Methods and systems for setting trajectories and target locations for image guided surgery

Patent metadata

Field	Value
Publication number	US-11877808-B2
Application number	US-202017065988-A
Country	US
Kind code	B2
Filing date	Oct 8, 2020
Priority date	Oct 21, 2016
Publication date	Jan 23, 2024
Grant date	Jan 23, 2024

Abstract

A system for performing image-guided surgery includes an instrument having a first portion configured to define a trajectory into the body of a patient, a marker device and a user-interface component. A sensing device receives electromagnetic signals that are reflected or emitted from the marker device, and a processing system, coupled to the sensing device, includes at least one processor configured with processor-executable instructions to perform operations that include tracking the position and orientation of the instrument relative to the patient based on the signals received at the sensing device, receiving a signal from the user-interface component of the instrument indicating a user-input event, and saving the trajectory into the body of the patient defined by the first portion of the instrument in response to receiving the signal.

First claim

What is claimed is:

1. A system for performing image-guided surgery, comprising:
an instrument having a first portion configured to define a trajectory into a body of a patient, a marker device and a user-interface component;
a sensing device configured to receive electromagnetic signals that are reflected or emitted from the marker device;
a processing system, coupled to the sensing device, and including at least one processor configured with processor-executable instructions to perform operations comprising:
tracking the position and orientation of the instrument relative to the patient based on the signals received at the sensing device;
tracking a motion of the instrument based on the signals received at the sensing device;
receiving a signal from the user-interface component of the instrument indicating a user-input event;
in response to receiving the signal, saving the trajectory into the body of the patient defined by the first portion of the instrument;

receiving a second signal from the user-interface component of the instrument indicating a second user-input event; and
in response to receiving the second signal, saving a target location within the body of the patient based on the motion of the instrument.

2. The system of claim 1 , wherein the instrument comprises a handheld instrument and the first portion comprises an elongated portion defining a longitudinal axis and having a tip end, and the trajectory into the body is defined by a ray projected forward from the tip end into the body and extending parallel to the longitudinal axis.

3. The system of claim 1 , wherein the user-interface component of the instrument comprises a button coupled to a wireless transmitter for transmitting a user-command signal to the processing system in response to a button push.

4. The system of claim 1 , further comprising a display device, wherein the processor of the processing system is configured with processor-executable instructions to perform operations further comprising:
displaying on the display device a graphical element indicating the trajectory into the body of the patient defined by the instrument.

5. The system of claim 4 , wherein the graphical element is displayed in conjunction with image data of the patient obtained using an imaging device.

6. The system of claim 1 , further comprising a display device, wherein the processor of the processing system is configured with processor-executable instructions to perform operations further comprising:
displaying on the display device a graphical element indicating the target location within the body of the patient.

7. The system of claim 1 , wherein the instrument further comprises an inertial measurement unit, and the at least one processor of the processing system is configured with processor-executable instructions to perform operations further comprising:
receiving measurement data from the inertial measurement unit; and
determining the position and orientation of the instrument relative to the patient based on the measurement data from the inertial measurement unit.

8. The system of claim 1 , wherein the instrument further comprises a haptic feedback mechanism that is configured to provide haptic feedback to a user based on a position and/or orientation of the instrument relative to the patient.

9. A system for performing image-guided surgery, comprising:
an instrument having a first portion configured to define a trajectory into a body of a patient, a marker device, an inertial measurement unit, and a user-interface component;
a sensing device configured to receive electromagnetic signals that are reflected or emitted from the marker device;
a processing system, coupled to the sensing device, and including at least one processor configured with processor-executable instructions to perform operations comprising:
tracking the position and orientation of the instrument relative to the patient based on the signals received at the sensing device;
determining the position and orientation of the instrument relative to the patient based on measurement data from the inertial measurement unit;
receiving a signal from the user-interface component of the instrument indicating a user-input event; and
in response to receiving the signal, saving the trajectory into the body of the patient defined by the first portion of the instrument.

10. The system of claim 9 , wherein the instrument comprises a handheld instrument and the first portion comprises an elongated portion defining a longitudinal axis and having a tip end, and the trajectory into the body is defined by a ray projected forward from the tip end into the body and extending parallel to the longitudinal axis.

11. The system of claim 9 , wherein the user-interface component of the instrument comprises a button coupled to a wireless transmitter for transmitting a user-command signal to the processing system in response to a button push.

12. The system of claim 9 , further comprising a display device, wherein the processor of the processing system is configured with processor-executable instructions to perform operations further comprising:
displaying on the display device a graphical element indicating the trajectory into the body of the patient defined by the instrument.

13. The system of claim 12 , wherein the graphical element is displayed in conjunction with image data of the patient obtained using an imaging device.

14. The system of claim 9 , wherein the processor is configured with processor-executable instructions to perform operations further comprising:
tracking a motion of the instrument based on the signals received at the sensing device;
receiving a second signal from the user-interface component of the instrument indicating a second user-input event; and
in response to receiving the second signal, saving a target location within the body of the patient based on the motion of the instrument.

15. The system of claim 14 , further comprising a display device, wherein the processor of the processing system is configured with processor-executable instructions to perform operations further comprising:
displaying on the display device a graphical element indicating the target location within the body of the patient.

16. The system of claim 9 , wherein the instrument further comprises a haptic feedback mechanism that is configured to provide haptic feedback to a user based on a position and/or orientation of the instrument relative to the patient.

Assignees

• Mobius Imaging Llc

Inventors

• Syverson Benjamin
• Harboun Michael
• Torres Carlos
• Vondle David
• Gold Chris
• Furlong Todd
• Coppen Scott
• Eriksson Anders

Classifications

• A61B34/20 Primary

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

• A61B17/00234

  for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence) · CPC title

• A61B34/00

  Computer-aided surgery; Manipulators or robots specially adapted for use in surgery · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B34/76

  Manipulators having means for providing feel, e.g. force or tactile feedback · CPC title