Medical instrumentation including a navigation system
The invention relates to a medical instrumentation, comprising a hand-held, integrated, medical navigation system which comprises an optical detection unit having a camera, a data processing unit and an optical display unit, the data processing unit being coupled to the detection unit and the display unit, it being possible for location and/or orientation data of a medical marking device which is detectable with the detection unit to be processed by the data processing unit and information relating thereto to be represented on the display unit, the instrumentation comprising an illumination unit with which light is emittable in the direction of the marking device detectable with the detection unit.
1. Medical instrumentation, comprising:
a hand-held, integrated, medical navigation system which comprises:
a housing,
an optical detection unit having a camera disposed in the housing,
a data processing unit disposed in the housing,
an optical display unit disposed in the housing,
the data processing unit being coupled to the detection unit and the display unit, it being possible for location and orientation data of a medical marking device which is detectable with the detection unit to be processed by the data processing unit, and information relating thereto to be represented on the display unit,
a sensor unit disposed in the housing for providing a signal relating to the inclination of the navigation system in at least one direction in space of an absolute reference system, and
an illumination unit disposed on or in the housing with which light is emittable in a direction of the marking device detectable with the detection unit,
two or more reference elements to be referenced,
two or more medical marking devices, each of the two or more medical marking devices comprising a plurality of marking elements which are configured for retroflection of the light of the illumination unit,
the data processing unit being configured to:
determine a respective space vector between reference points referenced by the two or more medical marking devices, with one of the two or more medical marking devices being usable as a reference marking device for defining a reference coordinate system,
determine an orientation of the space vector in the absolute reference system based on a signal of the sensor unit, and
on the basis of the orientations of two or more of the space vectors, defining a plane in the reference coordinate system, and determine an inclination of the plane relative to the reference plane, in the absolute reference system,
wherein:
the two or more medical marking devices are adapted for selective coupling to the reference elements,
a relative position of the reference elements is determinable by means of the data processing unit in the reference coordinate system,
the reference elements are or comprise bone screws, and
the two or more medical marking devices with extension elements are adapted for coupling percutaneously to the bone screws.
2. Instrumentation in accordance with claim 1 , wherein the navigation system is configured as smartphone or as tablet computer.
3. Instrumentation in accordance with claim 1 , wherein the illumination unit comprises at least one LED light source.
4. Instrumentation in accordance with claim 1 , wherein visible light is emittable by the illumination unit.
5. Instrumentation in accordance with claim 1 , wherein the detection unit comprises precisely one camera.
6. Instrumentation in accordance with claim 1 , wherein an image recordable with the camera is representable on the display unit.
7. Instrumentation in accordance with claim 1 , wherein the navigation system further comprises a communication interface for transmitting data to an external receiving unit.
8. Instrumentation in accordance with claim 1 , wherein the navigation system is freely movable in space and is free of any mechanical coupling with a surgical instrument or an implant.
9. Instrumentation in accordance with claim 1 , wherein:
the two or more medical marking devices each comprise a holding element on which the marking elements are held, and contrast enhancement elements, a respective contrast enhancement element being associated with the marking elements in order to increase the contrast between the marking elements and the holding element, and/or
the two or more medical marking devices each comprise hood-shaped protective elements which are associated with a respective marking element and which are transparent for the light emitted by the illumination unit.
10. Instrumentation in accordance with claim 1 , wherein the two or more medical marking devices are simultaneously detectable with the detection unit, and the space vector is determinable with the data processing unit on the basis of an image of the camera.
11. Instrumentation in accordance with claim 1 , wherein:
the instrumentation further comprises a connecting element for connecting the reference elements, and
a geometry of the connecting element is determinable by the data processing unit in order to connect the reference elements.
12. Instrumentation in accordance with claim 11 , wherein the connecting element is adapted for coupling to one of the two or more medical marking devices, and the position of the connecting element relative to the reference elements is determinable by the data processing unit and indications are providable for a user on the display unit for guiding the connecting element.
13. Instrumentation in accordance with claim 11 , wherein:
the connecting element is a rod, and
the one of the two or more medical marking devices is fixed or fixable to an insertion or implantation tool for guiding the rod.
14. Medical instrumentation, comprising:
a hand-held, integrated, medical navigation system which comprises:
a housing,
an optical detection unit having a camera disposed in the housing,
a data processing unit disposed in the housing,
an optical display unit disposed in the housing,
the data processing unit being coupled to the detection unit and the display unit, it being possible for location and orientation data of a medical marking device which is detectable with the detection unit to be processed by the data processing unit, and information relating thereto to be represented on the display unit,
a sensor unit disposed in the housing for providing a signal relating to the inclination of the navigation system in at least one direction in space of an absolute reference system, and
an illumination unit disposed on or in the housing with which light is emittable in a direction of the marking device detectable with the detection unit,
two or more reference elements to be referenced,
a connecting element for connecting the reference elements,
two or more medical marking devices, each of the two or more medical marking devices comprising a plurality of marking elements which are configured for retroflection of the light of the illumination unit,
the data processing unit being configured to:
determine a respective space vector between reference points referenced by the two or more medical marking devices, with one of the two or more medical marking devices being usable as a reference marking device for defining a reference coordinate system,
determine an orientation of the space vector in the absolute reference system based on a signal of the sensor unit, and
on the basis of the orientations of two or more of the space vectors, defining a plane in the reference coordinate system, and determine an inclination of the plane relative to the reference plane, in the absolute reference system,
wherein:
the two or more medical marking devices are adapted for selective coupling to the reference elements,
a relative position of the reference elements being determinable by means of the data processing unit in the reference coordinate system, and
a geometry of the connecting element is determinable by the data processing unit in order to connect the reference elements.
15. Instrumentation in accordance with claim 14 , wherein:
the reference elements are or comprise bone screws, and
the two or more medical marking devices with extension elements are adapted for coupling percutaneously to the bone screws.
16. Instrumentation in accordance with claim 14 , wherein the connecting element is adapted for coupling to one of the two or more medical marking devices, and the position of the connecting element relative to the reference elements is determinable by the data processing unit and indications are providable for a user on the display unit for guiding the connecting element.
17. Instrumentation in accordance with claim 14 , wherein:
the connecting element is a rod, and
the one of the two or more medical marking devices is fixed or fixable to an insertion or implantation tool for guiding the rod.