Adapter for surgical navigation trackers
View Patent ↗An adapter can be easily used to assist a surgical navigation system to determine the effector axis or the effector plane of a surgical instrument. The adapter has a body with a geometrical feature, the geometrical feature has a known relation with a navigation tracker device that can be attached to the adapter. When the adapter is held against a surgical instrument in a non-fixed manner, the effector axis or the effector plane of the instrument can be tracked by the surgical navigation system. The method includes a calibration method to determine the known relation between the effector axis or the effector plane and the location of the navigation tracker.
1. A system for orienting a surgical instrument, comprising:
a surgical navigation system having a display unit;
an adapter having a body including a geometrical feature defining an unobstructed axial channel extending along the body capable of being movably coupled with respect to a surgical instrument having an effector axis;
a navigation tracker attached directly to the adapter, the navigation tracker capable of being tracked by the navigation system, wherein the adapter has a known relation between the navigation tracker and the effector axis when the surgical instrument is non-fixedly disposed in the axial channel;
a first circuit adapted to calculate an orientation of the effector axis of the surgical instrument from the known relation between the navigation tracker and the effector axis while the surgical instrument is movably coupled to the adapter in the entire length of the axial channel; and
a second circuit for displaying the orientation of the effector axis of the surgical instrument on a display unit.
2. The system of claim 1 wherein the known relation between the navigation tracker and the effector axis is determined by rotating the navigation tracker relative to the effector axis.
3. The system of claim 1 wherein the body has a first side, a second side, and the geometrical feature is on the second side capable of being movably coupled with respect to the surgical instrument.
4. The system of claim 3 wherein the geometrical feature is shaped to allow a reproducible alignment between the adapter and the effector axis.
5. The system of claim 3 wherein the geometrical feature is a V-shaped channel.
6. The system of claim 3 wherein the geometrical feature is a series of spaced lugs on the second side.
7. The system of claim 3 wherein the second side is comprised of a hard surface to prevent wearing when held against the surgical instrument.
8. The system of claim 1 wherein a hand can easily hold the adapter in place relative to the surgical instrument.
9. The system of claim 1 wherein the system further includes a database of the known relations of the navigation tracker to the effector axis of the surgical instrument, and wherein the database provides the known relation to the first circuit.
10. The system of claim 1 wherein the navigation tracker is an optical tracking device.
11. The system of claim 10 wherein the optical tracking device includes infrared LED's.
12. A system for orienting a surgical instrument, comprising:
a surgical navigation system having a display unit;
an adapter having a body including a geometrical feature defining an unobstructed axial channel extending along the body capable of being movably coupled with respect to a surgical instrument having an effector plane;
a navigation tracker attached directly to the adapter, the navigation tracker capable of being tracked by the navigation system, wherein the adapter has a known relation between the navigation tracker and the effector plane when the surgical instrument is non-fixedly disposed in the axial channel;
a first circuit adapted to calculate an orientation of the effector plane of the surgical instrument from the known relation between the navigation tracker and the effector plane while the surgical instrument is movably coupled to the adapter in the entire length of the axial channel; and
a second circuit for displaying the orientation of the effector plane of the surgical instrument on a display unit.
13. The system of claim 12 wherein the known relation between the navigation tracker and the effector plane is determined by inverting the navigation tracker relative to the effector plane.
14. The system of claim 12 wherein the body has a first side, a second side, and the geometrical feature is on the second side capable of being movably coupled with respect to the surgical instrument.
15. The system of claim 14 wherein the geometrical feature is shaped to allow a reproducible alignment between the adapter and the effector plane.
16. The system of claim 14 wherein the geometrical feature is a V-shaped channel.
17. The system of claim 14 wherein the geometrical feature is a series of spaced lugs on the second side.
18. The system of claim 17 wherein the second side is flat.
19. The system of claim 14 wherein the second side is comprised of a hard surface to prevent wearing when held against the surgical instrument.
20. The system of claim 12 wherein a hand can easily hold the adapter in place relative to the surgical instrument.
21. The system of claim 12 wherein the system further includes a database of the known relations of the navigation tracker to the effector plane, and wherein the database provides the known relation to the first circuit.
