Surgical instrument mounted display system
A C-arm, or a mobile intensifier device, is one example of a medical imaging device that is based on X-ray technology. Because a C-arm device can display high-resolution X-ray images in real time, a physician can monitor progress at any time during an operation, and thus can take appropriate actions based on the displayed images. Monitoring the images, however, is often challenging during certain procedures, for instance during procedures in which attention must be paid to the patient's anatomy as well as a medical imaging device display. In an example, a surgical instrument assembly includes a processor, a surgical instrument configured to operate on an anatomical structure, and a display coupled to the processor and attached to the surgical instrument. The display can be configured to display visual information comprising X-ray images generated by a medical imaging device.
1. A surgical instrument assembly comprising:
a processor;
a surgical instrument configured to operate on an anatomical structure, the surgical instrument including a cutting tip configured to remove anatomical material from a target location of the anatomical structure;
a display coupled to the processor and attached to the surgical instrument, the display configured to display fluoroscopic data of the anatomical structure, the fluoroscopic data generated by an imaging device;
an orientation sensor configured to generate real-time orientation information based on an orientation of the surgical instrument;
a memory in communication with the processor, the memory having stored therein instructions that, upon execution by the processor, cause:
the surgical instrument assembly to receive the fluoroscopic data in real-time from the imaging device;
the display to display a position of the cutting tip relative to the target location on the fluoroscopic data of the anatomical structure;
generating a real-time visual indicator based on the real-time orientation information with respect to a direction of X-ray travel from an X-ray transmitter of the imaging device to an X-ray receiver of the imaging device, wherein the real-time visual indicator is generated as a predetermined visual indication as a result of the surgical instrument being aligned with the direction of X-ray travel; and
the display to display the real-time visual indicator, wherein the display displays the predetermined visual indication when the surgical instrument is aligned with the direction of X-ray travel from the X-ray transmitter to the X-ray receiver.
2. The surgical instrument assembly as recited in claim 1 , wherein the surgical instrument comprises a proximal end and a working end opposite the proximal end, wherein the working end is configured to operate on the anatomical structure, and the display is positioned so as to provide a line of sight to both the working end and the display from a location proximal of the surgical instrument.
3. The surgical instrument assembly as recited in claim 1 , the memory having further stored therein instructions that, upon execution by the processor, cause the surgical instrument assembly to display an indication of error on the display when a quality of a communication link between the imaging device and the surgical instrument assembly is below a predetermined threshold.
4. The surgical instrument assembly as recited in claim 1 , wherein the direction of X-ray travel is a current direction of X-ray travel from the X-ray transmitter to the X-ray receiver.
5. The surgical instrument assembly as recited in claim 1 , wherein the instructions, upon execution by the processor, cause the processor to generate the real-time visual indicator based on real-time orientation information of the imaging device that is representative of the direction of X-ray travel that is based on an orientation of the imaging device, cause the processor to generate the real-time visual indicator as the predetermined visual indication as a result of the surgical instrument being aligned with the direction of X-ray travel regardless of the orientation of the imaging device, and cause the display to provide the predetermined visual indication when the surgical instrument is aligned with the direction of X-ray travel regardless of the orientation of the imaging device.
6. The surgical instrument assembly as recited in claim 1 , wherein the real-time visual indicator of the alignment of the surgical instrument is based on accelerator information from an accelerometer that corresponds to the orientation of the surgical instrument, wherein the accelerometer is calibrated to the direction of X-ray travel.
7. The surgical instrument assembly as recited in claim 6 , wherein the surgical instrument assembly further comprises a computing device mounted to the surgical instrument, the computing device comprising the processor, display, memory, and the accelerometer configured to generate the accelerometer information, the accelerometer information further corresponding to an orientation of the computing device.
8. The surgical instrument assembly as recited in claim 1 , the memory having further stored therein instructions that, upon execution by the processor, cause the surgical instrument assembly to rotate the displayed fluoroscopic data on the display to a rotated orientation based on a user selection, wherein as a result of the rotation of the displayed fluoroscopic data a vertical direction on the display corresponds with a vertical direction of movement of the surgical instrument relative to the anatomical structure.
9. The surgical instrument assembly as recited in claim 8 , wherein the imaging device is further in communication with an imaging device display separate from the display that is coupled to the surgical instrument, and the fluoroscopic data in the rotated orientation are rotated as compared to fluoroscopic data displayed on the imaging device display.
10. The surgical instrument assembly as recited in claim 1 , wherein the surgical instrument is a drill having a drill bit that includes the cutting tip, and the surgical instrument assembly further comprises an alignment tool that is attached to the surgical instrument and is configured to register with a surface of the imaging device that has a predetermined orientation so as to align the drill bit with a direction of X-ray travel from an X-ray transmitter of the imaging device to an X-ray receiver of the imaging device.
