Method and apparatus for performing stereotactic surgery

A stereotactic navigation system for navigating an instrument to a target site within a patient, the stereotactic navigation system comprising:

• a stereotactic head frame defining a navigable patient space and configured to be coupled to the patient and used to assist in guiding the instrument to the target site;
• a tracking device configured to be coupled to the stereotactic head frame for use in tracking the instrument;
• a processor system for registering the navigable patient space to acquired image data of the patient;
• and
• an adjustment system configured to be tracked and coupled to the stereotactic head frame, the adjustment system configured for adjusting a location and orientation of the instrument relative to the target site, the adjustment system automatically adjusting the stereotactic head frame via a real-time closed loop feedback with the processor system and the stereotactic head frame;
• wherein at least the first stage is automatically adjusted by a robotic device and the robotic device includes an automated screw driver configured to drive a movement of at least the first stage.

A stereotactic navigation system for navigating an instrument to a target site within a patient, the stereotactic navigation system comprising:

• a stereotactic head frame defining a navigable patient space and configured to be coupled to the patient and used to assist in guiding the instrument to the target site;
• a tracking device configured to be coupled to the stereotactic head frame for use in tracking the instrument;
• a processor system for registering the navigable patient space to acquired image data of the patient;
• an adjustment system configured to be tracked and coupled to the stereotactic head frame, the adjustment system configured for adjusting a location and orientation of the instrument relative to the target site, the adjustment system automatically adjusting the stereotactic head frame via a real-time closed loop feedback with the processor system and the stereotactic head frame;
• and
• a coupling device including a first coupling portion defined by the stereotactic head frame and a second coupling portion defined by the tracking device, the second coupling portion being complementary to the first coupling portion;
• wherein the processor system is configured to recognize a position and an orientation of the first coupling portion and relate the position and orientation of the first coupling portion to a position and orientation of the tracking device to register the navigable patient space to the image data.

A stereotactic navigation system for navigating an instrument to a target site within a patient, the stereotactic navigation system comprising:

• a stereotactic head frame defining a navigable patient space and configured to be coupled to the patient and used to assist in guiding the instrument to the target site;
• an imaging device configured to capture image data of the navigable patient space and of the stereotactic head frame;
• a first tracking device removably coupled to the stereotactic head frame and configured to track the position of the instrument relative to the stereotactic head frame;
• an adjustment system configured to be tracked and coupled to the stereotactic head frame, the adjustment system including a plurality of stages configured to be tracked each with at least a second tracking device and each of the plurality of stages movable along a corresponding plurality of mutually orthogonal axes, the adjustment system configured for adjusting a location and orientation of the instrument relative to the target site;
• and
• a tracking system including the first tracking device and the second tracking device to track locations of the first tracking device and the second tracking device;
• a work station having a processor, a display screen and a user interface, the display screen configured to display the image data and a plurality of adjustment scales corresponding to the plurality of stages for adjusting the location and orientation of the instrument via the user interface, the work station configured to receive the image data from the imaging device, the work station further configured to automatically register the image data with the navigable patient space.

A stereotactic navigation system for navigating an instrument to a target site within a patient, the stereotactic navigation system comprising:

• a stereotactic head frame defining a navigable patient space and configured to be coupled to the patient and used to assist in guiding the instrument to the target site;
• an imaging device configured to capture image data of the navigable patient space and of the stereotactic head frame;
• a tracking device removably coupled to the stereotactic head frame and configured to track the position of the instrument relative to the stereotactic head frame;
• an adjustment system configured to be coupled to the stereotactic head frame, the adjustment system including a plurality of stages each configured to be movable along a corresponding plurality of mutually orthogonal axes, the adjustment system configured for adjusting a location and orientation of the instrument relative to the target site;
• a tracking sensor associated with each of the plurality of mutually orthogonal axes and configured to track movement of the stereotactic head frame along each of the plurality of mutually orthogonal axes using the tracking device;
• and
• a work station having a processor, a display screen and a user interface, the display screen configured to display the image data and a plurality of adjustment scales corresponding to the plurality of stages for adjusting the location and orientation of the instrument via the user interface, the work station configured to receive the image data from the imaging device, the work station further configured to automatically register the image data with the navigable patient space;
• wherein the work station is further configured to identify the target site on the display screen and further configured to identify the location of a centroid of the stereotactic head frame relative to the target site on the display screen.

A method for performing image guided stereotactic navigation, the method comprising:

• attaching a stereotactic head frame defining navigable patient space on a patient;
• capturing image data of the navigable patient space with the attached stereotactic head frame;
• attaching a first tracking device to the stereotactic head frame;
• automatically registering the image data with the navigable patient space;
• coupling an adjustment system to the stereotactic head frame, wherein the adjustment system includes a stage to which a second tracking device is connected, and wherein the adjustment system is configured for adjusting a location and orientation of an instrument relative to a target site by adjusting the stage;
• adjusting the adjustment system via a real time closed loop feedback between a processor and the tracking device;
• and
• tracking the second tracking device while adjusting the adjustment system.