Computer-aided surgery apparatus
AssigneeFaro Technology, Inc.
InventorSimon Raab
Life of this patent
Estimating the term…
Abstract
To aid a medical practitioner in positioning a surgical instrument or implant when performing surgery on or examining portions of a patient, patient data is developed which identifies the position and orientation of the portion to which surgical procedures or examinations are to be applied. The position and orientation of the instrument or implant is sensed and instrument data is developed from this sensing. The patient data is converted to objective signals to be displayed on a video display, and the instrument data is converted to instrument signals for presenting the position and orientation of the instrument or implant on the same display. Thus, by watching the display, the medical practitioner is aided in manipulating the insrument or implant relative to the portion.
Claims40
In a computer apparatus for computer aided surgery which assists a medical practitioner in employing a surgical instrument or implant during a surgical procedure being performed on a patient, the improvement comprising:
- computer apparatus for converting, in real time, actual imaging data on the position and orientation of the patient to first signals and for converting, in real time, data on the position and orientation of the instrument or implant to second signals where position and orientation of at least one of the patient, instrument or implant is measured in real time;
- and
- a display for simultaneously displaying, in real time, a relationship, based on the first and second signals, between the position and orientation of the patient on which the procedure is to be carried out and the position and orientation of the instrument or implant.
In a computer implemented method for computer-aided surgery wherein a medical practitioner is assisted in employing a surgical instrument or implant during a surgical procedure being performed on a patient, the improvement comprising the steps of:
- using computer apparatus for converting, in real time, actual imaging data on the position and orientation of the patient to first signals and for converting, in real time, data on the position and orientation of the instrument or implant to second signals where position and orientation of at least one of the patient, instrument or implant is measured in real time;
- and
- simultaneously displaying on a display device, in real time, based on the first and second signals, a relationship between the position and orientation of the patient on which the procedure is to be carried out and the position and orientation of the instrument or implant.
In a computer implemented apparatus for computer-aided surgery which assist a medical practitioner in employing a surgical instrument or implant during a surgical procedure being performed on a patient, the improvement comprising:
- using computer apparatus for converting, in real time, actual imaging data on the position and orientation of the patient to first signals and for converting, in real time, data on the position and orientation of the instrument or implant to second signals where position and orientation of at least one of the patient instrument or implant is measured in real time;
- and
- a display which simultaneously displays, in real time, based on the first and second signals, a relationship between the position and orientation of the portion on the patient on which a procedure is to be carried out which corresponds identically to the actual physical relationship between the position and orientation of a physical instrument and the position and orientation of the physical portion of the patient.
In a computer implemented method for computer-aided surgery wherein a medical practitioner is assisted in employing a surgical instrument or implant during a surgical procedure being performed on a patient, the improvement comprising the steps of:
- using computer apparatus for converting, in real time, actual imaging data on the position and orientation of the patient to first signals and for converting, in real time, data on the position and orientation of the instrument or implant to second signals where position and orientation of at least one of the patient, instrument or implant is measured in real time;
- and
- simultaneously displaying on a display device, in real time, based on the first and second signals a relationship between the position and orientation of the portion of the patient on which a procedure is to be carried out which corresponds identically to the actual physical relationship between the position and orientation of a physical instrument and the position and orientation of the physical portion of the patient.
A computer-aided surgical device, having an associated three-dimensional co-ordinate reference system, for aiding a medical practitioner in positioning a surgical instrument or implant when performing surgery on, or examining, portions of a patient, said portions occupying positions and orientations in or on said patient defined either by physical measurement of the positions and orientations, in said co-ordinate reference system, of said portions using said device, or by communication to said device, from an external 2- or 3-dimensional imaging information source, of the positions and orientations, in said co-ordinate reference system, of said portions, said measurement or said communication defining two- or three-dimensional patient data of the position and orientation of said portions in said co-ordinate system;
- whereby, said patient data identifies the position and orientation of said portions to which surgical procedures, or examinations, are to be applied;
- said device comprising;
- instrument position determining means including sensing means for sensing the position and orientation of said instrument or implant in said co-ordinate reference system and for developing two- or three-dimensional instrument data proportional to said position and orientation of said instrument;
- a display means;
- means for converting said patient data to objective signals for presentation on said display means;
- means for converting said instrument data to instrument signals for presentation on said display means;
- said display means displaying a relationship between the position and orientation of the portion of the patient on which a procedure is to be carried out which corresponds identically to the actual physical relationship between the position and orientation of a physical instrument or implant and the position and orientation of the physical portion of the patient in response to said objective signals and said instrument signals;
- whereby, to guide said medical practitioner in manipulating said instrument.
A method for aiding a medical practitioner in positioning and orienting a surgical instrument or implant, which surgical instrument or implant is manipulated by said medical practitioner while performing medical procedures on a portion of a patient, the position and orientation of said instrument or implant being determined in a three-dimensional co-ordinate system relative to the position and orientation of said portion in said three-dimensional co-ordinate system;
- comprising:
- electronically sensing or determining by 2- or 3-dimensional imaging techniques the position and orientation of said portion in said three-dimensional co-ordinate system to obtain three-dimensional target data of the position and orientation of said portion in said three-dimensional co-ordinate system;
- providing said target data to a display device;
- electronically sensing the position and orientation of said surgical instrument or implant in said three-dimensional co-ordinate system to obtain three-dimensional instrument data of the position and orientation of said instrument or implant in said three-dimensional co-ordinate system;
- providing said instrument data to said display device;
- said display device presenting a relationship between the position and orientation of the portion of the patient on which a procedure is to be carried out which corresponds identically to the actual physical relationship between the position and orientation of a physical instrument or implant and the position and orientation of the physical portion of the patient in response to said target data and said instrument data;
- wherein, as the instrument or implant is manipulated by said medical practitioner, said instrument data changes in accordance with changes in the position and orientation of said instrument, and said instrument display changes in accordance with the changes in said instrument data;
- whereby, the position and orientation of said instrument or implant, relative to said portion, is dynamically displayed on said display device.
A computer-aided surgical device, having an associated three-dimensional co-ordinate system, for aiding a surgeon in positioning a surgical instrument or implant when performing surgery on portions of a patient, said portions occupying positions and orientations in said patient defined either by the physical measurement of the position and orientation, in said co-ordinate system, of said portions and using said device, or by communication to said device from an external imaging or 3-dimensional information source, said measurement or communication defining three-dimensional target data of the position and orientation of said portions in said co-ordinate system;
- whereby, said target data identifies the position and orientation of said portions to which surgical procedures are to be applied;
- said device comprising;
- a manipulating means for manipulating the position and orientation of said surface instrument, said manipulating means including sensing means for sensing the position and orientation of said instrument in said co-ordinate system and for developing three-dimensional instrument data proportional to said position and orientation of said instrument;
- a display means;
- means for converting said target data to target signals for presentation on said display means;
- means for converting said instrument data to instrument signals for presentation on said display means;
- said display means presenting a relationship between the position and orientation of the portion of the patient on which a procedure is to be carried out which corresponds identically to the actual physical relationship between the position and orientation of a physical instrument or implant and the position and orientation of the physical portion of the patient in response to said target signals and said instrument signals;
- whereby, to guide said surgeon in manipulating said instrument to align it, in both position and orientation, with said target.
Dependencies are inferred from the claim text.