SURGICAL NAVIGATION SYSTEM WITH ONE OR MORE BODY BORNE COMPONENTS AND METHOD THEREFOR
A system for performing a navigated surgery comprises a first target attached to a patient at a surgical site and a second target at the surgical site. An optical sensor is coupled to the user and detects the first target and second target simultaneously in a working volume of the sensor. An intra-operative computing unit (ICU) receives sensor data concerning the first target and second target, calculates a relative pose and provides display information. The sensor can be handheld, body-mounted or head-mounted, and communicate wirelessly with the ICU. The sensor may also be mountable on a fixed structure (e.g. proximate) and in alignment with the surgical site. The ICU may receive user input via the sensor, where the user input is at least one of sensor motions, voice commands, and gestures presented to the optical sensor by the user. The display information may be presented via a (heads-up) display unit.
1 . A system for performing a navigated surgery at a surgical site of a patient, the system comprising:
a first target configured to be attached to the patient at the surgical site;
a second target at the surgical site;
a sensor configured to be coupled to a user, the sensor comprising an optical sensor configured to detect the first target and second target simultaneously; and
an intra-operative computing unit (ICU) configured to:
receive, from the sensor, sensor data concerning the first target and second target;
calculate the relative pose between the first target and second target; and
based on the relative pose, provide display information to a display unit.
2 . The system of claim 1 wherein the second target is a static reference target.
3 . The system of claim 1 wherein the second target is attached to one of:
a surgical instrument;
a bone cutting guide; and
a bone.
4 . The system of claim 1 , wherein the sensor is configured to be at least one of:
handheld;
body-mounted; and
head-mounted.
5 . The system of claim 1 , wherein a sensor working volume fir the sensor is in alignment with a field of view of the user.
6 . The system of claim 1 , wherein the sensor communicates wirelessly with the ICU.
7 . The system of claim 1 , wherein the sensor is communicatively connected by wire to as sensor control unit and the sensor control unit is configured to wirelessly communicate with the ICU.
8 . The system of claim 1 , wherein the sensor is further configured to be mountable on a fixed structure.
9 . The system of claim 1 , wherein the ICU is further configured to present, via the display unit, where the targets are with respect to the sensor field of view.
10 . The system of claim 9 , wherein the ICU is further configured to present, via the display unit, an optical sensor video feed from the optical sensor.
11 . The system of claim 9 , wherein the ICU is further configured to receive user input via the sensor by at least one of:
receiving motions of the sensor, where the sensor has additional sensing capabilities to sense motions;
receiving voice commands, where the sensor further comprises a microphone; and
receiving gestures presented to the optical sensor by the user, the gestures being associated with specific commands.
12 . The system of claim 1 further comprising a display unit wherein the display unit is further configured to be positionable within a field of view of the user while the optical sensor is detecting the first target and second target.
13 . The system of claim 12 wherein the display unit is a surgeon-worn heads up display.
14 . A computer-implemented method for performing a navigated surgery at a surgical site of a patient, the method comprising:
receiving, by at least one processor of an intra-operative computing unit (ICU), sensor data from a sensor where the sensor data comprises information for calculating the relative pose of a first target and a second target, wherein the sensor is coupled to a user and comprises an optical sensor configured to detect the first target and second target simultaneously, and wherein the first target is attached to the patient at the surgical site and the second target is located at the surgical site;
calculating, by the at least one processor, the relative pose between the first target and second target; and
based on the relative pose, providing, by at least one processor, display information to a display unit.
15 . The method of claim 14 , wherein a sensor working volume of the sensor is in alignment with a field of view of the user and the first target and second target are in the sensor working volume.
16 . The method of claim 14 , further comprising receiving, by the at least one processor further sensor data from the sensor, wherein the sensor is attached to a fixed structure such that the sensor volume is aligned with the surgical site when the sensor is attached.
17 . The method of claim 14 further comprising, receiving, by the at least one processor, user input from the sensor for invoking the at least one processor to perform an activity of the navigated surgery.
18 . The method of claim 17 wherein the user input comprises a gesture sensed by the sensor.
19 . A method comprising:
aiming an optical sensor, held by the hand, at a surgical site having two targets at the site and within a working volume of the sensor, one of the two targets attached to patient anatomy, wherein the optical sensor is in communication with a processing unit configured to determine a relative position of the two targets and provide display information, via a display unit, pertaining to the relative position; and
receiving the display information via the display unit.
20 . The method of claim 19 , further comprising providing to the processing unit user input via the sensor for invoking the processing unit to perform an activity of the navigated surgery.