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 system for performing image-guided surgery, comprising:
an instrument having a first portion configured to define a trajectory into a body of a patient, a marker device and a user-interface component;
a sensing device configured to receive electromagnetic signals that are reflected or emitted from the marker device;
a processing system, coupled to the sensing device, and including at least one processor configured with processor-executable instructions to perform operations comprising:
tracking the position and orientation of the instrument relative to the patient based on the signals received at the sensing device;
tracking a motion of the instrument 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;
in response to receiving the signal, saving the trajectory into the body of the patient defined by the first portion of the instrument;
receiving a second signal from the user-interface component of the instrument indicating a second user-input event; and
in response to receiving the second signal, saving a target location within the body of the patient based on the motion of the instrument.
2. The system of claim 1 , wherein the instrument comprises a handheld instrument and the first portion comprises an elongated portion defining a longitudinal axis and having a tip end, and the trajectory into the body is defined by a ray projected forward from the tip end into the body and extending parallel to the longitudinal axis.
3. The system of claim 1 , wherein the user-interface component of the instrument comprises a button coupled to a wireless transmitter for transmitting a user-command signal to the processing system in response to a button push.
4. The system of claim 1 , further comprising a display device, wherein the processor of the processing system is configured with processor-executable instructions to perform operations further comprising:
displaying on the display device a graphical element indicating the trajectory into the body of the patient defined by the instrument.
5. The system of claim 4 , wherein the graphical element is displayed in conjunction with image data of the patient obtained using an imaging device.
6. The system of claim 1 , further comprising a display device, wherein the processor of the processing system is configured with processor-executable instructions to perform operations further comprising:
displaying on the display device a graphical element indicating the target location within the body of the patient.
7. The system of claim 1 , wherein the instrument further comprises an inertial measurement unit, and the at least one processor of the processing system is configured with processor-executable instructions to perform operations further comprising:
receiving measurement data from the inertial measurement unit; and
determining the position and orientation of the instrument relative to the patient based on the measurement data from the inertial measurement unit.
8. The system of claim 1 , wherein the instrument further comprises a haptic feedback mechanism that is configured to provide haptic feedback to a user based on a position and/or orientation of the instrument relative to the patient.
9. A system for performing image-guided surgery, comprising:
an instrument having a first portion configured to define a trajectory into a body of a patient, a marker device, an inertial measurement unit, and a user-interface component;
a sensing device configured to receive electromagnetic signals that are reflected or emitted from the marker device;
a processing system, coupled to the sensing device, and including at least one processor configured with processor-executable instructions to perform operations comprising:
tracking the position and orientation of the instrument relative to the patient based on the signals received at the sensing device;
determining the position and orientation of the instrument relative to the patient based on measurement data from the inertial measurement unit;
receiving a signal from the user-interface component of the instrument indicating a user-input event; and
in response to receiving the signal, saving the trajectory into the body of the patient defined by the first portion of the instrument.
10. The system of claim 9 , wherein the instrument comprises a handheld instrument and the first portion comprises an elongated portion defining a longitudinal axis and having a tip end, and the trajectory into the body is defined by a ray projected forward from the tip end into the body and extending parallel to the longitudinal axis.
11. The system of claim 9 , wherein the user-interface component of the instrument comprises a button coupled to a wireless transmitter for transmitting a user-command signal to the processing system in response to a button push.
12. The system of claim 9 , further comprising a display device, wherein the processor of the processing system is configured with processor-executable instructions to perform operations further comprising:
displaying on the display device a graphical element indicating the trajectory into the body of the patient defined by the instrument.
13. The system of claim 12 , wherein the graphical element is displayed in conjunction with image data of the patient obtained using an imaging device.
14. The system of claim 9 , wherein the processor is configured with processor-executable instructions to perform operations further comprising:
tracking a motion of the instrument based on the signals received at the sensing device;
receiving a second signal from the user-interface component of the instrument indicating a second user-input event; and
in response to receiving the second signal, saving a target location within the body of the patient based on the motion of the instrument.
15. The system of claim 14 , further comprising a display device, wherein the processor of the processing system is configured with processor-executable instructions to perform operations further comprising:
displaying on the display device a graphical element indicating the target location within the body of the patient.
16. The system of claim 9 , wherein the instrument further comprises a haptic feedback mechanism that is configured to provide haptic feedback to a user based on a position and/or orientation of the instrument relative to the patient.