EP0738129A1 - Device for detecting position of surgical instruments - Google Patents

Device for detecting position of surgical instruments

Info

Publication number
EP0738129A1
EP0738129A1 EP95914621A EP95914621A EP0738129A1 EP 0738129 A1 EP0738129 A1 EP 0738129A1 EP 95914621 A EP95914621 A EP 95914621A EP 95914621 A EP95914621 A EP 95914621A EP 0738129 A1 EP0738129 A1 EP 0738129A1
Authority
EP
European Patent Office
Prior art keywords
demand
substrate
light
surgical instruments
furnished
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP95914621A
Other languages
German (de)
French (fr)
Inventor
Hakan Hakansson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Elekta Instrument AB
Original Assignee
Elekta Instrument AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Elekta Instrument AB filed Critical Elekta Instrument AB
Publication of EP0738129A1 publication Critical patent/EP0738129A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • 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
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A61B2090/3945—Active visible markers, e.g. light emitting diodes
    • 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

Definitions

  • Dev i ce fo r detect i ng pos i t i on of su rg i ca l i ns t rument s .
  • CT- and/or MR- pictures can be filed in a computer and then by help of the localization procedure described above, let a surgical instrument's position in the operation area control the presentation of the constructed data picture that responds to the instrument's position.
  • special instruments provided with reference points, must be used. Since a large number of instruments are used during surgery and the individual doctor prefers his own set of instruments, most instruments in the hospital need to be replaced or modified to be usable during operations with a localization system.
  • the invention described below refers to a device that easily adapts normal surgical instruments to above localization system. Furthermore, it is designed not to affect the instruments used to the same extent as the present systems do.
  • This invention combines technology from semi-conducted manufacturing with the medical technical. See illustrations 1-6 showing different designs of the invention.
  • 111 1 describes the complete system consisting of a computer based main unit (1) with belonging detection unit (2) and an indication device (reference system) (3).
  • the detection unit is provided with a filter (4).
  • Ill 2 describes a reference system (3) with a substrate of glass fiber laminate (5) with conducting pattern (7) on which LEDs (6) have been applied as chips.
  • the system is cable-connected to the equipment.
  • the top side of the device is covered with a LED-translucent plastic material, which also protects the system against solutions and steam which otherwise could affect the functioning of the structure. Underneath a self-adhesive coating is applied.
  • Ill 3 describes in detail how a LED chip (6) is attached to the substrate (5) and connected with a bonding wire (1 1) to the printed pattern (7).
  • Ill 4 describes in detail how a LED in surface mounted design with a substrate (13), outlet (14), LED (6) and protective translucent plastic layer (12).
  • Ill 5 describes a device, see ill 2 above, completed with a battery unit (15), generator part (16) and an on-off switch for the battery power. This supplement makes the equipment possible to use without having it connected by cable to the rest of the system (1).
  • Ill 6 shows a practical example where the reference unit (3) is attached to an electrode (20) for electro stimulation. By using the reference unit the position of the electrode's point (18) can be set. Description of the invention
  • the invention described below is applicable within the medical technical field and especially within surgery.
  • the whole system consists of :
  • identification devices could for example consist of LEDs, preferably emissioning radiation in the infrared range (700-1200 nm).
  • the advantage of using the infrared light as communication is that it is beyond the visible range (400- 700nm) and therefore the operator will not be disturbed by the emitted light and that all other visible light in the surroundings can be filtrated and will therefore not interfere with the transmission of information from the instrument to the detecting equipment.
  • the identification arrangement can be made as a fixed pattern of light diodes attached on a preferably stiff carrier which allows that different types can be supplied with the identification arrangement.
  • 111 1 describes the total system with the reference system (3) and the detectors (2) connected to the central unit (1) where the built-in computer calculation of the references' positions takes place.
  • a filter (4) is placed in front of the detectors which screens off the visible light but allows the light from the reference points to pass.
  • Light diode chips (6) are glued with conducting epoxy glue on a carrier of glass fiber laminate (5) and on the top there is a pattern (7) etched in copper.
  • One of the diode's contact points has in this example been connected to a mutual conductor while the diode's other contact point by means of bonding technique (see figure 3) has been connected to separate conductors to allow the diodes to be activated independently from each other.
  • the top surface of the indicator is covered with a plastic coating, which is translucent for the emitted light, to protect the diodes from mechanical wear and galvanic isolation of the electric parts of the system. Underneath the carrier material there is a self-adhesive surface coating for attaching the surgical instrument (10).
  • light diode chip (6) As an alternative to the light diode chip (6) that is attached directly to the laminate, (5) light diodes meant for surface attachment can be used, se ill 4.
  • the light diode chip is attached to a substrate (13) with two contact points (14) for external connection.
  • the chip (6) with its bonding wire (11) is protected by an epoxy glue coating (12).
  • the component is attached by welding or conducting glue directly to the conductors (7) on the laminate (5).
  • Typical size of these components is length 3 mm, width 1,3 mm and height 1,2 mm.
  • Example of performance 2 (ill 5) Example of performance 2 (ill 5)
  • the unit (3) also has been supplied with a lithium battery (15) which can be switched on-/off (17).
  • the system also includes a generator (16), which can supply the different light diodes (6) with for each of them a characteristic pulse frequency, to make the reference system (3) coded. This results in that the central unit (1) via the detector unit (2) can determine which individual reference system has sent the signal. The entire system is kept in a tight plastic cover which gives protection to surrounding fluids but lets the emitted light through.
  • the reference system (3) is applied to a stimulating electrode (20) which via the cable (21) is connected to a stimulating generator.
  • the electrode is furnished with a handle on which the reference system (3) is attached.
  • the point of the electrode (18) is electrically conducted while the connection tube (19) is electrically isolated.
  • the point's position can be indicated by the reference system, thus for instance by submitting the coordinates position to an imaging system a presentation of the point's position in comparison with earlier X-ray pictures can be made like in US 4,722,056.

