US6285902B1 — Computer assisted targeting device for use in ort…

Claim 1

Independent Claim 91 words

An image surgery system to enable a surgeon to move one or more surgical tools into a desired pose relative to a body part, comprising: an imaging device for generating a plurality of two-dimensional images of the body part, said imaging device including an x-ray generator and a flat panel x-ray imager; at least one surgical tool; a localizing device for measuring the pose of the surgical tool relative to the imaging device; and means for displaying representations of the surgical tool relative to the two-dimensional images of the body part.

Claim 2

Dependent Claim 91 words

An image surgery system to enable a surgeon to move one or more surgical tools into a desired pose relative to a body part, comprising: an imaging device for generating a plurality of two-dimensional images of the body part, said imaging device including an x-ray generator and a flat panel x-ray imager; at least one surgical tool; a localizing device for measuring the pose of the surgical tool relative to the imaging device; and means for displaying representations of the surgical tool relative to the two-dimensional images of the body part.

Claim 3

Dependent Claim 16 words

The image guided surgery system of claim 1 wherein the imaging device is a C-arm fluoroscope.

Claim 4

Dependent Claim 20 words

The image guided surgery system of claim 1 wherein the flat panel x-ray imager is integral to the imaging device.

Claim 5

Dependent Claim 42 words

The image guided surgery system of claim 3 wherein the localizing device is an optical localizer and the imaging device is further outfitted with three or more localizing emitters, and the positions of said localizing emitters are measured by the optical localizer.

Claim 6

Dependent Claim 51 words

The image guided surgery system of claim 4 further comprising a sterile plastic drape, a section of the drape being adapted to cover a part of the imaging device containing localizing emitters, a portion of that section of the drape further adapted to fit flush and flat against the localizing emitters.

Claim 7

Dependent Claim 47 words

The image guided surgery system of claim 3 wherein the localizing device is an optical localizer and three or more localizing emitters are mounted in a housing that is attached to the imaging device, and the positions of said localizing emitters are measured by the optical localizer.

Claim 8

Dependent Claim 22 words

The image guided surgery system of claim 1 wherein the flat panel x-ray imager includes a housing attached to the imaging device.

Claim 9

Dependent Claim 36 words

The image guided surgery system of claim 7 wherein the localizing device is an optical localizer and the housing is further outfitted with three or more localizing emitters whose positions are measured by the optical localizer.

Claim 10

Dependent Claim 57 words

The image guided surgery system of claim 8 further comprising a sterile plastic drape, a section of the drape being adapted to cover a part of the flat panel x-ray imager housing having the localizing emitters affixed thereto, a portion of that section of the drape further adapted to fit flush and flat against the localizing emitters.

Claim 11

Dependent Claim 33 words

The image guided surgery system of claim 9 wherein the portion of the sterile drape fitting flush and flat against the localizing emitters is similar in dimension to the housing containing the emitters.

Claim 12

Dependent Claim 18 words

The image guided surgery system of claim 10 further wherein the housing is part of the imaging device.

Claim 13

Dependent Claim 31 words

The sterile drape of claim 9 further comprising a retaining ring that holds the drape against the housing and causes the drape to fit flush and flat against the localizing emitters.

Claim 14

Dependent Claim 16 words

The image guided surgery system of claim 1 wherein the localizing device is an electromagnetic localizer.

Claim 15

Dependent Claim 51 words

The image guided surgery system of claim 1 further comprising: a second surgical tool, and the pose of said second surgical tool is measured by the localizing device; and means for displaying a representation of the surgical tool relative to a representation of the second surgical tool independent of the images.

Claim 16

Dependent Claim 33 words

The image guided surgery system of claim 14 wherein either the surgical tool or the second surgical tool may be attached in a fixed and known relationship to an implant or other object.

Claim 17

Dependent Claim 116 words

The image guided surgery system of claim 14 wherein an axis of the surgical tool is to be aligned along a line between a point on the surgical tool and a reference point on the second surgical tool, and wherein a picture plane is defined that is perpendicular to said line and contains the reference point of the second surgical tool, and wherein alignment representations corresponding to the reference point on the second surgical tool and the intersection of said axis of the first surgical tool with the picture plane are displayed, such that the alignment representations are aligned when said axis of the surgical tool passes through the reference point of the second surgical tool.

