System and method for projected tool trajectories for surgical navigation systems

Patent metadata

Field	Value
Publication number	US-9990776-B2
Application number	US-201415125399-A
Country	US
Kind code	B2
Filing date	Aug 12, 2014
Priority date	Mar 14, 2014
Publication date	Jun 5, 2018
Grant date	Jun 5, 2018

Abstract

The present disclosure teaches a system and method for communicating the spatial position and orientation of surgical instruments with respect to a surgical area of interest. Using a visual display of a surgical site generated by a camera feed, a computer generates a virtual overlay of the location and projected trajectory of a surgical instrument based on its current position and orientation. Position and orientation information is generated and stored using tracking markers and a tracking sensor in information communication with the computer.

First claim

What is claimed is:

1. A system for communicating a distance of a surgical instrument from an object in a surgical area of interest, comprising:
at least one non-contact distance acquiring device having a known relative position and orientation with respect to a surgical instrument;
a computer processor in data communication with the at least one non-contact distance acquiring device, the computer processor being programmed with instructions to compute a distance between said surgical instrument and the object in the surgical area of interest;
a communication mechanism for communicating the distance; and
an imaging detector for acquiring an image feed of the surgical area of interest, said imaging detector having a known position and orientation with respect to the surgical instrument,
wherein said computer processor is programmed with instructions to overlay, onto the image feed, a visual cue depicting the distance between said surgical instrument and the object.

2. The system according to claim 1 , wherein the communication mechanism comprises at least one of a visual display, an audible alert, or a tactile feedback.

3. The system according to claim 1 , wherein the overlay is configured to depict a projected trajectory of the surgical instrument.

4. The system according to claim 3 , wherein the computer processor is configured to provide the visual cue in response to an instruction for changing at least one line characteristic of the projected trajectory.

5. The system according to claim 4 , wherein the at least one line characteristic comprises a color, thickness, line pattern.

6. The system according to claim 1 , further comprising the surgical instrument, wherein the known relative position and orientation of the at least one non-contact distance acquiring device and the imaging detector with respect to the surgical instrument is acquirable by a tracking system.

7. The system according to claim 6 , wherein the tracking system comprises one or more tracking markers on at least the surgical instrument and a tracking sensor for tracking said one or more tracking markers.

8. The system according to claim 6 , wherein the object in the surgical area of interest comprises tissue of a patient on which a surgical procedure is being performed.

9. The system according to claim 1 , wherein the non-contact distance acquiring device comprises a laser range finder.

10. The system according to claim 1 , wherein the non-contact distance acquiring device comprises a structured light detection device for 3D imaging.

11. The system according to claim 1 , wherein the non-contact distance acquiring device comprises an ultrasonic transducer.

12. The system according to claim 1 , wherein the at least one non-contact distance acquiring device is attachable to the surgical instrument.

13. The system according to claim 1 , wherein the non-contact distance acquiring device is disposable at a remote location in relation to the surgical instrument.

14. The system according to claim 1 , wherein the imaging detector comprises at least one of a digital camera, an MRI apparatus, a CT scanner, an X-ray scanner, a PET scanner, and an ultrasonic scanner.

15. The system according to claim 1 , wherein the visual display comprises at least one of a digital display, a heads-up display, a monitor, a navigation instrument display, and a microscope display.

16. The system according to claim 1 ,
wherein the computer processor is programmable with at least one distance threshold, and
whereby the computer processor is configured to trigger an alert if the distance is equal to, or less than, the at least one distance threshold.

17. The system according to claim 16 , wherein the alert comprises at least one of a visual alert, an audio alert, and a tactile alert.

18. A method for communicating a distance of a surgical instrument from an object in a surgical area of interest, comprising:
determining a relative position and orientation between at least one non-contact distance acquiring device, having a known relative position and orientation, and the surgical instrument, thereby providing a determined relative position and orientation between the at least one non-contact distance acquiring device and the surgical instrument;
acquiring a first distance between said at least one non-contact distance acquiring device, having the known relative position and orientation, and the object in the surgical area of interest;
computing, using the determined relative position and orientation between the at least one non-contact distance acquiring device and the surgical instrument and the first distance, a second distance between the surgical instrument and the object; and
communicating the second distance.

19. The method according to claim 18 , further comprising:
acquiring an image feed of the surgical area of interest using an imaging detector having a known relative position and orientation with respect to the surgical instrument;
displaying the image feed onto a visual display; and
overlaying, onto the image feed, a visual cue depicting the distance between said surgical instrument and the object.

20. The method according to claim 19 , further comprising overlaying, onto the image feed, a projected trajectory of the surgical instrument.

Assignees

• Jagga Victor
• Wood Michael
• Synaptive Medical Barbados Inc

Inventors

• Jagga Victor
• Wood Michael

Classifications

• G06T2207/30096

  Tumor; Lesion · CPC title

• G06T2207/30204

  Marker · CPC title

• A61B2090/364

  Correlation of different images or relation of image positions in respect to the body · CPC title

• G06T7/246

  using feature-based methods, e.g. the tracking of corners or segments · CPC title

• A61B5/055

  involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging · CPC title