WO2014147601A3 - Tracking marker monolithically integrated into a surgical instrument and method of tracking such an instrument - Google Patents

Tracking marker monolithically integrated into a surgical instrument and method of tracking such an instrument Download PDF

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Publication number
WO2014147601A3
WO2014147601A3 PCT/IB2014/060403 IB2014060403W WO2014147601A3 WO 2014147601 A3 WO2014147601 A3 WO 2014147601A3 IB 2014060403 W IB2014060403 W IB 2014060403W WO 2014147601 A3 WO2014147601 A3 WO 2014147601A3
Authority
WO
WIPO (PCT)
Prior art keywords
tracker
tracking
monolithically integrated
tracking marker
location
Prior art date
Application number
PCT/IB2014/060403
Other languages
French (fr)
Other versions
WO2014147601A2 (en
Inventor
Ehud Udi DAON
Martin Gregory Beckett
Alvaro Andres MEDINA RODRIGUEZ
Original Assignee
Navigate Surgical Technologies, Inc.
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 Navigate Surgical Technologies, Inc. filed Critical Navigate Surgical Technologies, Inc.
Priority to CA2907554A priority Critical patent/CA2907554A1/en
Priority to KR1020157030105A priority patent/KR20160013003A/en
Priority to EP14721517.2A priority patent/EP2996609A2/en
Publication of WO2014147601A2 publication Critical patent/WO2014147601A2/en
Publication of WO2014147601A3 publication Critical patent/WO2014147601A3/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C1/00—Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
    • A61C1/08—Machine parts specially adapted for dentistry
    • A61C1/082—Positioning or guiding, e.g. of drills
    • 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
    • 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
    • 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
    • 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
    • A61B2090/3966—Radiopaque markers visible in an X-ray image
    • 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
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Epidemiology (AREA)
  • Robotics (AREA)
  • Dentistry (AREA)
  • Pathology (AREA)
  • Image Processing (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Processing Or Creating Images (AREA)

Abstract

A rigid positioning and orienting portion of a handheld surgical apparatus has a 3D tracking marker (12, 12', 504, 604) monolithically integrated within its structure, and is thereby trackable using a suitable a tracker (508, 610). The tracker may be a 2D imaging tracker and may be a non-stereo optical tracker. The tracking marker may be monolithically integrated during the manufacture of the apparatus. A surgical monitoring system employing the surgical apparatus, further comprises the tracker (508, 610), and a single fiducial reference bearing at least three identifiable location points disposed along at least two non-parallel lines. Based on prior scan data of the fiducial reference, the location and orientation of the fiducial reference are determined using the location points despite only a portion of the fiducial being observable by a scanner during the prior scan. An associated method is provided for determining the location and orientation of the tracking marker based on predetermined locations points and image information from a tracker.
PCT/IB2014/060403 2013-03-18 2014-04-03 Method for determining the location and orientation of a fiducial reference WO2014147601A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CA2907554A CA2907554A1 (en) 2013-03-18 2014-04-03 Method for determining the location and orientation of a fiducial reference
KR1020157030105A KR20160013003A (en) 2013-03-18 2014-04-03 Method for determining the location and orientation of a fiducial reference
EP14721517.2A EP2996609A2 (en) 2013-03-18 2014-04-03 Method for determining the location and orientation of a fiducial reference

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201361803040P 2013-03-18 2013-03-18
US61/803,040 2013-03-18
US201361865508P 2013-08-13 2013-08-13
US61/865,508 2013-08-13

Publications (2)

Publication Number Publication Date
WO2014147601A2 WO2014147601A2 (en) 2014-09-25
WO2014147601A3 true WO2014147601A3 (en) 2014-11-27

Family

ID=50639822

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2014/060403 WO2014147601A2 (en) 2013-03-18 2014-04-03 Method for determining the location and orientation of a fiducial reference

Country Status (4)

Country Link
EP (1) EP2996609A2 (en)
KR (1) KR20160013003A (en)
CA (1) CA2907554A1 (en)
WO (1) WO2014147601A2 (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9585721B2 (en) 2011-10-28 2017-03-07 Navigate Surgical Technologies, Inc. System and method for real time tracking and modeling of surgical site
US11304777B2 (en) 2011-10-28 2022-04-19 Navigate Surgical Technologies, Inc System and method for determining the three-dimensional location and orientation of identification markers
AU2015337755B2 (en) 2014-10-29 2019-07-25 Intellijoint Surgical Inc. Systems, methods and devices for anatomical registration and surgical localization
WO2016139149A1 (en) * 2015-03-02 2016-09-09 Navigate Surgical Technologies, Inc. Surgical location monitoring system and method with surgical guidance graphic user interface
DE102021212877B3 (en) 2021-11-16 2023-02-23 Carl Zeiss Meditec Ag Target device for use in a surgical navigation system, a surgical navigation system and a method for producing such a target device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100168562A1 (en) * 2008-12-31 2010-07-01 Intuitive Surgical, Inc. Fiducial marker design and detection for locating surgical instrument in images
DE102010042540A1 (en) * 2010-10-15 2012-04-19 Scopis Gmbh Method and apparatus for calibrating an optical system, distance determining device and optical system
WO2012095642A1 (en) * 2011-01-11 2012-07-19 Depuy (Ireland) Surgical instrument with high contrast marking and method of marking a surgical instrument
US20120259204A1 (en) * 2011-04-08 2012-10-11 Imactis Device and method for determining the position of an instrument in relation to medical images

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100168562A1 (en) * 2008-12-31 2010-07-01 Intuitive Surgical, Inc. Fiducial marker design and detection for locating surgical instrument in images
DE102010042540A1 (en) * 2010-10-15 2012-04-19 Scopis Gmbh Method and apparatus for calibrating an optical system, distance determining device and optical system
WO2012095642A1 (en) * 2011-01-11 2012-07-19 Depuy (Ireland) Surgical instrument with high contrast marking and method of marking a surgical instrument
US20120259204A1 (en) * 2011-04-08 2012-10-11 Imactis Device and method for determining the position of an instrument in relation to medical images

Also Published As

Publication number Publication date
CA2907554A1 (en) 2014-09-25
WO2014147601A2 (en) 2014-09-25
KR20160013003A (en) 2016-02-03
EP2996609A2 (en) 2016-03-23

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