On-board tool tracking system and methods of computer assisted surgery
AssigneeBoard of Regents of the University of Nebraska
InventorsHani Haider, Ibrahim Al-Shawi, Osvaldo Andres Barrera
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Abstract
A number of improvements are provided relating to computer aided surgery utilizing an on tool tracking system. The various improvements relate generally to both the methods used during computer aided surgery and the devices used during such procedures. Other improvements relate to the structure of the tools used during a procedure and how the tools can be controlled using the OTT device. Still other improvements relate to methods of providing feedback during a procedure to improve either the efficiency or quality, or both, for a procedure including the rate of and type of data processed depending upon a CAS mode.
Claims157
The tactile feedback mechanism, comprising:
- a first platform;
- a second platform;
- a scissor linkage formed by a first linkage coupled to a second linkage, the scissor linkage extending between the first platform and the second platform wherein a first end of the first linkage is coupled to the first platform and a second end of the first linkage is coupled to the second platform and the first end of the second linkage is coupled to the first platform and the second end of the second linkage is coupled to the second platform;
- and
- at least one position restoration element coupled to the scissor linkage to adjust a force response of the relative movement between the first platform and the second platform.
The reference frame for use in a computer assisted surgery procedure, comprising:
- a frame having a surface bounded by perimeter;
- the stem extending from the frame;
- a coupling on the stem;
- a base having a first surface configured to engage a portion of the anatomy within a surgical field related to the procedure and a second surface to engage with the coupling.
The method of performing a computer aided surgery procedure within a surgical field, comprising:
- attaching a first reference frame within the surgical field at a first position;
- attaching a second reference frame within the surgical field at a second position;
- and
- initiating an active step of the procedure using the surgical tool while maintaining positioning information used during the computer aided surgery procedure obtained from both the first and the second reference frames.
An on tool tracking and guidance device, comprising:
- a housing having a surface for releasable engagement with a portion of a surgical tool;
- a first camera and a second camera in an arrangement where each of the first camera and the second camera provides an image output selected for viewing substantially all of a surgical field selected for a computer assisted surgery procedure;
- a projector configured to provide an output at least partially within the surgical field of view;
- and
- an electronic image processor within the housing configured to receive an output from each of the two cameras and perform an image processing operation using at least a portion of the output from each of the two cameras for use in the computer assisted surgery procedure.
The device of claim 79 wherein the display configured to provide a visual output comprising information from an OTT CAS processing step of any of claims 109-149.
A method for performing a computer assisted surgery procedure using a hand held surgical instrument having an on tool tracking device attached thereto, the method comprising:
- collecting and processing computer assisted surgery data using the on tool tracking device;
- assessing the data in real time during the computer assisted surgery procedure;
- performing CAS related operations using the on tool tracking device selected from at least two of:
- controlling the operation of the tool, controlling the speed of the tool and providing to the user guidance related to a CAS step;
- controlling the operation or speed of the tool or providing guidance to the user to adjust the speed of the tool;
- and
- providing a user of the surgical instrument an output related to the assessing step.
The method of any of the above claims wherein the step of outputting a CAS output to the user is changed and an OTT CAS processing technique or output is modified as a result of the user performing one or more steps of a computer assisted surgery procedure on a knee comprising:
- making a distal femur lateral condyle cut, making a distal femur medial condyle cut, making a distal femur anterior cut, making a distal femur posterior lateral condyle cut, making a distal femur posterior medial condyle cut, making a distal femur anterior chamfer cut, making a distal femur posterior lateral condyle chamfer cut, making a distal femur posterior medial condyle chamfer cut, making proximal tibial cut.
The method of any of the above claims wherein the step of assessing the data is performed using a processing system within the on tool tracking device.
A system for performing computer assisted surgery, comprising:
- a surgical tool having an active element corresponding to the surgical function of the tool;
- an on tool tracking device coupled to the tool using a housing configured to engage with at least a portion of the surgical tool;
- at least one camera in the housing configured to obtain imaging information related to the surgical tool and a surgical field;
- a projector in the housing configured to provide a projected output on or near an active element of the surgical tool;
- a computer having computer readable instructions stored within electronic memory for performing a computer assisted surgical procedure using data at least partially obtained from the on tool tracking device and to provide an output for use during a step of the surgery.
Dependencies are inferred from the claim text.