackable target is between the two ends.

3. The system of claim 1 wherein the computing unit is further configured to determine navigation context information; and provide the at least one of the first and second navigational information based on the navigation context information.

4. The system of claim 3 wherein the computing unit determines the navigation context information based, at least in part, on the pose of the instrument.

5. The system of claim 3 wherein the computing unit is configured to execute a software workflow comprising a series of steps, and determine the navigation context information, at least in part, based on a current step in the software workflow.

6. The system of claim 1 , wherein the tool interface comprises a planar feature.

7. The system of claim 6 wherein the planar feature comprises a magnet, and is configured to mate with a cutting slot of a cutting guide.

8. The system of claim 1 wherein the computing unit is further configured to determine at least one of the position of the tip and the pose of the tool interface based at least in part on calibration data.

9. The system of claim 8 wherein the calibration data is stored in memory accessible to the computing unit, and derived from manufacturing specifications of the instrument.

10. The system of claim 8 wherein the calibration data is determined based on a calibration routine.

11. The system of claim 1 wherein the first navigational information is limb position change and the second navigational information is implant alignment.

12. The system of claim 11 wherein the surgery is a hip arthroplasty and wherein the computing unit is configured to execute a software workflow comprising a series of steps to provide assistance for performing the surgery.

13. The system of claim 1 wherein the instrument is pre-sterilized, single-use and disposable.

14. The system of claim 1 wherein the first navigational information defines at least one anatomical axis of a bone and the second navigational information is the alignment of a bone cutting guide relative to the at least one anatomical axis.

15. The system of claim 14 wherein the surgery is a knee arthroplasty and wherein the computing unit is configured to execute a software workflow comprising a series of steps to provide assistance for performing the surgery.

16. The system of claim 6 , wherein the planar feature is without a magnet, and the planar feature is configured to mate with a cutting slot of a cutting guide.

17. The system of claim 1 , wherein the second navigational information relates to the surgical tool when the surgical tool is coupled to the tool interface.

18. The system of claim 4 , wherein the computing device determines an orientation of the instrument to identify whether the tip or the tool interface is relevant in the context of the surgery to determine which of the first navigational information and second navigational information is determined.

19. A computer implemented method to perform a navigated surgical procedure comprising:
receiving, by a computing unit from a camera, the computing unit comprising a processor, first optical information of an optically trackable target, the optically trackable target comprising a component of an instrument, the instrument further comprising, separately, a tool interface and a tip, the tool interface for coupling to a separate surgical tool, and wherein the first optical information is received when the tip is in contact with an anatomical landmark;
calculating, by the processor, a first pose of the instrument based on the first optical information;
determining, by the processor, a position of the tip based on the first pose of the instrument;
determining, by the processor, first navigational information based on the position of the tip;
receiving, by the processor, from the camera, second optical information of the optically trackable target when the instrument is coupled to a surgical tool via the tool interface;
calculating, by the processor, a second pose of the instrument based on the second optical information;
determining, by the processor, a pose of the tool interface based on the second pose of the instrument;
determining, by the processor, second navigational information based on the pose of the tool interface; and
providing, by the processor, to a display screen the first and/or second navigational information.

20. The method of claim 19 wherein the first and/or second navigational information is provided to the display screen by the computing unit based on navigation context information.

21. The method of claim 19 wherein the tip and the tool interface are at opposite ends of the instrument.

Assignees

• Intellijoint Surgical Inc

Inventors

• Hladio Andre Novomir
• Morency Kevin
• Oprea Alina
• Mccabe Samantha

Classifications

• A61B2034/2057

  Details of tracking cameras · CPC title

• A61B2034/2046

  Tracking techniques · CPC title

• A61B17/1746

  for the acetabulum · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B17/155

  Cutting femur · CPC title