Abstract

The invention is a device consisting of a main unit for detecting optical signals and a reference system which detects the position of an operating tool in space as well as its identity. Even if the operation tool is changed during the session the system will detect it. The method comprises a system consisting of a substrate on which light emitting diode chips are mounted. The reference system is connected with a cable to the computerized main unit which feeds the reference system with signals used for detection. The invention can also be made in a battery supplied version. This implies that the system do not need to be galvanically coupled to the main unit.

Description

Dev i ce fo r detect i ng pos i t i on of su rg i ca l i ns t rument s .
Method for applying infrared LEDs for detection of the position of surgical tools
This technique states:
From the patents US 4,722,056 and WO/92/06645 it is known how to detect an object's position in space by use of CCD cameras that study a number of reference points attached to the object. These references can be objects of different colors or like in WO/92/06645 infrared light emissioning diodes LED. The infrared light has the advantage that it cannot be seen by the human eye and therefore it does not disturb the user.
Especially within the medical technical field this technique has been found useful. For instance, CT- and/or MR- pictures can be filed in a computer and then by help of the localization procedure described above, let a surgical instrument's position in the operation area control the presentation of the constructed data picture that responds to the instrument's position. The disadvantage with the above technique is that special instruments, provided with reference points, must be used. Since a large number of instruments are used during surgery and the individual doctor prefers his own set of instruments, most instruments in the hospital need to be replaced or modified to be usable during operations with a localization system.
The invention described below refers to a device that easily adapts normal surgical instruments to above localization system. Furthermore, it is designed not to affect the instruments used to the same extent as the present systems do. This invention combines technology from semi-conducted manufacturing with the medical technical. See illustrations 1-6 showing different designs of the invention.
CONFIRMATION COW Description of Illustrations
111 1 describes the complete system consisting of a computer based main unit (1) with belonging detection unit (2) and an indication device (reference system) (3). The detection unit is provided with a filter (4).
Ill 2 describes a reference system (3) with a substrate of glass fiber laminate (5) with conducting pattern (7) on which LEDs (6) have been applied as chips. The system is cable-connected to the equipment. The top side of the device is covered with a LED-translucent plastic material, which also protects the system against solutions and steam which otherwise could affect the functioning of the structure. Underneath a self-adhesive coating is applied.
Ill 3 describes in detail how a LED chip (6) is attached to the substrate (5) and connected with a bonding wire (1 1) to the printed pattern (7).
Ill 4 describes in detail how a LED in surface mounted design with a substrate (13), outlet (14), LED (6) and protective translucent plastic layer (12).
Ill 5 describes a device, see ill 2 above, completed with a battery unit (15), generator part (16) and an on-off switch for the battery power. This supplement makes the equipment possible to use without having it connected by cable to the rest of the system (1).
Ill 6 shows a practical example where the reference unit (3) is attached to an electrode (20) for electro stimulation. By using the reference unit the position of the electrode's point (18) can be set. Description of the invention
The invention described below is applicable within the medical technical field and especially within surgery.
The whole system consists of :
• a main system connected to two or more cameras usually of CCD type
• a hand-held instrument (cable-connected to the main unit) on which identification devices are attached.
These identification devices could for example consist of LEDs, preferably emissioning radiation in the infrared range (700-1200 nm). The advantage of using the infrared light as communication is that it is beyond the visible range (400- 700nm) and therefore the operator will not be disturbed by the emitted light and that all other visible light in the surroundings can be filtrated and will therefore not interfere with the transmission of information from the instrument to the detecting equipment.
Several different methods can be used to detect which specific instrument is connected to the system. You can for example use the physical distances between the diodes or by allowing the diodes to emit the light pulses of different pulse frequency, pulse form or wave for identification. Even if the instrument is exchanged during operation the system can reveal that an exchange has taken place and consider this at calculations and presentations.
