Trajectory Guidance Of Hand-Held Surgical Tools During A Surgical Procedure
AssigneeStryker Corporation
InventorsRahul Sharma, Gaurav Chandra Pant
Life of this patent
Estimating the term…
Abstract
A surgical system for operating on a bone of a patient is described. The surgical system may include a surgical instrument that features a camera and/or an inertial measurement unit. The surgical system may further include a control system to superimpose virtual representations on a medical image based on the output of one of the camera and the inertial measurement unit. The system includes a control system that obtains a plurality of 2-D X-ray images and selects one or more of the 2-D X-ray images based on one or more criterion, such as a radial distance, an image boundary, an output of a depth sensor, a relative orientation, and the like. The control system may control a display to display the selected 2-D image.
Claims20
A surgical system for operating on a bone of a patient, the surgical system comprising:
- a surgical instrument for coupling to an end effector, the surgical instrument including:
- a handpiece for driving the end effector;
- a sensor module configured to generate a first signal pertaining to an orientation of the surgical instrument with the sensor module including at least one of an inertial measurement unit and a camera;
- and
- a display;
- a control system configured to:
- register an X-ray image to a known coordinate system;
- register the instrument to the known coordinate system;
- determine a starting position of a planned trajectory in the known coordinate system based on the first signal;
- determine a planned ending position of the end effector in the known coordinate system based on the starting position;
- select a view of the registered X-ray image based on the starting position, the planned ending position, and the first signal;
- and
- superimpose a virtual representation of the end effector over the X-ray image on the display, the virtual representation being based on the first signal.
A method of providing trajectory guidance with a surgical system, the surgical system including a surgical instrument having a handpiece for driving an end effector and a sensor module including at least one of an inertial measurement unit and a camera and being configured to generate a first signal pertaining to an orientation of the surgical instrument, the method comprising:
- registering an X-ray image to a known coordinate system;
- registering the instrument to the known coordinate system;
- determining a starting position of a planned trajectory in the known coordinate system based on the first signal;
- determining a planned ending position of the end effector in the known coordinate system based on the starting position;
- selecting a view of the registered X-ray image based on the starting position, the planned ending position, and the first signal;
- and
- superimposing a virtual representation of the end effector over the X-ray image on a display, the virtual representation being based on the first signal.
A non-transitory computer-readable medium storing instructions which, when executed by a processor of a surgical system including a surgical instrument having a handpiece for driving an end effector and a sensor module including at least one of an inertial measurement unit and a camera and being configured to generate a first signal pertaining to an orientation of the surgical instrument, cause the processor to perform operations comprising:
- registering an X-ray image to a known coordinate system;
- registering the instrument to the known coordinate system;
- determining a starting position of a planned trajectory in the known coordinate system based on the first signal;
- determining a planned ending position of the end effector in the known coordinate system based on the starting position;
- selecting a view of the registered X-ray image based on the starting position, the planned ending position, and the first signal;
- and
- superimposing a virtual representation of the end effector over the X-ray image on a display, the virtual representation being based on the first signal.
Dependencies are inferred from the claim text.