Surgical location monitoring system and method
The present invention involves a surgical hardware and software monitoring system and method which 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 hardware may track the movement of instruments during the procedure and in reference to the model to enhance observation of the procedure.
1. A method for monitoring a surgical site, comprising:
attaching a key to a location proximate to a surgical site, the key having a marking perceptible on a scan;
creating a first scan of the surgical location with the key attached;
connecting a marker to the key;
obtaining sensory data from a non-stereo sensor proximate the surgical site and communicating the sensory data to a computing device; and
calculating and displaying a model of the surgical site by the computing device based on the scan, the identity of the key, and the observation data received from said tracker.
2. The method of claim 1 wherein the key consists of a specific material that is distinctly identifiable on an X-ray, Magnetic Resonance Imaging (MRI), computerized tomography (CT), sonography, or cone beam computerized tomography (CBCT).
3. The method of claim 1 wherein the connecting step includes using a plurality of markers attached to other items wherein said software program further determines the position and orientation of the plurality of markers.
4. The method of claim 1 wherein the key has a distinct shape which allows its position and orientation to be determined from the scan data.
5. The method of claim 1 wherein the key has a label in a predetermined position such that the orientation of the key is determined from scan data.
6. The method of claim 1 wherein the key is configured and arranged to fit the part of the patient being scanned.
7. The method of claim 1 wherein the marker has a distinct sensible characteristic which is identifiable in information from the sensor.
8. The method of claim 1 wherein the marker has a distinct shape such that the orientation of the key is determined from an image, or sequence of images, from the sensor.
9. The method of claim 1 wherein the marker is identifiable as a specific code determinable from sensor information.
10. The method of claim 1 wherein the marker is adaptable in its physical arrangement to permit unobstructed access to an operation site during different procedures or stages of a procedure.
11. The method of claim 1 wherein the step of connecting the marker involves using a mounting arrangement to connect the key and the marker, the mounting arrangement arranged such that the marker is removable such that a second marker is positionable in the mounting arrangement and the relative position of the second marker and the key is preserved.
12. The method of claim 9 wherein the specific code determines a specific marker whose position and orientation relative to the fiducial reference is known and fixed.
13. The method of claim 1 wherein the connecting step includes using a plurality of markers, each of the markers being attached to a corresponding implement such that the positions and orientations of the implements are determined by the computing device in the calculating step.
14. The method of claim 13 wherein the position and orientation of the plurality of markers is detected contemporaneously relative to the key.
15. The method of claim 13 wherein each of the plurality of markers are individually distinct so that identity of the attached implement is determinable from sensor information.
16. The method of claim 13 wherein each of the corresponding instruments has an operating point and the computing device determines the position of the operating point relative to the patient scan data.
17. The method of claim 16 wherein the operating point may be one of a drill bit of a dental drill, a sensor of an endoscope, and a blade of a scalpel.
18. The method of claim 13 wherein one of the corresponding instruments has multiple distinct identifiable markers attached to different parts of the one implement such at least one of the multiple distinct markers are apparent to the sensor in any orientation of the one implement.
19. The method of claim 13 wherein the implement is one of a dental drill, an endoscope, a biopsy needle and a surgical implant.
20. A method for monitoring a surgical site, comprising:
attaching a key to a location proximate to a surgical site, the key having a marking perceptible on a scan;
creating a first scan of the surgical location with the key attached;
connecting a marker to the key;
obtaining sensory data from a non-stereo sensor proximate the surgical site and communicating the sensory data to a computing device; and
calculating a transformational matrix to be used in displaying a visual representation of the surgical site by the computing device based on the scan, the identity of the key, and the observation data received from said tracker.