CA2532469A1 - Guidance system and method for surgical procedures with improved feedback - Google Patents
Guidance system and method for surgical procedures with improved feedback Download PDFInfo
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- CA2532469A1 CA2532469A1 CA002532469A CA2532469A CA2532469A1 CA 2532469 A1 CA2532469 A1 CA 2532469A1 CA 002532469 A CA002532469 A CA 002532469A CA 2532469 A CA2532469 A CA 2532469A CA 2532469 A1 CA2532469 A1 CA 2532469A1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/74—Manipulators with manual electric input means
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- A—HUMAN NECESSITIES
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- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- A61B34/77—Manipulators with motion or force scaling
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
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- A—HUMAN NECESSITIES
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A61B2034/2046—Tracking techniques
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- A61B90/03—Automatic limiting or abutting means, e.g. for safety
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- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
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- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
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- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0818—Redundant systems, e.g. using two independent measuring systems and comparing the signals
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- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
- A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
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- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B90/03—Automatic limiting or abutting means, e.g. for safety
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
Abstract
It is often desirable to define objects with respect to images of an anatomy displayed using an image guided surgery system. For non-trivial objects, or those with complicated two or three dimensional forms, it may be difficult t o present information in a manner that is simple for a user to understand. The local distance to a surface of interest, such as the surface of the defined object, or to a desired position, the local penetration distance of the surface of interest, or haptic repulsion force, often provides the most usef ul information for augmenting the interaction of the user with the image guided surgery system. The scalar value of the local distance may be conveyed to th e user by visual, audio, tactile, haptic, or other means.
Claims (73)
1. A method for use of a computer-assisted surgery system during a medical procedure, comprising:
receiving information on an object of interest;
tracking the position of a tool;
determining a scalar distance between a current position of said tool and said object of interest; and providing an indication of said scalar distance to a user of said tool.
receiving information on an object of interest;
tracking the position of a tool;
determining a scalar distance between a current position of said tool and said object of interest; and providing an indication of said scalar distance to a user of said tool.
2. The method of claim 1, wherein said providing step comprises providing a visual indication of said scalar distance to said user of said tool.
3. The method of claim 2, further comprising, prior to said providing step, selecting a type of visual indication to provide to said user.
4. The method of claim 2, wherein said visual indication is provided by a visual indicator selected from the group consisting of a level meter, a dial, a numerical display, and a graph.
5. The method of claim 2, wherein said providing step comprises providing said visual indication of said scalar distance on a display device associated with a computer-assisted surgery system.
6. The method of claim 2, wherein said providing step comprises providing said visual indication of said scalar distance on a display device disposed on a haptic device associated with said computer-assisted surgery system.
7. The method of claim 2, wherein said providing step comprises providing said visual indication of said scalar distance on a display device disposed on a surgical tool used in proximity to an anatomy of a patient.
8. The method of claim 3, further comprising selecting a color for said visual indication based at least in part on said scalar distance.
9. The method of claim 2, further comprising, prior to said providing step, selecting said visual indication based at least in part on said scalar distance.
10. The method of claim 2, wherein said object of interest comprises a surface of a haptic object defining a desired shape for an anatomy of a patient.
11. The method of claim 2, wherein said object of interest comprises a portion of an anatomy of a patient.
12. The method of claim 2, wherein said object of interest is selected from the group consisting of a curve, a point, a surface, a volume, and a set of desired positions.
13. The method of claim 2, wherein said providing step comprises providing a predetermined visual indication indicating that said scalar distance is within an acceptable range.
14. The method of claim 2, wherein said providing step comprises providing a predetermined visual indication indicating that said scalar distance is in an unacceptable range.
15. The method of claim 1, wherein said providing step comprises providing a tactile indication of said scalar distance to said user of said tool.
16. The method of claim 1, wherein said providing step further comprises causing vibration of a device that is in contact with said user.
17. The method of claim 1, further comprising selecting a type of indication based at least in part on said scalar distance.
18. The method of claim 1, wherein said providing step comprises providing said indication indicating that said scalar distance is within an acceptable range.
19. The method of claim 1, wherein said providing step comprises providing said indication indicating that said scalar distance is in an unacceptable range.
20. The method of claim 1, wherein said object of interest is selected from the group consisting of a curve, a point, a surface, a volume, and a set of desired positions.
