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US 6,725,080 B2Granted
Multiple cannula image guided tool for image guided procedures
AssigneeSurgical Navigation Technologies, Inc.
InventorsAnthony J. Melkent, David M. Kahler
Life of this patent
Estimating the term…
Abstract
Apparatus and methods are disclosed for use within an image-guided surgical navigation system for facilitating the combined positioning and orientation of multiple surgical implements. A tool guide having multiple cannulas is tracked by a surgical navigation system in real time. Position data of the tool guide is registered and combined with pre-acquired images by the navigation computer. Concurrent graphical representations of the plurality of cannulas are superimposed over the images and displayed. The display allows the surgeon to place the tool guide into the patient's body and position and orient the plurality of cannulas which are then used to place each of the implements.
Claims55
An apparatus for use in delivering at least one implement to a patient in image guided surgery, comprising:
- an instrument location system for detecting position, the instrument location system including a computer processor;
- a tool guide comprising:
- a plurality of cannulas, each cannula having a proximal end operable to receive an implement and a distal end operable to deliver the implement to the patient, and
- at least one trackable marker provided on the tool guide for detection by the instrument location system;
- and
- a memory coupled to the computer processor, storing:
- at least one pre-acquired image of [a] the patient, the at least one pre-acquired image having an image space, and
- instructions, to be executed by the computer processor, to align the image space to a detector space, to track a three-dimensional position of the tool guide in the detector space, and to compute a projection of the tool guide into the at least one pre-acquired image.
5 more elements
A method for guiding one implement to a patient in image guided surgery, comprising:
- providing at least one pre-acquired image of [a] the patient, the at least one pre-acquired image having an image space;
- aligning the image space and a detector space;
- tracking a three-dimensional position of a tool guide in the detector space, using at least one trackable marker provided on the tool guide, wherein the tool guide includes a plurality of cannulas, each cannula having a proximal end operable to receive an implement and a distal end operable to deliver the implement to the patient;
- relating positions of the plurality of cannulas with the at least one pre-acquired image;
- and
- guiding the at least one implement to a target site in the patient.
3 more elements
The method of claim further comprising:
- computing a projection of at least one of the plurality of cannulas into the at least one pre-acquired image;
- displaying the at least one pre-acquired image on a display;
- and
- superimposing a representation of the projection on the at least one displayed pre-acquired image.
1 more element
A system for use in delivering at least one implement to a patient in image guided surgery, comprising:
- means for providing at least one pre-acquired image of the patient, the at least one pre-acquired image having an image space;
- means for aligning the image space and a detector space;
- means for tracking a three-dimensional position of a tool guide in the detector space, using at least one trackable marker provided on the tool guide, wherein the tool guide includes a plurality of cannulas, each cannula having a proximal end operable to receive an implement and a distal end operable to deliver the implement to the patient;
- and
- means for relating positions of the plurality of cannulas with the at least one pre-acquired image.
2 more elements
An apparatus for use in image guided surgery, comprising:
- an instrument location system for detecting position, the instrument location system including a computer processor;
- a reference frame attachable to a patient, the reference frame having at least one reference frame trackable marker for detection by the instrument location system;
- a tool guide comprising:
- a plurality of cannulas coupled to a fixture, wherein at least one of the plurality of cannulas is individually adjustable in at least one of length, angular position, inner diameter, and outer diameter;
- at least one trackable marker provided on the tool guide associated with the plurality of cannulas;
- a plurality of surgical implement receivers provided on the fixture, for receiving surgical implements, at least one of the plurality of receivers being substantially coaxially aligned with a respective one of the plurality of cannulas, and
- a handle for manipulating the tool guide;
- a display operably connected to the computer processor;
- and
- a memory coupled to the computer processor, storing:
- at least one pre-acquired image of a patient, the at least one pre-acquired image having an associated image space, and
- instructions that, when executed by the computer processor, align the image space to a detector space, track a three-dimensional position of the tool guide in the detector space, compute a projection of at least one of the plurality of cannulas into the at least one pre-acquired image, display the at least one of pre-acquired image, superimpose a first set of directional indicators on the at least one pre-acquired image, wherein the directional indicators represent current positions of the plurality of cannulas with respect to the patient, compute a predicted path of each of the plurality of cannulas based on their current location and orientation, and superimpose a second set of directional indicators on the at least one pre-acquired image, the second set of directional indicators representing predicted positions of the plurality of cannulas with respect to the patient, the second set of directional indicators having at least one of a color, style, shape, size, and texture differing from that of the first set of directional indicators for differentiating the predicted positions from the current positions.
9 more elements
A method for placing implements into a patient during an image guided medical procedure, comprising:
- providing at least one pre-acquired image of a patient, the at least one pre-acquired image having an image space;
- aligning the image space and a detector space;
- tracking a three-dimensional position of a tool guide in the detector space, using at least one trackable marker provided on the tool guide, wherein the tool guide includes a plurality of cannulas;
- computing a projection of at least one of the plurality of cannulas into the at least one pre-acquired image;
- computing a predicted path of each of the plurality of cannulas based on their current location and orientation;
- displaying the at least one pre-acquired image on a display;
- superimposing on the at least one pre-acquired image a first set of directional indicators representing current positions of the plurality of cannulas with respect to the patient;
- superimposing on the at least one pre-acquired image a second set of directional indicators, the second set of directional indicators representing predicted positions of the plurality of cannulas with respect to the patient;
- superimposing on the at least one pre-acquired image a third set of indicators, the third set of indicators representing implant structures, including at least one of a prosthetic device, plates, and fasteners;
- placing the plurality of cannulas at a location in a patient's body;
- orienting the plurality of cannulas;
- and
- utilizing the plurality of cannulas to place implements in the patient at the location.
10 more elements
Dependencies are inferred from the claim text.