Claim 18

Dependent Claim 70 words

The image guided surgery system of claim 1 further comprising: a tracking device comprising a tracked portion and a means for attaching to the body part to be operated upon; means for determining the motion of the tracking device in the plane of each two-dimensional image; and means for translating and rotating superimposed representations of surgical tools relative to each two-dimensional image to match the motion of the tracking device.

Claim 19

Dependent Claim 15 words

The image guided surgery system of claim 17 wherein the attaching means is a clamp.

Claim 20

Dependent Claim 17 words

The image guided surgery system of claim 17 wherein the attaching means is a plurality of screws.

Claim 21

Dependent Claim 29 words

The image guided surgery system of claim 17 wherein movement of the tracking device greater than a predetermined magnitude results in an error condition being signaled to the surgeon.

Claim 22

Dependent Claim 187 words

An image guided surgery system comprising: an imaging device having an x-ray source and an x-ray receiver for generating a plurality of two-dimensional images of a body part; a localizing device for determining the three-dimensional poses of the imaging device and a surgical tool; an imaging model with imaging model parameters for modeling the projection and mapping of points in the x-ray beam of the imaging device to the images wherein the imaging model parameters are dependent on the pose of the imaging device; first means for determining first imaging model parameters while the imaging device occupies a pose; storage means for storing a set of the first imaging model parameters and corresponding imaging device pose for a plurality of imaging device poses; second means for determining second imaging model parameters corresponding to a given pose of the imaging device and calculated from the set of first stored imaging model parameters and corresponding imaging device poses; wherein the imaging model and the second imaging model parameters for the given pose permit accurate superposition of a representation of the surgical tool on the images of the body part.

Claim 23

Dependent Claim 187 words

An image guided surgery system comprising: an imaging device having an x-ray source and an x-ray receiver for generating a plurality of two-dimensional images of a body part; a localizing device for determining the three-dimensional poses of the imaging device and a surgical tool; an imaging model with imaging model parameters for modeling the projection and mapping of points in the x-ray beam of the imaging device to the images wherein the imaging model parameters are dependent on the pose of the imaging device; first means for determining first imaging model parameters while the imaging device occupies a pose; storage means for storing a set of the first imaging model parameters and corresponding imaging device pose for a plurality of imaging device poses; second means for determining second imaging model parameters corresponding to a given pose of the imaging device and calculated from the set of first stored imaging model parameters and corresponding imaging device poses; wherein the imaging model and the second imaging model parameters for the given pose permit accurate superposition of a representation of the surgical tool on the images of the body part.

Claim 24

Dependent Claim 16 words

The image guided surgery system of claim 21 wherein the imaging device is a C-arm fluoroscope.

Claim 25

Dependent Claim 73 words

An image guided surgery system of claim 22 wherein the x-ray receiver is a flat panel imager and the imaging model parameters comprise conic projection model parameters and the set of first imaging model parameters comprise a set of first conic projection model parameters wherein appropriate second conic projection model parameters for a given pose during surgery are calculated by interpolation of a subset of the set of first conic projection model parameters.

Claim 26

Dependent Claim 18 words

The image guided surgery system of claim 21 wherein the x-ray receiver comprises a flat panel x-ray imager.

Claim 27

Dependent Claim 19 words

The image guided surgery system of claim 24 wherein the flat panel imager is integral to the imaging device.

Claim 28

Dependent Claim 28 words

The image guided surgery system of claim 24 wherein the flat panel x-ray imager is contained in a housing and said housing is attached to the imaging device.

Claim 29

Dependent Claim 82 words

The image guided surgery system of claim 2 wherein the imaging model parameters comprise conic projection model parameters and the first means for determining said conic projection model parameters comprises: a calibration grid having markers disposed in fixed and known locations, visible in x-ray images; and means for determining the pose of the calibration grid relative to either the x-ray source or x-ray receiver; wherein the calibration grid is held in one or more poses between the x-ray source and x-ray receiver.

