Technique for providing user guidance in surgical navigation

Patent metadata

Field	Value
Publication number	US-11540887-B2
Application number	US-202016893883-A
Country	US
Kind code	B2
Filing date	Jun 5, 2020
Priority date	Jun 5, 2020
Publication date	Jan 3, 2023
Grant date	Jan 3, 2023

Abstract

A technique of providing user guidance for surgical navigation is provided. A method implementation of the technique includes obtaining a predetermined spatial relationship between an optical tracking pattern and a through-hole extending through an implant, obtaining image data of the optical tracking pattern acquired by an imaging unit attached to a surgical instrument, obtaining a spatial relationship between the surgical instrument and the imaging unit at a point in time when the image data have been acquired, determining a spatial relationship between the surgical instrument and the through-hole, obtaining a plurality of predefined spatial relationships between the surgical instrument and the through-hole, and triggering simultaneous display of an indication of the plurality of predefined spatial relationships and an indication of the spatial relationship between the surgical instrument and the through-hole.

First claim

The invention claimed is:

1. A method of providing user guidance for surgical navigation, the method comprising:
obtaining implant data representative of a spatial relationship between an optical tracking pattern and a through-hole extending through an implant;
obtaining image data representative of at least a part of the optical tracking pattern, the image data having been acquired by an imaging unit attached to a surgical instrument;
obtaining instrument data representative of a spatial relationship between the surgical instrument and the imaging unit at a point in time when the image data have been acquired;
determining, based on the implant data, the image data and the instrument data, tracking data describing a spatial relationship between the surgical instrument and the through-hole;
obtaining guidance data describing a plurality of predefined spatial relationships between the surgical instrument and the through-hole; and
triggering, based on the tracking data and the guidance data, simultaneous display of an indication of the plurality of predefined spatial relationships and an indication of the spatial relationship between the surgical instrument and the through-hole.

2. The method of claim 1 , wherein the step of obtaining guidance data comprises determining a border with respect to the through-hole, the border separating a first region in space from a second region in space.

3. The method of claim 2 , wherein the border is a one-dimensional border, a two-dimensional border or a three-dimensional border.

4. The method of claim 2 , wherein the border is determined such that, when the surgical instrument is in any one of the plurality of predefined spatial relationships, it is located in the first region and, when it is in another spatial relationship not corresponding to one of the plurality of predefined spatial relationships, it is located in the second region.

5. The method of claim 2 , wherein the indication of the plurality of predefined spatial relationships comprises a visualization of at least a part of the border.

6. The method of claim 5 , wherein the visualization of the at least a part of the border is a one-dimensional, two-dimensional or three-dimensional visualization.

7. The method of claim 5 , wherein the at least a part of the border lies within a predetermined maximal distance from a center or center axis of the through-hole.

8. The method of claim 5 , wherein the step of triggering simultaneous display comprises triggering display of a visualization representing a view along an axis of the surgical instrument, the visualization further visualizing the at least a part of the border and, optionally, a center axis of the through-hole.

9. The method of claim 5 , wherein the step of triggering simultaneous display comprises triggering display of a visualization representing a view along a center axis of the through-hole, the visualization further visualizing the at least a part of the border and, optionally, an axis of the surgical instrument.

10. The method of claim 2 , wherein the indication of the plurality of predefined spatial relationships comprises a different visualization of at least a part of the first region compared to the second region or a different visualization of at least a part of the second region compared to the first region.

11. The method of claim 10 , wherein at least one of the at least a part of the first region and the at least a part of the second region lies within a predetermined maximal distance from a center or center axis of the through-hole.

12. The method of claim 2 , wherein the first region is essentially rotationally symmetric, preferably around a center axis of the through-hole.

13. The method of claim 12 , wherein the first region is essentially conical.

14. The method of claim 12 , wherein a tip of the first region lies on a center or center axis of the through-hole.

15. The method of claim 1 , wherein the indication of the spatial relationship between the surgical instrument and the through-hole comprises a visualization of a pose of an axis of the surgical instrument relative to a center axis of the through-hole.

16. The method of claim 1 , wherein the indication of the spatial relationship between the surgical instrument and the through-hole comprises a visualization of an offset of a tip of the surgical instrument from a center or center axis of the through-hole.

17. The method of claim 1 , wherein the instrument data describes a predetermined spatial relationship between the surgical instrument and the imaging unit defined by a mechanical interface configured to attach the imaging unit relative to the surgical instrument.

18. The method of claim 1 , further comprising simultaneously displaying the indication of the plurality of predefined spatial relationships and the indication of the spatial relationship between the surgical instrument and the through-hole based on the triggering.

19. A processor configured to:
obtain implant data representative of a predetermined spatial relationship between an optical tracking pattern and a through-hole extending through an implant;
obtain image data representative of at least a part of the optical tracking pattern, the image data having been acquired by an imaging unit attached to a surgical instrument;
obtain instrument data representative of a spatial relationship between the surgical instrument and the imaging unit at a point in time when the image data have been acquired;
determine, based on the implant data, the image data and the instrument data, tracking data describing a spatial relationship between the surgical instrument and the through-hole;
obtain guidance data describing a plurality of predefined spatial relationships between the surgical instrument and the through-hole; and
trigger, based on the tracking data and the guidance data, simultaneous display of an indication of the plurality of predefined spatial relationships and an indication of the spatial relationship between the surgical instrument and the through-hole.

20. A non-transitory computer readable storage medium containing a computer program comprising instructions which, when the program is executed by a processor, cause the processor to:
obtain implant data representative of a predetermined spatial relationship between an optical tracking pattern and a through-hole extending through an implant;
obtain image data representative of at least a part of the optical tracking pattern, the image data having been acquired by an imaging unit attached to a surgical instrument;
obtain instrument data representative of a spatial relationship between the surgical instrument and the imaging unit at a point in time when the image data have been acquired;
determine, based on the implant data, the image data and the instrument data, tracking data describing a spatial relationship between the surgical instrument and the through-hole;
obtain guidance data describing a plurality of predefined spatial relationships between the surgical instrument and the through-hole; and
trigger, based on the tracking data and the guidance data, simultaneous display of an indication of the plurality of predefined spatial relationships and an indication of the spatial relationship between the surgical instrument and the through-hole.

Assignees

• Stryker European Operations Ltd

Inventors

• Christen Alexis
• Kemper Jakob
• Paulisch Matthias
• Hoffmann Ulrich
• Huegle Fabian
• Metz Lars
• Spaelter Ulrich

Classifications

• A61B2034/102

  Modelling of surgical devices, implants or prosthesis · CPC title

• A61B2090/3983

  Reference marker arrangements for use with image guided surgery · CPC title

• A61B34/20 Primary

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• A61B17/1725

  for applying transverse screws or pins through intramedullary nails or pins · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title