21. The method of claim 1, wherein said providing step comprises providing an audio indication of said scalar distance to said user of said tool.
22. The method of claim 21, further comprising, prior to said providing step, selecting a type of audio indication to provide to said user.
23. The method of claim 21, wherein said providing step comprises providing said audio indication of said scalar distance via an audio device associated with a computer-assisted surgery system.
24. The method of claim 21, wherein said providing step comprises providing said audio indication of said scalar distance via an audio device disposed on a haptic device associated with a computer-assisted surgery system.
25. The method of claim 21, wherein said providing step comprises providing said audio indication of said scalar distance via an audio device disposed on a surgical tool used in proximity to an anatomy of a patient.
26. The method of claim 21, further comprising, prior to said providing step, selecting said audio indication based at least in part on said scalar distance.
27. The method of claim 21, wherein said object of interest comprises a surface of a haptic object defining a desired shape for an anatomy of a patient.
28. The method of claim 21, wherein said object of interest comprises a portion of an anatomy of a patient.
29. The method of claim 21, wherein said object of interest is selected from the group consisting of a curve, a point, a surface, a volume, and a set of desired positions.
30. The method of claim 21, wherein said providing step comprises providing a predetermined audio indication indicating that said scalar distance is within an acceptable range.
31. The method of claim 21, wherein said providing step comprises providing a predetermined audio indication indicating that said scalar distance is in an unacceptable range.
32. A computer-assisted surgery system for use during a medical procedure, comprising:
application logic operatively associated with said computer-assisted surgery system and operable to:
receive information on an object of interest;
track the position of a tool;
determine a scalar distance between a current position of said tool and said object of interest; and provide an indication of said scalar distance to a user of said tool.
application logic operatively associated with said computer-assisted surgery system and operable to:
receive information on an object of interest;
track the position of a tool;
determine a scalar distance between a current position of said tool and said object of interest; and provide an indication of said scalar distance to a user of said tool.
33. The system of claim 32, wherein said application logic is further operable to provide a visual indication of said scalar distance to said user of said tool.
34. The system of claim 33, wherein said application logic is further operable to select a type of visual indication to provide to said user.
35. The system of claim 33, wherein said visual indication is provided by a visual indicator selected from the group consisting of a level meter, a dial, a numerical display, and a graph.
36. The system of claim 33, wherein said application logic is further operable to provide said visual indication of said scalar distance on a display device associated with said computer-assisted surgery system.
37. The system of claim 33, wherein said application logic is further operable to provide said visual indication of said scalar distance on a display device disposed on a haptic device associated with said computer-assisted surgery system.
38. The system of claim 33, wherein said application logic is further operable to provide said visual indication of said scalar distance on a display device disposed on a surgical tool used in proximity to an anatomy of a patient.
39. The system of claim 34, wherein said application logic is further operable to select a color for said visual indication based at least in part on said scalar distance.
40. The system of claim 33, wherein said application logic is further operable to select said visual indication based at least in part on said scalar distance.
41. The system of claim 33, wherein said object of interest comprises a surface of a haptic object defining a desired shape for an anatomy of a patient.
42. The system of claim 33, wherein said object of interest comprises a portion of an anatomy of a patient.
43. The system of claim 33, wherein said object of interest is selected from the group consisting of a curve, a point, a surface, a volume, and a set of desired positions.
44. The system of claim 33, wherein said application logic is further operable to provide a predetermined visual indication indicating that said scalar distance is within an acceptable range.
45. The system of claim 33, wherein said application logic is further operable to provide a predetermined visual indication indicating that said scalar distance is in an unacceptable range.
46. The system of claim 32, wherein said application logic is further operable to provide a tactile indication of said scalar distance to said user of said tool.
47. The system of claim 32, wherein said application logic is further operable to cause vibration of a device in contact with said user.
48. The system of claim 32, wherein said application logic is further operable to select a type of indication based at least in part on said scalar distance.
49. The system of claim 32, wherein said application logic is further operable to provide said indication indicating that said scalar distance is within an acceptable range.
50. The system of claim 32, wherein said application logic is further operable to provide said indication indicating that said scalar distance is in an unacceptable range.
51. The system of claim 32, wherein said surface of interest is selected from the group consisting of a curve, a point, a surface, a volume, and a set of desired positions.