Claim 30

Dependent Claim 72 words

The image guided surgery system of claim 21 wherein the first means for determining the first imaging model parameters comprises: a calibration grid having markers disposed in fixed and known locations, visible in x-ray images; and means for determining the pose of the calibration grid relative to either the x-ray source or x-ray receiver; wherein the calibration grid is held in one or more poses between the x-ray source and x-ray receiver.

Claim 31

Dependent Claim 28 words

The image guided surgery system of claim 28 wherein the means for determining the pose of the calibration grid relative to the imaging device comprises a localizing device.

Claim 32

Dependent Claim 29 words

The image guided surgery system of claim 28 further comprising a mounting means for holding the calibration grid in a fixed and known pose relative to the imaging device.

Claim 33

Dependent Claim 41 words

An image guided surgery system with the set of first imaging model parameters of claim 21 wherein appropriate second imaging model parameters for a given pose are calculated by interpolation of a subset of the set of first imaging model parameters.

Claim 34

Dependent Claim 22 words

The image guided surgery system of claim 21 wherein the pose of the imaging device is calculated relative to a horizontal plane.

Claim 35

Dependent Claim 48 words

The image guided surgery system of claim 32 wherein the localizing device comprises a sensor unit, and said sensor unit is attached to a cart by a rigid support structure of known geometry and dimensions, such that the sensor unit's orientation relative to the horizontal plane is known.

Claim 36

Dependent Claim 63 words

The image guided surgery system of claim 32 wherein the localizing device comprises a sensor unit, and said sensor unit is attached to a cart by a rigid support structure of known geometry and dimensions and adjustable joints with rotary position encoders for measuring the angular position of each joint such that the sensor unit's orientation relative to the horizontal plane is known.

Claim 37

Dependent Claim 39 words

The image guided surgery system of claim 32 wherein the localizing device comprises a sensor unit and the orientation of the sensor unit relative to the horizontal plane is determined by an inclinometer mounted on said localizer sensor unit.

Claim 38

Dependent Claim 29 words

The image guided surgery system of claim 32 wherein the orientation of the imaging device relative to the horizontal plane is calculated by inclinometers mounted on the imaging device.

Claim 39

Dependent Claim 75 words

The image guided surgery system of claim 21 wherein the imaging model parameters comprise mapping model parameters and the first means for determining said mapping model parameters comprises: a calibration grid having markers, visible in x-ray images; means for determining the positions of the markers in the x-ray images; and means for determining the positions of the markers relative to the x-ray receiver; wherein the calibration grid is held in proximity to the x-ray receiver.

Claim 40

Dependent Claim 150 words

A computer assisted surgery apparatus to enable a surgeon to align a first surgical tool with a second surgical tool, comprising: a first surgical tool and a second surgical tool; a localizing device for determining the pose of a first coordinate frame associated with the first surgical tool and the pose of the second surgical tool; means for displaying representations of the two surgical tools relative to one another; means for generating a computer model relating a graphic representation of the first surgical tool to the first coordinate frame associated with the first surgical tool; means for determining the pose of a picture plane relative to the first surgical tool; means for projecting the representation of the first surgical tool onto the picture plane for display on the display means; and means for superimposing the representation of the second surgical tool over the projected representation of the second surgical tool.

Claim 41

Dependent Claim 150 words

A computer assisted surgery apparatus to enable a surgeon to align a first surgical tool with a second surgical tool, comprising: a first surgical tool and a second surgical tool; a localizing device for determining the pose of a first coordinate frame associated with the first surgical tool and the pose of the second surgical tool; means for displaying representations of the two surgical tools relative to one another; means for generating a computer model relating a graphic representation of the first surgical tool to the first coordinate frame associated with the first surgical tool; means for determining the pose of a picture plane relative to the first surgical tool; means for projecting the representation of the first surgical tool onto the picture plane for display on the display means; and means for superimposing the representation of the second surgical tool over the projected representation of the second surgical tool.

Claim 42

Dependent Claim 27 words

The computer assisted surgery apparatus of claim 38 wherein the first surgical tool is attached in a fixed and known relationship to an implant or other object.

