System and method for projected tool trajectories for surgical navigation systems
The present disclosure teaches a system and method for communicating the spatial position and orientation of surgical instruments with respect to a surgical area of interest. Using a visual display of a surgical site generated by a camera feed, a computer generates a virtual overlay of the location and projected trajectory of a surgical instrument based on its current position and orientation. Position and orientation information is generated and stored using tracking markers and a tracking sensor in information communication with the computer.
1. A method for communicating a distance of a surgical instrument from an object in a surgical area of interest, comprising:
determining a relative position and orientation between at least one non-contact distance acquiring device, having a known relative position and orientation, and a the surgical instrument, thereby providing a determined relative position and orientation between the at least one non-contact distance acquiring device and the surgical instrument;
acquiring a first distance, between said at least one non-contact distance acquiring device, having the known relative position and orientation, and the object in the surgical area of interest;
computing, using the determined relative position and orientation between the at least one non-contact distance acquiring device and the surgical instrument and the first distance, a second distance between the surgical instrument and the object;
communicating the second distance; and
overlaying onto the image feed a projected trajectory of the surgical instrument on a visual display.
2. The method according to claim 1 , wherein a visual cue is provided by changing one or more line characteristics of the projected trajectory.
3. The method according to claim 2 , wherein said one or more line characteristics include a color, thickness, line pattern, and any combination thereof.
4. The method according to claim 1 , wherein the known relative position and orientation of one or more non-contact acquiring devices an imaging detector with respect to the surgical instrument is acquired by a tracking system.
5. The method according to claim 4 , wherein said tracking system includes one or more tracking markers on at least the surgical instrument and a tracking sensor for tracking said one or more tracking markers.
6. The method according to claim 1 , wherein the object in a surgical area of interest is tissue of a patient being operated on.
7. The method according to claim 1 , wherein the non-contact distance acquiring device is a laser range finder.
8. The method according to claim 1 , wherein the non-contact distance acquiring device is a structured light detection device for 3D imaging.
9. The method according to claim 1 , wherein the non-contact distance acquiring device is an ultrasonic transducer.
10. The method according to claim 1 , wherein the non-contact distance acquiring device is attached to the surgical instrument.
11. The method according to claim 1 , wherein the non-contact distance acquiring device is at a remote location from the surgical instrument.
12. The method according to claim 4 , wherein said imaging detector is selected from a group consisting of a digital camera, a MRI, a CT scanner, an X-ray scanner, a PET scanner, or an ultrasonic scanner.
13. The method according to claim 1 , wherein said visual display is a digital display, a heads-up display, a monitor, a navigation instrument display or a microscope display.
14. The method according to claim 1 , wherein at least one distance threshold is programmable into the computer such that when the distance between the surgical instrument and the object reduces below or reaches the at least one distance threshold, an alert is triggered.
15. The method according to claim 14 , wherein the alert is a visual alert, an audio alert or a tactile alert.
16. The method according to claim 1 further comprising displaying the depth of the object in the surgical area of interest in the direction of the trajectory of the surgical instrument.