Systems and methods for surgical navigation, including image-guided navigation of a patient's head

Patent metadata

Field	Value
Publication number	US-11666407-B2
Application number	US-201716331236-A
Country	US
Kind code	B2
Filing date	Sep 7, 2017
Priority date	Sep 7, 2016
Publication date	Jun 6, 2023
Grant date	Jun 6, 2023

Abstract

Systems, methods and devices are described herein for performing a navigated surgical procedure involving a patient's anatomy in sterile and non-sterile surgical environments. A camera may be used to determine a registration of the camera coordinate-frame to the patient anatomy or optionally a tracker in relation to the patient anatomy. A drape may be applied to permit use in a sterile surgical environment. The camera may be moved from its original position to enable access to patient anatomy while maintaining a registration of the camera coordinate-frame with the patient anatomy. Alternatively, the camera may be used in a hand-held or head-mounted manner. A visualization of the patient anatomy may be displayed on a computing unit, with visualization reference planes defined by the pose of an instrument or the camera. The visualization may be presented on a display of a computing unit or as part of a head mounted augmented reality system.

First claim

The invention claimed is:

1. A method comprising:
providing a non-sterile camera releasably coupled to a distal end of a non-sterile camera mounting arm and a proximal end of the non-sterile camera mounting arm releasably coupled to a surgical clamp immobilizing a patient's anatomy to perform a registration;
using a computing unit of a surgical navigation system to perform the registration between a coordinate frame of the non-sterile camera and the patient's anatomy from pose data communicated to the computing unit from the non-sterile camera;
following the registration, draping the non-sterile camera and the non-sterile camera mounting arm by a camera drape to provide a sterile barrier between the patient's anatomy and the non-sterile camera and non-sterile camera mounting arm, where the draping is performed without moving a position of the camera relative to the patient's anatomy,
following the draping, using the computing unit to calculate poses of sterile instruments relative to the patient's anatomy using the registration to provide surgical navigation during a surgical procedure, the poses of the sterile instruments calculated using pose data received from the non-sterile camera as draped, along with the non-sterile camera mounting arm, in the camera drape to provide a sterile barrier between the patient's anatomy and the non-sterile camera and non-sterile camera mounting arm, the camera remaining in a same position relative to the patient's anatomy to provide the pose data for the sterile instruments as used to provide the pose data for the registration.

2. The method of claim 1 , wherein the pose data received from the non-sterile camera as draped is defined from optical signals transmitted to the non-sterile camera through the camera drape without distortion.

3. The method of claim 1 comprising using non-sterile instruments to provide the pose data for performing the registration.

4. The method of claim 1 , wherein the camera drape comprises a drape optical window, wherein the draping comprises applying a holding mechanism to hold the drape optical window in a fixed and correct alignment with optics of the non-sterile camera.

5. The method of claim 1 comprising:
prior to the registration, rigidly fixing a non-sterile tracker relative to the patient's anatomy and wherein the pose data communicated to the computing unit from the non-sterile camera to perform the registration comprises pose data of the non-sterile tracker rigidly fixed relative to the patient's anatomy to perform the registration; and
replacing the non-sterile tracker with a sterile tracker rigidly fixed relative to the patient's anatomy and wherein the poses of the sterile instruments are calculated to provide the surgical navigation without performing a second registration.

6. The method of claim 5 comprising using a same tracker mounting arm to rigidly fix the non-sterile tracker and, later, the sterile tracker in the same position.

7. The method of claim 6 , wherein the using of the computing unit to calculate the poses of sterile instruments comprises using the computing unit to factor in a difference between a geometry of the non-sterile tracker and a geometry of the sterile tracker.