22. The system of claim 12 wherein the navigation tracker is an optical tracking device.
23. The system of claim 21 wherein the optical tracking device includes infrared LED's.
24. A method for orienting a surgical instrument, the method comprising the steps of:
coupling an adapter to a surgical instrument in a movable manner by a user's hand exerting pressure against the surgical instrument to hold the surgical instrument against the adapter, the surgical instrument having an effector axis;
attaching the adapter directly to a navigation tracker, the navigation tracker capable of communicating with a navigation system, the adapter having a known relation between the navigation tracker and the effector axis;
calculating orientation data for the effector axis of the surgical instrument from the known relation between the navigation tracker and the effector axis while the surgical instrument is movably coupled with respect to the adapter by the user's hand and the adapter will fall away from the instrument if the hand pressure is removed; and
displaying the orientation data for the effector axis of the surgical instrument on a display unit of the navigation system so that when the surgical instrument is used with the navigation system, the orientation of the effector axis of the surgical instrument can be tracked by the navigation system.
25. The method of claim 24 including the additional step of calibrating the known relation of the navigation tracker to the effector axis by rotating the navigation tracker relative to the effector axis.
26. The method of claim 24 wherein the adapter has a body with a first side, a second side, and a geometrical feature on the second side capable of being movably coupled with respect to the surgical instrument.
27. The method of claim 26 wherein the geometrical feature is suitably shaped to allow a reproducible alignment between the adapter and the effector axis.
28. The method of claim 26 wherein the geometrical feature is a V-shaped channel.
29. The method of claim 26 wherein the geometrical feature is a series of lugs on the second side.
30. The method of claim 26 wherein the second side is comprised of a hard surface to prevent wearing when held against the surgical instrument.
31. The method of claim 24 including the additional step of providing a database of the known relations of the navigation tracker to the effector axis, the database being utilized to calculate the orientation of the surgical instrument.
32. The method of claim 24 wherein the navigation tracker is an optical tracking device.
33. The method of claim 32 wherein the optical tracking device includes infrared LED's.
34. A method for orienting a surgical instrument, the method comprising the steps of:
coupling an adapter to a surgical instrument in a movable manner by a user's hand exerting pressure against the surgical instrument to hold the surgical instrument against the adapter, the surgical instrument having an effector plane;
attaching the adapter directly to a navigation tracker, the navigation tracker capable of communicating with a navigation system, the adapter having a known relation between the navigation tracker and the effector plane;
calculating orientation data for the effector plane of the surgical instrument from the known relation between the navigation tracker and the effector axis while the surgical instrument is movably coupled with respect to the adapter by the user's hand and the adapter will fall away from the instrument if the hand pressure is removed; and
displaying the orientation data for the effector plane of the surgical instrument on a display unit of the navigation system so that when the surgical instrument is used with the navigation system, the orientation of the effector plane of the surgical instrument can be tracked by the navigation system.
35. The method of claim 34 including the additional step of calibrating the known relation of the navigation tracker to the effector plane by inverting the navigation tracker relative to the effector axis.
36. The method of claim 34 wherein the adapter has a body with a geometrical feature on the body capable of being movably coupled with respect to the surgical instrument.
37. The method of claim 36 wherein the geometrical feature is suitably shaped to allow a reproducible alignment between the adapter and the effector axis.
38. The method of claim 36 wherein the geometrical feature is a V-shaped channel.
39. The method of claim 36 wherein the geometrical feature is a series of lugs on the body.
40. The method of claim 39 wherein the second side is flat.
41. The method of claim 36 wherein the body is comprised of a hard surface to prevent wearing when held against the surgical instrument.
42. The method of claim 34 including the additional step of providing a database of the known relations of the navigation tracker to the effector axis, the database being utilized to calculate the orientation of the surgical instrument.
43. The method of claim 34 wherein the navigation tracker is an optical tracking device.
44. The method of claim 43 wherein the optical tracking device includes infrared LED's.
45. An adapter to attach a navigation tracker to a surgical instrument, comprising:
a body;
a connector attached to the body at a first end and having a second end;
an interface attached to the second end to enable a navigation tracker to be attached directly to the adapter, wherein the interface comprises a docking structure that releasably locks the navigation tracker into a specified position with respect to the body; and
the body having a geometrical feature to enable a surgical instrument having an effector axis to be movably coupled with respect to the body.
46. The adapter of claim 45 wherein the docking structure is a quick release device.
47. The adapter of claim 45 wherein the geometrical feature is suitably shaped to allow a reproducible alignment between the adapter and the effector axis.
48. The adapter of claim 45 wherein the geometrical feature is a V-shaped channel.
49. The adapter of claim 45 wherein the geometrical feature is a series of lugs on the body.
50. The adapter of claim 49 wherein the series of lugs are attached to a side of the body that is flat.
51. The adapter of claim 45 wherein the body is comprised of a hard surface to prevent wearing when held against the surgical instrument.
52. The adapter of claim 45 wherein a hand can easily hold the adapter in place relative to the surgical instrument.
53. The adapter of claim 45 wherein the body has multiple geometric features.