Methods and systems for setting trajectories and target locations for image guided surgery
A system for performing image-guided surgery includes an instrument having a first portion configured to define a trajectory into the body of a patient, a marker device and a user-interface component. A sensing device receives electromagnetic signals that are reflected or emitted from the marker device, and a processing system, coupled to the sensing device, includes at least one processor configured with processor-executable instructions to perform operations that include tracking the position and orientation of the instrument relative to the patient based on the signals received at the sensing device, receiving a signal from the user-interface component of the instrument indicating a user-input event, and saving the trajectory into the body of the patient defined by the first portion of the instrument in response to receiving the signal.
1. A method for performing image guided surgery, comprising:
tracking a surgical instrument using optically-based motion tracking;
tracking the surgical instrument using inertial navigation when the optically-based motion tracking is not available, the inertial navigation including:
measuring a linear acceleration and an angular velocity of the surgical instrument with an accelerometer and a gyroscope;
transmitting a signal corresponding to the linear acceleration and the angular velocity to a computing device;
receiving, at the computing device, the signal corresponding to the linear acceleration and the angular velocity; and
notifying a user when an accuracy criteria for the inertial navigation is not satisfied.
2. The method of claim 1 , wherein the accuracy criteria comprises a time period for tracking using inertial navigation without a position state update from an external source.
3. The method of claim 1 , wherein tracking the surgical instrument using inertial navigation comprises receiving, at a computing device, measurement data from one or more inertial sensors located on the surgical instrument over a wireless communication link.
4. The method of claim 1 , wherein the accuracy criteria further comprises a variance among tracking measurements obtained using multiple inertial sensors located on the surgical instrument.
5. The method of claim 1 , wherein the linear acceleration of the surgical instrument is measured in a three-dimensional space.
6. The method of claim 1 , wherein the angular velocity of the surgical instrument is measured in a three-dimensional space.
7. The method of claim 1 , wherein tracking the surgical instrument using inertial navigation includes determining a position and an orientation of the surgical instrument with respect to an initial inertial reference frame via dead reckoning.
8. The method of claim 1 , further comprising:
initializing the surgical instrument based on a known initial position, a known initial orientation, a known velocity, or combinations thereof.
9. The method of claim 8 , wherein initializing the surgical instrument is performed with optically-based motion tracking.
10. The method of claim 1 , wherein notifying the user when accuracy criteria for the inertial navigation is not satisfied comprises activating an audible alert.
11. The method of claim 1 , wherein notifying the user when accuracy criteria for the inertial navigation is not satisfied comprises activating a visual alert.
12. The method of claim 1 , further comprising:
discontinuing tracking of the surgical instrument using inertial navigation until new tracking data from the optically-based motion tracking is acquired.
13. A system for performing image-guided surgery, comprising:
a surgical instrument including:
at least one inertial sensor including an accelerometer and a gyroscope;
an optical marker device; and
a transmitter for transmitting data from the surgical instrument;
a sensing device configured to receive electromagnetic signals that are reflected or emitted from the optical marker device;
a receiver for receiving data transmitted from the surgical instrument; and
a processing system, coupled to the sensing device and to the receiver, and including at least one processor configured with processor-executable instructions to perform operations comprising:
tracking a surgical instrument using optically-based motion tracking;
tracking the surgical instrument using inertial navigation when the optically-based motion tracking is not available, the inertial navigation including:
measuring a linear acceleration and an angular velocity of the surgical instrument with the inertial sensor;
transmitting a signal corresponding to the linear acceleration and the angular velocity to the receiver; and
notifying a user when an accuracy criteria for the inertial navigation is not satisfied.