8. The method of claim 1 , wherein the patient's anatomy is a cranium.

9. A method comprising:
providing a non-sterile tracker and a sterile tracker, the non-sterile tracker for use during a non-sterile stage of a surgery for a patient and the sterile tracker for use in place of the non-sterile tracker during a sterile stage of the surgery for the patient;
using a computing unit of a surgical navigation system to store differences between geometries of the non-sterile tracker and the sterile tracker;
using the computing unit to calculate a registration of a camera with respect to the non-sterile tracker during the non-sterile stage;
during the sterile stage where the sterile tracker is used in place of the non-sterile tracker and the patient is draped with a patient drape, using the computing unit to perform surgical navigation responsive to the registration and the differences stored by the computing unit to calculate poses.

10. The method of claim 9 , wherein:
the patient drape comprises a sterile tracker adaptor;
the method includes using the computing unit to store a relative position between i) the non-sterile tracker when mounted to a mounting arm before the patient drape is applied and ii) the sterile tracker when mounted to the mounting arm via a sterile tracker adaptor after the patient drape is applied, wherein the relative position is based on geometrical properties of the sterile tracker adaptor; and
the using of the computing unit to perform surgical navigation is responsive to the relative position stored by the computing unit to calculate the poses.

11. A system comprising:
a non-sterile camera, a non-sterile camera mounting arm, and a camera drape, the non-sterile camera configured to releasably couple to a distal end of the non-sterile camera mounting arm and a proximal end of the non-sterile camera mounting arm configured to releasably couple to a patient's anatomy, as immobilized, to perform a registration; and
a computing unit comprising a processor and a storage unit coupled thereto, the storage unit storing instructions, which, when executed by the processor, cause the computing unit to:
perform the registration between a coordinate frame of the non-sterile camera and the patient's anatomy, wherein the non-sterile camera is releasably coupled to the distal end and the proximal end is releasably coupled to the patient's anatomy, as immobilized, and the computing unit uses pose data communicated from the non-sterile camera to perform the registration; and,
calculate poses of sterile instruments relative to the patient's anatomy using the registration to provide surgical navigation during a surgical procedure, the poses calculated following a draping of the non-sterile camera and the non-sterile camera mounting arm by the camera drape to provide a sterile barrier between the patient's anatomy and the non-sterile camera and non-sterile camera mounting arm, where the draping is performed without moving a position of the camera relative to the patient's anatomy.

12. The system of claim 11 , wherein the camera drape is configured to permit a transmission of optical signals to the non-sterile camera through the camera drape without distortion.

13. The system of claim 12 , wherein the camera drape comprises a camera window and wherein the system comprises a camera shroud configured to hold the camera drape in place on the camera to receive optical signals through the camera window without distortion.

14. The system of claim 11 , wherein the registration is performed using pose data of non-sterile instruments.

15. The system of claim 11 , wherein the instructions cause the computing unit to:
receive, from the non-sterile camera, pose data of a non-sterile tracker rigidly fixed relative to the patient's anatomy to perform the registration; and
following the draping, receive, from the non-sterile camera as draped, pose data of a sterile tracker rigidly fixed relative to the patient's anatomy to provide the surgical navigation without performing a second registration.

16. The system of claim 15 , wherein:
the system further comprises a tracker mounting arm;
the pose data of the non-sterile tracker comprises pose data of the non-sterile tracker rigidly fixed via the tracker mounting arm to position the non-sterile tracker in a tracker position for performing the registration; and
the pose data for calculating

Assignees

• Intellijoint Surgical Inc
• Hladio Andre Novomir
• Fanson Richard Tyler
• Ryterski Eric J
• Ferrabee Rowan
• Narciso Rafa

Inventors

• Hladio Andre Novomir
• Fanson Richard Tyler
• Ryterski Eric J
• Ferrabee Rowan
• Narciso Rafa

Classifications

• A61B2034/2055

  Optical tracking systems · CPC title

• A61B2034/2072

  Reference field transducer attached to an instrument or patient · CPC title

• A61B50/13

  Trolleys{, e.g. carts} · CPC title

• A61B34/20 Primary

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

• A61B2090/3983

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