The identification arrangement can be made as a fixed pattern of light diodes attached on a preferably stiff carrier which allows that different types can be supplied with the identification arrangement. 111 1 describes the total system with the reference system (3) and the detectors (2) connected to the central unit (1) where the built-in computer calculation of the references' positions takes place. A filter (4) is placed in front of the detectors which screens off the visible light but allows the light from the reference points to pass.
Example of performance (see ill 2)
Light diode chips (6) are glued with conducting epoxy glue on a carrier of glass fiber laminate (5) and on the top there is a pattern (7) etched in copper. One of the diode's contact points has in this example been connected to a mutual conductor while the diode's other contact point by means of bonding technique (see figure 3) has been connected to separate conductors to allow the diodes to be activated independently from each other. From the carrier laminate (5) there is a cable to the central unit (1) from where the power is received. The cable is supported by an enforcement strap (9) to withstand higher loads. The top surface of the indicator is covered with a plastic coating, which is translucent for the emitted light, to protect the diodes from mechanical wear and galvanic isolation of the electric parts of the system. Underneath the carrier material there is a self-adhesive surface coating for attaching the surgical instrument (10).
As an alternative to the light diode chip (6) that is attached directly to the laminate, (5) light diodes meant for surface attachment can be used, se ill 4. In this design the light diode chip is attached to a substrate (13) with two contact points (14) for external connection. The chip (6) with its bonding wire (11) is protected by an epoxy glue coating (12). The component is attached by welding or conducting glue directly to the conductors (7) on the laminate (5). Typical size of these components is length 3 mm, width 1,3 mm and height 1,2 mm. Example of performance 2 (ill 5)
In this example aluminum oxide, which is a ceramic material, has been chosen as carrying material (5). The wiring (7) is in this design silver epoxy conductor printed by means of thick film technique onto which light diode elements (6) are glued with conducting glue. In this example the unit (3) also has been supplied with a lithium battery (15) which can be switched on-/off (17). The system also includes a generator (16), which can supply the different light diodes (6) with for each of them a characteristic pulse frequency, to make the reference system (3) coded. This results in that the central unit (1) via the detector unit (2) can determine which individual reference system has sent the signal. The entire system is kept in a tight plastic cover which gives protection to surrounding fluids but lets the emitted light through.
Example of performance (see ill 6)
In this example the reference system (3) is applied to a stimulating electrode (20) which via the cable (21) is connected to a stimulating generator. The electrode is furnished with a handle on which the reference system (3) is attached. The point of the electrode (18) is electrically conducted while the connection tube (19) is electrically isolated. The point's position can be indicated by the reference system, thus for instance by submitting the coordinates position to an imaging system a presentation of the point's position in comparison with earlier X-ray pictures can be made like in US 4,722,056.
For an expert it is obvious that the above examples only present a few of the combinations that can be used and makes use of the invention. For instance the self-adhesive coating as attachment for the surgical instrument might as well be replaced by different kinds of clips.

Claims

Patent demands:
1. Device for identifying the position of surgical instruments including a control system, main system, central system, with at least two optical detectors for receiving signals from a reference arrangement with at least two identifying points characterized by that they are light emitting diode chips and attached to a stiff substrate of such material that the distance between the diodes is kept constant.
2. Device according to demand 1 characterized by the substrate is of non¬ conducting plastic material preferably glass fiber plastic.
3. Device according to demand 1 characterized by the substrate to be made of ceramic material such as aluminum oxide.
4. Device according to demand 1 characterized by the conducting pattern is produced by printing and/or etching.
5. Device according to demand 1 characterized by the light diodes are emitting in the infrared range.
6. Device according to demand 1 characterized by that the back of the substrate is furnished with self-adhesive material for attaching the surgical instruments.
7. Device according to demand 1-6 characterized by that the equipment is also furnished with a generator part and power supplied by a battery attached to the substrate.
8. Device according to demand 1-6 characterized by that the detectors in the main system are furnished with a filter to filtrate visible light.
EP95914621A 1994-03-24 1995-03-21 Device for detecting position of surgical instruments Withdrawn EP0738129A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
SE9400987 1994-03-24
SE9400987A SE9400987L (en) 1994-03-24 1994-03-24 Device for detecting instruments
PCT/SE1995/000286 WO1995025475A1 (en) 1994-03-24 1995-03-21 Device for detecting position of surgical instruments

