Intelligent positioning system and methods therefore

Patent metadata

Field	Value
Publication number	US-9827054-B2
Application number	US-201415116249-A
Country	US
Kind code	B2
Filing date	Sep 15, 2014
Priority date	Mar 14, 2014
Publication date	Nov 28, 2017
Grant date	Nov 28, 2017

Abstract

A medical navigation system is provided, comprising a computing device having a processor coupled to a memory, a tracking camera for tracking medical devices, and a display for displaying an image; an automated arm assembly electrically coupled to be computing device and controlled by a signal provided by the computing device, the automated arm assembly including a multi-joint arm having a distal end connectable to an effector that supports a surgical camera electrically coupled to the computing device; and a medical device having a tracking marker attachable to the medical device. The computing device is configured to position the automated arm assembly, based on an input command, in response to a position in space of the medical device such that a surgical site of interest remains within a field of view of the surgical camera, the position in space of the medical device determined by the computing device based on a signal provided to the computing device by the tracking camera; and display on the display an image provided by an image signal generated by the surgical camera.

First claim

What is claimed is:

1. A medical navigation system for tracking a medical device having a tracking marker attachable to the medical device, the medical navigation system comprising:
a computing device having a processor coupled to a memory, a tracking camera for tracking medical devices, and a display for displaying an image; and
an automated arm assembly electrically coupled to the computing device and controlled by a signal provided by the computing device, the automated arm assembly including a multi-joint arm having a distal end connectable to an effector that supports a non-invasive surgical camera electrically coupled to the computing device;
the computing device being configured to:
track, based on a signal from the tracking camera, a position in space of the medical device;
position the automated arm assembly, based on the tracked position in space and in response to a user input command, such that a surgical site of interest remains within a field of view of the surgical camera;
wherein positioning the automated arm assembly includes at least three modes including:
automatic alignment of the surgical camera to a longitudinal axis and a rotation of the medical device where the medical device is an access port;
automatic alignment to the longitudinal axis only of the medical device where the medical device is an access port; and
automatic alignment to a point on the medical device where the medical device is a medical tool; and

display on the display an image provided by an image signal generated by the surgical camera.

2. The medical navigation system according to claim 1 , wherein the input command is provided by at least one of a foot pedal, a joystick, a microphone receiving a voice instruction, a transducer detecting a gesture, and a wireless electronic device.

3. The medical navigation system according to claim 1 , wherein the medical device includes at least one of a pointer and an access port, the surgical site of interest being a pointing end of the pointer and an axial view down a longitudinal axis of the access port, respectively.

4. The medical navigation system according to claim 3 , wherein the computing device is further configured to track both the pointer and the access port concurrently and the surgical site of interest is dynamically selectable.

5. The medical navigation system according to claim 1 , wherein the computing device is further configured to control the surgical camera to perform autofocus on the surgical site of interest whenever the automated arm assembly is moved.

6. The medical navigation system according to claim 1 , wherein the computing device further has a foot pedal coupled to the computing device and a zoom level of the surgical camera is controlled by input provided to the computing device from the foot pedal.

7. The medical navigation system according to claim 1 , wherein the computer device is configured to automatically position the automated arm assembly by:
identifying the surgical site of interest in a predetermined coordinate frame, the surgical site of interest based on a position and an orientation of the medical device;
obtaining a position and an orientation for the effector on the automated arm, the position and orientation being defined in the predetermined coordinate frame;
obtaining a desired standoff distance and a desired orientation between the surgical site of interest and the effector;
determining a new desired position and a new desired orientation for the effector from the position and orientation of the surgical site of interest and the desired standoff distance and the desired orientation; and
moving the effector to the new position and orientation.

8. The medical navigation system according to claim 1 , wherein the computing device further has a foot pedal coupled to the computing device and the automated arm assembly is moveable only when input is received from the foot pedal.

9. The medical navigation system according to claim 1 , wherein the effector further supports a light source and positioning the automated arm assembly in response to a position in space of the medical device such that the surgical site of interest remains within a field of view of the surgical camera also ensures that the surgical site of interest remains illuminated.

10. The medical navigation system according to claim 1 , wherein the effector further has a tracking marker attached to the effector and the automated arm assembly is automatically moved such that a desired standoff distance between the surgical camera and the surgical site of interest is maintained.

11. The medical navigation system according to claim 1 , wherein the surgical camera includes a video scope and the medical device has at least three optical tracking markers attachable to the medical device.

12. A method for use in a medical navigation system having a computing device including a processor coupled to a memory, a tracking camera for tracking medical devices, and a display for displaying an image; and an automated arm assembly electrically coupled to the computing device and controlled by a signal provided by the computing device, the automated arm assembly including a multi-joint arm having a distal end connectable to an effector that supports a non-invasive surgical camera electrically coupled to the computing device, the method comprising:
tracking, based on a signal provided to the computing device by the tracking camera, a position in space of the medical device;
positioning the automated arm assembly, based on the tracked position in space and in response to a user input command, such that a surgical site of interest remains within a field of view of the surgical camera;
wherein positioning of the automated arm assembly includes at least three modes including:
automatic alignment of the surgical camera to a longitudinal axis and a rotation of the medical device where the medical device is an access port;
automatic alignment to the longitudinal axis only of the medical device where the medical device is an access port; and
automatic alignment to a point on the medical device where the medical device is a medical tool; and

displaying on the display an image provided by an image signal generated by the surgical camera.

13. The method according to claim 12 , wherein the input command is provided by at least one of a foot pedal, a joystick, a microphone receiving a voice instruction, a transducer detecting a gesture, and a wireless electronic device.

14. The method according to claim 12 , wherein the medical device includes at least one of a pointer and an access port, the surgical site of interest being a pointing end of the pointer and an axial view down a longitudinal axis of the access port, respectively.

15. The method according to claim 14 , wherein the method further comprises tracking both the pointer and the access point concurrently, where the surgical site of interest is dynamically selectable.

16. The method according to claim 12 , wherein the method further comprises controlling the surgical camera to perform autofocus on the surgical site of interest whenever the automated arm assembly is moved.

17. The method according to claim 12 , wherein the method further comprises controlling a zoom level of the surgical camera based on input provided to the computing device from a foot pedal.

18. The method according to claim 12 , wherein positioning the automated arm assembly further comprises:
identifying the surgical site of interest in a predetermined coordinate frame, the surgical site of interest based

Assignees

• Synaptive Medical Barbados Inc
• Richmond Joshua Lee
• Bailey Brent Andrew
• Mcfadyen Stephen B E
• Wood Michael
• Saxena Abhijit
• Hynna Kai Michael
• Bai Yanhui

Inventors

• Richmond Joshua Lee
• Bailey Brent Andrew
• Mcfadyen Stephen B E
• Wood Michael
• Saxena Abhijit
• Hynna Kai Michael
• Bai Yanhui

Classifications

• A61B2034/2065

  Tracking using image or pattern recognition · CPC title

• A61B2090/3983

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

• A61B5/064

  using markers (A61B5/062 takes precedence) · CPC title

• A61B2090/3735

  Optical coherence tomography [OCT] · CPC title

• A61B2034/2059

  Mechanical position encoders · CPC title