Surgical navigation system for alignment of a surgical instrument
A surgical navigation method utilizing a computer system. The method includes the steps of: (a) fixing a camera relative to a surgical site on a patient such that the camera does not move relative to the surgical site; (b) restraining the body portion of the patient which includes the surgical site relative to an operating table supporting the patient, such that the body portion does not move relative to the operating table; and (c) detecting with the camera the position of a medical instrument having a tracker array.
1 . A surgical navigation method for indicating an alignment of a surgical instrument, the method comprising the steps of:
(a) providing a surgical navigation system including (i) a computer and display, (ii) data representing a 3D radiological image of a patient surgical site, (iii) an instrument guide having a first marker array, (iv) the surgical instrument having a second marker array, and (v) an optical sensor configured to detect markers on the first and second marker arrays;
(b) aligning the instrument guide by positioning the instrument guide in the general position of a pre-established trajectory line using the display, which displays (i) a two-dimensional disc representing the pre-established trajectory line and (ii) a three-dimensional cylinder representing the guide trajectory line, such that alignment between the pre-established trajectory line and the guide trajectory line is achieved when the three-dimensional cylinder is aligned with and fits within a central circle of the two-dimensional disc;
(c) identifying a tip and hind of both the instrument guide and the surgical instrument based upon detection of the marker arrays by the optical sensor;
(d) defining a guide trajectory line with the tip and hind of the instrument guide;
(e) calculating an offset distance between the guide trajectory line and at least one of the tip or hind of the surgical instrument;
(f) calculating whether the offset distance is greater than a threshold; and
(g) presenting on the display a warning of misalignment if the offset distance is greater than the threshold.
2 . The method of claim 1 , wherein (i) an instrument orientation is determined based upon the tip and hind of the surgical instrument, and (ii) the warning of misalignment includes presenting on the display the guide trajectory line and an image of the surgical instrument, in the instrument orientation, super-imposed on the 3D radiological image.
3 . The method of claim 2 , wherein the warning of misalignment includes presenting on the display the image of the surgical instrument in red.
4 . The method of claim 3 , wherein the image of the surgical instrument is presented on the display in green if the offset distance is less than the threshold.
5 . The method of claim 1 , wherein the first marker array and the second marker array are registered to the 3D radiological image.
6 . The method of claim 1 , wherein at least a portion of the surgical instrument is inserted into the instrument guide when calculating the offset distance between the guide trajectory line and the tip or hind of the surgical instrument.
7 . The method of claim 1 , wherein a position of the optical sensor is fixed relative to the patient surgical site.
8 . The method of claim 1 , wherein the threshold is less than 2 mm.
9 . The method of claim 1 , wherein the offset distance is a distance between the surgical instrument tip and a closest point to the surgical instrument tip along the guide trajectory line.