Methods, systems, and devices for guiding surgical instruments using radio frequency technology

Patent metadata

Field	Value
Publication number	US-9675272-B2
Application number	US-201313799414-A
Country	US
Kind code	B2
Filing date	Mar 13, 2013
Priority date	Mar 13, 2013
Publication date	Jun 13, 2017
Grant date	Jun 13, 2017

Abstract

Methods, systems, and devices are provided for guiding surgical instruments using radio frequency (RF) technology. In general, the methods, systems, and devices can allow a trajectory, e.g., an angular approach, of a surgical instrument relative to a patient to be identified during use of the instrument in a surgical procedure being performed on the patient. The trajectory can be identified using a plurality of RF modules. The methods, systems, and devices can allow the trajectory to be compared to a predetermined trajectory so as to identify whether the trajectory matches the predetermined trajectory. A result of the matching can be communicated to a user of the instrument. Based on the result, the user can maintain the trajectory, e.g., if the trajectory matches the predetermined trajectory, or can adjust the trajectory to closer align the trajectory with the predetermined trajectory, e.g., if the trajectory does not match the predetermined trajectory.

First claim

What is claimed is:

1. A surgical system, comprising:
a first radio frequency module configured to be attached to a patient at a non-movable location relative to the patient;
a surgical instrument having a handle configured to be grasped by a user at a proximal end of the instrument, a second radio frequency module attached at a distal end of the instrument, and a third radio frequency module spaced proximally from the distal end and attached along an elongate shaft of the instrument that defines the instrument's longitudinal axis;
an actuator configured to be actuated by a user when the surgical instrument is positioned at a desired trajectory angle relative to a target site within the patient to set a spatial relationship between the first, second and third radio frequency modules as a predetermined trajectory to the target site; and
a notification module configured to provide a notification to a user of the surgical instrument whether the surgical instrument is positioned along the predetermined trajectory based on a determined position of the second and third radio frequency modules relative to the first radio frequency module.

2. The system of claim 1 , wherein the notification module is configured to indicate whether the surgical instrument is positioned along the predetermined trajectory in at least three degrees of precision, the three degrees of precision including the surgical instrument being along the predetermined trajectory, the surgical instrument being near but not along the predetermined trajectory, and the surgical instrument being far from the predetermined trajectory.

3. The system of claim 1 , wherein the notification module is configured to indicate whether the surgical instrument is positioned along the predetermined trajectory using at least one of an audio signal, a vibration of the surgical instrument, a light, and text.

4. The system of claim 1 , wherein the notification module is configured to repeatedly provide the notification to the user so as to repeatedly provide feedback to the user regarding whether the surgical instrument is positioned along the predetermined trajectory as the surgical instrument is being moved relative to the patient.

5. The system of claim 1 , further comprising a determination module configured to repeatedly determine the position of the second and third radio frequency modules relative to the first radio frequency module so as to repeatedly determine whether the surgical instrument is positioned along the predetermined trajectory, the notification module being configured to continuously provide the notification to the user so as to continuously provide feedback to the user regarding whether the surgical instrument is positioned along the predetermined trajectory.

6. The system of claim 1 , further comprising a processor configured to:
be in communication with the first radio frequency module, the second radio frequency module, the third radio frequency module, and the notification module;
determine the position of the surgical instrument relative to the first radio frequency module; and
cause the notification module to provide the notification.

7. The system of claim 1 , wherein the non-movable location relative to the patient comprises a bone.

8. The system of claim 7 , wherein the bone comprises a vertebral body, and the non-movable location relative to the patient comprises a lateral border of a transverse process of the vertebral body.

9. A surgical method, comprising:
implanting a first radio frequency module within a patient at a target site;
positioning a surgical instrument having second and third radio frequency modules attached thereto at a desired trajectory with respect to the target site using fluoroscopic imaging;
actuating an actuator when the surgical instrument is positioned at the desired trajectory to set a spatial relationship between the first, second, and third radio frequency modules as a predetermined trajectory to the target site;
moving the surgical instrument toward the target site along a trajectory;
determining a position of the second and third radio frequency modules relative to the first radio frequency module so as to determine whether the trajectory along which the surgical instrument is being moved is along the predetermined trajectory to the target site within the patient; and
providing a notification to a user of the surgical instrument whether the surgical instrument is being moved along the predetermined trajectory.

10. The method of claim 9 , further comprising resetting the predetermined trajectory by positioning the surgical instrument at a second desired trajectory relative to the target site and setting a spatial relationship between the first, second, and third radio frequency modules when the surgical instrument is at the second desired trajectory as the predetermined trajectory.

11. The method of claim 9 , further comprising:
attaching a fourth radio frequency module to the patient at a non-movable location relative to the patient; and
setting a spatial relationship between the first, second, third, and fourth radio frequency modules as the predetermined trajectory.

12. The method of claim 9 , wherein the target site comprises a spinal disc level.

13. The method of claim 9 , wherein the notification is continuously provided to the user so as to continuously provide feedback to the user regarding whether the surgical instrument is being moved along the predetermined trajectory as the surgical instrument is being moved relative to the patient.

14. The method of claim 9 , further comprising repeatedly determining the position of the second and third radio frequency modules relative to the first radio frequency module so as to repeatedly determine whether the surgical instrument is being moved along the predetermined trajectory, the notification being continuously provided to the user so as to continuously provide feedback to the user regarding whether the surgical instrument is being moved along the predetermined trajectory.

15. The method of claim 9 , further comprising:
moving a second surgical instrument toward the patient, the second surgical instrument having fourth and fifth radio frequency modules attached thereto;
determining a position of the fourth and fifth radio frequency modules relative to the first radio frequency module so as to determine whether the second surgical instrument is being moved along the predetermined trajectory; and
providing a notification to a user of the second surgical instrument whether the second surgical instrument is positioned along the predetermined trajectory.

16. The method of claim 9 , wherein providing the notification comprises indicating whether the surgical instrument is positioned along the predetermined trajectory in one of at least three degrees of precision, the three degrees of precision including the surgical instrument being along the predetermined trajectory, the surgical instrument being near but not along the predetermined trajectory, and the surgical instrument being far from the predetermined trajectory.

17. The method of claim 9 , wherein providing the notification comprises at least one of sounding an audio signal, vibrating the surgical instrument, illuminating a light, and displaying text.

18. The method of claim 9 , wherein the target site comprises a bone.

19. A surgical method, comprising:
attaching a first radio frequency module to a patient at a non-movable location relative to the patient;
moving a surgical instrument toward the patient, the surgical inst

Assignees

• Depuy Synthes Products Inc

Inventors

• Selover Sean P
• Hernandez Joseph
• Hawkins John Riley
• Dieselman John
• Griffin John Paul
• Dipietro Jennifer

Classifications

• A61B5/065 Primary

  Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe · CPC title

• A61B2034/107

  Visualisation of planned trajectories or target regions · CPC title

• A61B34/20

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

• A61B17/70

  Spinal positioners or stabilisers, e.g. stabilisers comprising fluid filler in an implant · CPC title

• A61B2505/05

  Surgical care · CPC title