Soft body automatic registration and surgical monitoring system
A surgical hardware and software monitoring system and method allows for surgical planning while the patient is available for surgery, for example while the patient is being prepared for surgery so that the system may model the surgical site. In one embodiment, the model may be used to track contemplated surgical procedures and warn the physician regarding possible boundary violations that would indicate an inappropriate location in a surgical procedure. In another embodiment, the monitoring system may track the movement of instruments during the procedure and in reference to the model to enhance observation of the procedure. In a further embodiment the monitoring system can be used to model and track the changes in the surgical site itself.
1. A system for monitoring a surgical site, comprising: a single predetermined radio opaque marker having a radio opaque pattern with a configuration having determinable orientation, said marker structured and arranged to affix to a portion of a body proximate to a surgical site; a non-stereo tracker capable of observing the surgical site, and a computing device coupled to said tracker and adapted to receive observation data from said tracker, said computing device having a processor and memory storing software that when executed by said processor enables said processor to recognize the pattern and calculate a model of the surgical sited based on the identity of the pattern and changes in shape of the pattern based on the observation data received from said tracker.
2. The surgical monitoring system of claim 1 wherein the marker pattern is configured in at least one of marked and shaped for having at least one of its location and its orientation determined from the scan data.
3. The surgical monitoring system of claim 1 wherein the marker pattern is configured in at least one of marked and shaped to allow the marker pattern to be uniquely identified from the scan data.
4. The surgical monitoring system of claim 1 further comprising a tracking marker in fixed three-dimensional spatial relationship with the marker pattern, wherein the tracking marker is configured for having at least one of its location and its orientation determined by the controller based on the image information and the scan data.
5. The surgical monitoring system of claim 1 wherein the marker pattern includes a multi-element fiducial pattern comprising a plurality of pattern segments and every one of said plurality of segments is individually configured for having a segmental three-dimensional location and orientation determinable based on scan data of the surgical site, and for having the segmental three-dimensional location and orientation determinable based on image information about the surgical site.
6. The surgical monitoring system of claim 5 wherein the plurality of pattern segments have unique differentiable shapes that allow the controller to identify them uniquely from at least one of scan data and image information.
7. The surgical monitoring system of claim 5 further comprising tracking markers attached to at least a selection of the pattern segments, the tracking markers having at least one of identifying marks and orientation marks that allow their three-dimensional orientations to be determined by the controller from the image information.
8. The surgical monitoring system of claim 5 wherein the controller is configured for determining the locations and orientations of at least a selection of the pattern segments based on image information and scan data.
9. The surgical monitoring system of claim 5 wherein the software when executed by the processor further calculates the locations of anatomical features in the proximity of the multi-element fiducial pattern.
10. A surgical monitoring system comprising a non-stereo tracker for obtaining image information, a controller having a controller with a processor and being in communication with memory storing previously obtained scan data, a single fiducial reference having a configuration with a determinable orientation, said fiducial reference configured for attaching to a portion of the body proximate a surgical site, the fiducial reference being observable by the tracker, the controller having a processor with software that when executed by the processor determines three-dimensional location and orientation based on scan data and image data of the surgical site, and spatially relates the image information to the scan data to determine the three-dimensional location and the orientation of the fiducial reference.
11. The surgical monitoring system of claim 10 wherein the fiducial reference is configured in at least one of marked and shaped for having at least one of its location and its orientation determined from the scan data.
12. The surgical monitoring system of claim 10 wherein the fiducial reference is configured in at least one of marked and shaped to allow the fiducial reference to be uniquely identified from the scan data.
13. The surgical monitoring system of claim 10 further comprising a tracking marker in fixed three-dimensional spatial relationship with the fiducial reference, wherein the tracking marker is configured for having at least one of its location and its orientation determined by the controller based on the image information and the scan data.
14. The surgical monitoring system of claim 10 further comprising a first tracking pole, wherein the tracking marker is configured to be removably and rigidly connected to the fiducial reference by the first tracking pole.
15. The surgical monitoring system of claim 14 wherein that the first tracking pole has a three-dimensional structure uniquely identifiable by the controller from the image information.
16. The surgical monitoring system of claim 15 wherein the first tracking pole has a three-dimensional structure allowing for three-dimensional orientation to be determined by the controller from image information.
17. The surgical monitoring system of claim 15 wherein the first tracking pole and fiducial reference are configured to allow the first tracking pole to connect to a single unique location on the fiducial reference in a first single unique three-dimensional orientation.
18. The surgical monitoring system of claim 15 wherein the fiducial reference is configured for the attachment in a single second unique three-dimensional orientation of at least a second tracking pole attached to a second tracking marker.
19. The surgical monitoring system of claim 15 wherein the first tracking marker has a three-dimensional shape uniquely identifiable by the controller from image information.
20. The surgical monitoring system of claim 15 wherein the first tracking marker has a three-dimensional shape that allows three-dimensional orientation to be determined by the controller from image information.
21. The surgical monitoring system of claim 15 wherein the first tracking marker has a marking uniquely identifiable by the controller and the marking is configured for allowing at least one of its location and its orientation to be determined by the controller based on the image information and the scan data.
22. The surgical monitoring system of claim 10 wherein the fiducial reference includes a multi-element fiducial pattern comprising a plurality of pattern segments and every one of said plurality of segments is individually configured for having a segmental three-dimensional location and orientation determinable based on scan data of the surgical site, and for having the segmental three-dimensional location and orientation determinable based on image information about the surgical site.
23. The surgical monitoring system of claim 22 wherein the plurality of pattern segments have unique differentiable shapes that allow the controller to identify them uniquely from at least one of scan data and image information.
24. The surgical monitoring system of claim 22 further comprising tracking markers attached to at least a selection of the pattern segments, the tracking markers having at least one of identifying marks and orientation marks that allow their three-dimensional orientations to be determined by the controller from the image information.
25. The surgical monitoring system of claim 22 wherein the controller is configured for determining the locations and orientations of at least a selection of the pattern segments based on image information and scan data.
26. The surgical monitoring system of claim 22 wherein the software when executed by the processor further calculates the locations of anatomical features in the proximity of the multi-element fiducial pattern.
27. The surgical monitoring system of claim 10 further comprising tracking markers attached to implements proximate the surgery site, wherein the controller is configured for determining locations and orientations of implements based on image information and information about the further tracking markers.