11. The surgical instrument assembly as recited in claim 10 , wherein the alignment tool defines a flat surface that is configured to abut the surface of the imaging device when the drill bit is aligned with the direction of X-ray travel, the surface of the imaging device is flat, and the flat surface defines a plane, wherein as a result of aligning the drill bit with the direction of X-ray travel the drill bit would be oriented perpendicularly to the plane.
12. A method comprising the steps of:
receiving, via a wireless communications channel, a plurality of fluoroscopic images generated by a medical imaging device that is configured to transmit X-rays in a direction of X-ray travel;
generating real-time orientation information with an orientation sensor based on an orientation of a cutting instrument of a surgical instrument;
displaying, by a display attached to the surgical instrument, the plurality of fluoroscopic images;
generating a static region and a movable indicator that are based on the real-time orientation information with respect to the direction of X-ray travel, wherein the movable indicator moves relative to the static region as the cutting instrument moves relative to the direction of X-ray travel, wherein a zero value represents an alignment of the orientation of the cutting instrument with the direction of X-ray travel, wherein as the orientation of the cutting instrument moves away from the zero value the movable indicator moves away from the static region, and as the orientation of the cutting instrument moves toward the zero value the movable indicator moves toward the static region;
displaying, by the display, an orientation image that includes the static region and the movable indicator that is representative of the orientation of the cutting instrument;
displaying, by the display, as the orientation of the cutting instrument moves away from the zero value, moving the movable indicator away from the static region; and
displaying, by the display, the cutting instrument being oriented in accordance with the zero value by positioning the movable indicator within a predetermined boundary defined by the static region.
13. The method as recited in claim 12 , further comprising the step of adjusting the zero value in accordance with a change in the orientation defined by an X-ray generator and an X-ray receiver of the medical imaging device.
14. The method of claim 12 , wherein the direction of X-ray travel is a current direction of X-ray travel of the X-rays.
15. The method as recited in claim 12 , further comprising a step of calibrating the cutting instrument to achieve the zero value.
16. The method of claim 15 , wherein the calibrating step comprises abutting a first planar surface of the surgical instrument against a second planar surface of the medical imaging device, wherein as a result of the abutting the first planar surface and the second planar surface are coplanar and a longitudinal axis of the cutting instrument is aligned with the direction of X-ray travel.
17. The method of claim 12 , wherein the first displaying step comprises displaying the fluoroscopic image including a bone, an intramedullary nail disposed in a medullary canal of the bone, and the cutting instrument, showing a relative position between the cutting instrument and a hole of the intramedullary nail.
18. The method of claim 17 , wherein the surgical instrument is a drill having a drill bit, the method comprising the step of drilling into the bone toward the hole when 1) the drill bit is aligned with the hole on the fluoroscopic image and 2) the cutting instrument is oriented in accordance with the zero value.
19. A method comprising the steps of:
receiving, via a wireless communications channel, a plurality of fluoroscopic images generated by a medical imaging device that is configured to transmit X-rays in a direction of X-ray travel;
generating real-time orientation information with an orientation sensor based on an orientation of a cutting instrument of a surgical instrument;
displaying, by a display attached to the surgical instrument, the plurality of fluoroscopic images;
generating a static region and a movable indicator that are based on the real-time orientation information with respect to the direction of X-ray travel, wherein the movable indicator moves relative to the static region as the cutting instrument moves relative to the direction of X-ray travel, wherein a zero value represents an alignment of the orientation of the cutting instrument with the direction of X-ray travel, wherein as the orientation of the cutting instrument moves away from the zero value the movable indicator moves away from the static region, and as the orientation of the cutting instrument moves toward the zero value the movable indicator moves toward the static region;
displaying, by the display, an orientation image that includes the static region and the movable indicator that is representative of the orientation of the cutting instrument;
displaying, by the display, as the orientation of the cutting instrument moves away from the zero value, moving the movable indicator away from the static region; and
displaying, by the display, the cutting instrument being oriented in accordance with the zero value by positioning the movable indicator within a boundary defined by the static region,
wherein the zero value represents an orientation defined by an X-ray generator of the medical imaging device that transmits the X-rays and an X-ray receiver of the medical imaging device, the method further comprising, adjusting the zero value in accordance with a change in the orientation defined by the X-ray generator and the X-ray receiver.
20. The method as recited in claim 19 , wherein the zero value represents an alignment of the orientation of the cutting instrument with a current direction of X-ray travel of X-rays generated by the X-ray generator and received by the X-ray receiver.