52. The system of claim 32, wherein said application logic is further operable to provide an audio indication of said scalar distance to said user of said tool.
53. The system of claim 52, wherein said application logic is further operable to select a type of audio indication to provide to said user.
54. The system of claim 52, wherein said application logic is further operable to provide said audio indication of said scalar distance via an audio device associated with said computer-assisted surgery system.
55. The system of claim 52, wherein said application logic is further operable to provide said audio indication of said scalar distance via an audio device disposed on a haptic device associated with said computer-assisted surgery system.
56. The system of claim 52, wherein said application logic is further operable to provide said audio indication of said scalar distance via an audio device disposed on a surgical tool used in proximity to an anatomy of a patient.
57. The system of claim 52, wherein said application logic is further operable to select said audio indication based at least in part on said scalar distance.
58. The system of claim 52, wherein said object of interest comprises a surface of a haptic object defining a desired shape for an anatomy of a patient.
59. The system of claim 52, wherein said object of interest comprises a portion of an anatomy of a patient.
60. The system of claim 52, wherein said object of interest is selected from the group consisting of a curve, a point, a surface, a volume, and a set of desired positions.
61. The system of claim 52, wherein said application logic is further operable to provide a predetermined audio indication indicating that said scalar distance is within an acceptable range.
62. The system of claim 52, wherein said application logic is further operable to provide a predetermined audio indication indicating that said scalar distance is in an unacceptable range.
63. The system of claim 52, wherein said application logic comprises computer executable software code.
64. The system of claim 32, wherein said computer-assisted surgery system is a haptic device.
65. The system of claim 32, wherein said computer-assisted surgery system comprises a haptic device.
66. A computer readable storage medium storing instructions which when executed by a computer cause the computer to execute the steps of:
receiving information on a object of interest;
tracking the position of a tool;
determining a scalar distance between a current position of said tool and said object of interest; and providing an indication of said scalar distance to a user of said tool.
receiving information on a object of interest;
tracking the position of a tool;
determining a scalar distance between a current position of said tool and said object of interest; and providing an indication of said scalar distance to a user of said tool.
67. The computer readable storage medium of claim 66, wherein said indication is a visual indication.
68. The computer readable storage medium of claim 66, wherein said indication is an audio indication.
69. The computer readable storage medium of claim 66, wherein said indication is a tactile indication.
70. The computer readable storage medium of claim 66, further comprising instructions which when executed by said computer cause the computer to execute the step of selecting a type of indication based at least in part on said scalar distance.
71. The computer readable storage medium of claim 66, further comprising instructions which when executed by said computer cause the computer to execute the step of providing said indication indicating that said scalar distance is within an acceptable range.
72. The computer readable storage medium of claim 66, further comprising instructions which when executed by said computer cause the computer to execute the step of providing said indication indicating that said scalar distance is within an unacceptable range.
73. The computer readable storage medium of claim 66, wherein said object of interest is selected from the group consisting of a curve, a point, a surface, a volume, and a set of desired positions.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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US10/621,119 | 2003-07-16 | ||
US10/621,119 US7831292B2 (en) | 2002-03-06 | 2003-07-16 | Guidance system and method for surgical procedures with improved feedback |
PCT/US2004/022978 WO2005009215A2 (en) | 2003-07-16 | 2004-07-16 | Guidance system and method for surgical procedure |
Publications (2)
Publication Number | Publication Date |
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CA2532469A1 true CA2532469A1 (en) | 2005-02-03 |
CA2532469C CA2532469C (en) | 2012-12-04 |
Family
ID=34103178
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA2532469A Expired - Fee Related CA2532469C (en) | 2003-07-16 | 2004-07-16 | Guidance system and method for surgical procedures with improved feedback |
Country Status (6)
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US (1) | US7831292B2 (en) |
EP (1) | EP1680007B1 (en) |
JP (1) | JP4833061B2 (en) |
CN (1) | CN100579448C (en) |
CA (1) | CA2532469C (en) |
WO (1) | WO2005009215A2 (en) |
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CA2532469C (en) | 2012-12-04 |
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WO2005009215A3 (en) | 2007-03-29 |
WO2005009215A2 (en) | 2005-02-03 |
JP4833061B2 (en) | 2011-12-07 |
CN101031236A (en) | 2007-09-05 |
CN100579448C (en) | 2010-01-13 |
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