Claim 43

Dependent Claim 169 words

A computer assisted surgery apparatus to enable a surgeon to align a first surgical tool with a second surgical tool, comprising: a first surgical tool and a second surgical tool; a localizing device for determining the poses of the first and second surgical tools; and means for displaying representations of the two surgical tools relative to one another; wherein an axis of the first surgical tool is to be aligned along a line between a point on the first surgical tool and a reference point on the second surgical tool, and wherein a picture plane is defined that is perpendicular to said line and contains the reference point of the second surgical tool, and wherein alignment representations corresponding to the reference point on the second surgical tool and the intersection of said axis of the first surgical tool with the picture plane are displayed, such that the alignment representations are coincident when said axis of the first surgical tool passes through the reference point of the second surgical tool.

Claim 44

Dependent Claim 169 words

A computer assisted surgery apparatus to enable a surgeon to align a first surgical tool with a second surgical tool, comprising: a first surgical tool and a second surgical tool; a localizing device for determining the poses of the first and second surgical tools; and means for displaying representations of the two surgical tools relative to one another; wherein an axis of the first surgical tool is to be aligned along a line between a point on the first surgical tool and a reference point on the second surgical tool, and wherein a picture plane is defined that is perpendicular to said line and contains the reference point of the second surgical tool, and wherein alignment representations corresponding to the reference point on the second surgical tool and the intersection of said axis of the first surgical tool with the picture plane are displayed, such that the alignment representations are coincident when said axis of the first surgical tool passes through the reference point of the second surgical tool.

Claim 45

Dependent Claim 32 words

The computer assisted surgery apparatus of claim 40 further comprising means for displaying the distance from a point on the first surgical tool to the reference point of the second surgical tool.

Claim 46

Dependent Claim 149 words

An image guided surgery system to enable a surgeon to move one or more surgical tools into a desired pose relative to a body part, comprising: an imaging device for generating a plurality of images of the body part; a plurality of tracked objects and a first tracked object is a surgical tool; a localizing device comprising one or more controllers and two or more sensor units, each with an associated coordinate frame and comprising a plurality of individual sensor elements and each sensor unit capable of providing sufficient data to permit the calculation of the poses of the tracked objects; means for determining the poses of the tracked objects based on the data from one or more sensor units; means for displaying representations of the surgical tool relative to images of the body part; and means for determining the relationship among the coordinate frames of the sensor units.

Claim 47

Dependent Claim 149 words

An image guided surgery system to enable a surgeon to move one or more surgical tools into a desired pose relative to a body part, comprising: an imaging device for generating a plurality of images of the body part; a plurality of tracked objects and a first tracked object is a surgical tool; a localizing device comprising one or more controllers and two or more sensor units, each with an associated coordinate frame and comprising a plurality of individual sensor elements and each sensor unit capable of providing sufficient data to permit the calculation of the poses of the tracked objects; means for determining the poses of the tracked objects based on the data from one or more sensor units; means for displaying representations of the surgical tool relative to images of the body part; and means for determining the relationship among the coordinate frames of the sensor units.

Claim 48

Dependent Claim 40 words

The image guided surgery system of claim 42 wherein the pose of the surgical tool is read from a first sensor unit, and a second tracked object is the imaging device whose pose is read from a second sensor unit.

Claim 49

Dependent Claim 44 words

The image guided surgery system of claim 42 wherein the pose of the surgical tool or a second tracked object is determined from data from a first sensor unit, data from a second sensor unit, or simultaneous data from more than one sensor unit.

Claim 50

Dependent Claim 21 words

The image guided surgery system of claim 42 wherein the sensor elements are mounted on the ceiling of an operating room.

Claim 51

Dependent Claim 90 words

The image guided surgery system of claim 42 wherein the means for determining the relationship among the coordinate frames of two or more sensor units comprises: a registration object having a plurality of localizing emitters in a fixed and known relationship and spaced such that one or more localizing emitters are visible to two or more sensor units substantially simultaneously; and means to calculate the relationship between the two or more sensor units from the registration object pose or poses as calculated from data from each of the sensor units.

Claim 52

Dependent Claim 129 words

An image guided surgery system to enable a surgeon to verify the accuracy of superpositioning a representation of a surgical tool on an image comprising: an imaging device for generating a plurality of images; one or more surgical tools whose poses relative to the imaging device can be tracked by a localizing device; means for recording the pose of a surgical tool substantially simultaneous to the acquisition of an image of the surgical tool; and means for calculating and displaying a representations of the surgical tool at the recorded pose relative to the image of the surgical tool; whereas the surgeon has sufficient time to determine the accuracy with which the surgical tool in the image is overlaid by the representation of the surgical tool at its recorded pose.