Publications (1)

Publication Number Publication Date
EP0738129A1 true EP0738129A1 (en) 1996-10-23

Family

ID=20393400

Family Applications (1)

Application Number Title Priority Date Filing Date
EP95914621A Withdrawn EP0738129A1 (en) 1994-03-24 1995-03-21 Device for detecting position of surgical instruments

Country Status (3)

Country Link
EP (1) EP0738129A1 (en)
SE (1) SE9400987L (en)
WO (1) WO1995025475A1 (en)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999033406A1 (en) * 1997-12-31 1999-07-08 Surgical Navigation Technologies, Inc. Wireless probe system for use with a stereotactic surgical device
DE29904018U1 (en) * 1999-03-05 1999-06-02 Bodenseewerk Geraetetech Active instrument for determining the position of navigation systems to support surgical interventions
ATE456332T1 (en) * 2000-11-17 2010-02-15 Calypso Medical Inc SYSTEM FOR LOCALIZING AND DEFINING A TARGET POSITION IN A HUMAN BODY
US20020193685A1 (en) 2001-06-08 2002-12-19 Calypso Medical, Inc. Guided Radiation Therapy System
US8244330B2 (en) 2004-07-23 2012-08-14 Varian Medical Systems, Inc. Integrated radiation therapy systems and methods for treating a target in a patient
US9248003B2 (en) 2002-12-30 2016-02-02 Varian Medical Systems, Inc. Receiver used in marker localization sensing system and tunable to marker frequency
US7289839B2 (en) 2002-12-30 2007-10-30 Calypso Medical Technologies, Inc. Implantable marker with a leadless signal transmitter compatible for use in magnetic resonance devices
US9623208B2 (en) 2004-01-12 2017-04-18 Varian Medical Systems, Inc. Instruments with location markers and methods for tracking instruments through anatomical passageways
US9586059B2 (en) 2004-07-23 2017-03-07 Varian Medical Systems, Inc. User interface for guided radiation therapy
US8437449B2 (en) 2004-07-23 2013-05-07 Varian Medical Systems, Inc. Dynamic/adaptive treatment planning for radiation therapy
WO2009149409A1 (en) 2008-06-05 2009-12-10 Calypso Medical Technologies, Inc. Motion compensation for medical imaging and associated systems and methods
US10043284B2 (en) 2014-05-07 2018-08-07 Varian Medical Systems, Inc. Systems and methods for real-time tumor tracking
US9919165B2 (en) 2014-05-07 2018-03-20 Varian Medical Systems, Inc. Systems and methods for fiducial to plan association

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3371487D1 (en) * 1982-12-28 1987-06-19 Diffracto Ltd Apparatus and method for robot calibration
ES2085885T3 (en) * 1989-11-08 1996-06-16 George S Allen MECHANICAL ARM FOR INTERACTIVE SURGERY SYSTEM DIRECTED BY IMAGES.
US5086401A (en) * 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
DE4202505B4 (en) * 1992-01-30 2004-04-29 Carl Zeiss Guide system for the spatial positioning of a surgical instrument, in particular an operating microscope

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO9525475A1 *

Also Published As

Publication number Publication date
SE9400987L (en) 1995-09-25
WO1995025475A1 (en) 1995-09-28
SE9400987D0 (en) 1994-03-24

Similar Documents

Publication Publication Date Title
US7869861B2 (en) Flexible tracking article and method of using the same
EP0738129A1 (en) Device for detecting position of surgical instruments
US5584296A (en) Patient sensor for optical cerebral oximeters and the like
EP3556316B1 (en) Tracker for a surgical navigation system
CN109069850B (en) Magnetic stimulation device including force sensing resistor
CN101330866B (en) Single use pulse oximeter
CN101330865B (en) Single use pulse oximeter
EP2298215B1 (en) Technique for registering image data of an object
EP0498756B1 (en) Optical viewing device
US7742804B2 (en) Means of tracking movement of bodies during medical treatment
EP2106745B1 (en) Probe device for measuring a local blood dynamic change
CN100534403C (en) Intraoral dental imaging sensor and radiological system comprising same
US20210236212A1 (en) Tracker for a Surgical Instrument
US10765480B2 (en) Wireless active tracking fiducials
AU2003255212A1 (en) Endoscope
WO1997031219A1 (en) Work glove and illuminator assembly
US20070194100A1 (en) Remote control system for sequence control in medical treatment...
CN215265301U (en) Infrared waterproof label and infrared waterproof label sticker
CN117770955A (en) Techniques for assigning marker identification to markers of trackers
GB2318939A (en) Infra-red identification device

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 19960722

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): CH DE FR GB IT LI NL

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 19981001