Claim 53

Dependent Claim 129 words

An image guided surgery system to enable a surgeon to verify the accuracy of superpositioning a representation of a surgical tool on an image comprising: an imaging device for generating a plurality of images; one or more surgical tools whose poses relative to the imaging device can be tracked by a localizing device; means for recording the pose of a surgical tool substantially simultaneous to the acquisition of an image of the surgical tool; and means for calculating and displaying a representations of the surgical tool at the recorded pose relative to the image of the surgical tool; whereas the surgeon has sufficient time to determine the accuracy with which the surgical tool in the image is overlaid by the representation of the surgical tool at its recorded pose.

Claim 54

Dependent Claim 30 words

The image guided surgery system of claim 47 further comprising a timer of predetermined value for providing the surgeon with said sufficient time to determine the accuracy of the system.

Claim 55

Dependent Claim 32 words

The image guided surgery system of claim 47 further comprising means for allowing the surgeon to enable or disable the display of the representation of the surgical tool at its recorded pose.

Claim 56

Dependent Claim 145 words

An image guided surgery system to enable a surgeon to move one or more hand-held instruments into a desired pose relative to a body part, comprising: a surgical tool whose pose can be tracked by a localizing device; a display device having a screen defining a plane in a known pose relative to the localizing device; means for calculating the pose of the surgical tool and for calculating the location where the trajectory of a specified axis of the surgical tool intersects the plane of the display device; means for comparing the location of the intersection with locations of predefined fields in the plane of the display device; and means for initiating an action associated with each field if an activation criterion is met; wherein the surgeon may provide input to the system via selection of a predefined field and satisfaction of the activation criterion.

Claim 57

Dependent Claim 145 words

An image guided surgery system to enable a surgeon to move one or more hand-held instruments into a desired pose relative to a body part, comprising: a surgical tool whose pose can be tracked by a localizing device; a display device having a screen defining a plane in a known pose relative to the localizing device; means for calculating the pose of the surgical tool and for calculating the location where the trajectory of a specified axis of the surgical tool intersects the plane of the display device; means for comparing the location of the intersection with locations of predefined fields in the plane of the display device; and means for initiating an action associated with each field if an activation criterion is met; wherein the surgeon may provide input to the system via selection of a predefined field and satisfaction of the activation criterion.

Claim 58

Dependent Claim 24 words

The image guided surgery system of claim 50 wherein the activation criterion comprises the activation of a button, trigger, switch, or voice activated switch.

Claim 59

Dependent Claim 25 words

The image guided surgery system of claim 50 wherein the activation criterion comprises the continued selection of a field for a specified period of time.

Claim 60

Dependent Claim 19 words

The image guided surgery system of claim 50 wherein the activation criterion comprises performance of a characteristic tool motion.

Claim 61

Dependent Claim 88 words

An image guided system to enable an operator to move one or more tools into a desired pose relative to a work piece, comprising: an imaging device for generating a plurality of two-dimensional images of a work piece, said imaging device including an x-ray generator and a flat panel x-ray imager; at least one tool; a localizing device for measuring the three-dimensional pose of the tool; and a means for displaying representations of the three-dimensional pose of the tool relative to the two-dimensional images of the work piece.

Claim 62

Dependent Claim 88 words

An image guided system to enable an operator to move one or more tools into a desired pose relative to a work piece, comprising: an imaging device for generating a plurality of two-dimensional images of a work piece, said imaging device including an x-ray generator and a flat panel x-ray imager; at least one tool; a localizing device for measuring the three-dimensional pose of the tool; and a means for displaying representations of the three-dimensional pose of the tool relative to the two-dimensional images of the work piece.

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	2004-09-03	2005-03-05	2005-09-04	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	2008-09-03	2009-03-05	2009-09-04	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	2012-09-03	2013-03-05	2013-09-04	$7700.00	Window Closed / Lapsed

Computer assisted targeting device for use in orthopaedic surgery

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