Surgical navigation systems and methods
A system, including various apparatus and methods, for surgical navigation is provided. The system is configured to track the spine of a patient by capturing images via one or more cameras. The cameras are configured to capture images of one or more arrays. The system transmits the images to a computer system. The one or more arrays are releasably secured with the spine of the patient, such as by a spine pin or a spine clamp. The system can determine the spatial position and orientation of relevant anatomical features, implants, and instruments using and processing the captured images.
1. A system for surgical navigation, comprising:
a spine pin that includes:
a first end section having a tri-lobular cross sectional profile and being configured to couple with an array and resist rotation relative to a coupled array;
a second end opposite the first end and having a sharp tip configured to be inserted into an anatomical feature;
a first radiographic glyph; and
a second radiographic glyph separated from the first radiographic glyph by a distance;
a first array including tracking markers, the first array being configured to be releasably secured with a vertebra via a connection with the first end section of the spine pin;
at least one camera configured to track the first array; and
a computer system including a processor, wherein the computer system is configured to:
receive one or more camera images of the array from the at least one camera; and
display a simulation of the first anatomical feature on a display screen.
2. The system of claim 1 , wherein the first array includes hemispherical markers in six degrees of freedom.
3. The system of claim 1 , further comprising a second array including tracking markers, the second array being configured to be releasably secured with a second anatomical feature.
4. The system of claim 1 , wherein the first array comprises recesses, and wherein the markers are at least partially received in the recesses.
5. The system of claim 1 , wherein the first array includes at least two oppositely facing surfaces, each surface having a plurality of markers.
6. The system of claim 5 , wherein the markers include at least one marker disposed at a first surface of the first array and at least one marker disposed at a second surface of the first array.
7. The system of claim 1 , wherein the first array is a 360 degree array.
8. The system of claim 1 , wherein the first array is a 360 degree prismatic array.
9. The system of claim 1 , further:
comprising a C-arm coupled with a C-arm array mount including at least one C-arm array marker; and
wherein the computer system is further configured to:
receive one or more camera images of the at least one C-arm array marker from the at least one camera.
10. The system of claim 1 , wherein the at least one camera includes an infrared camera and a visible light camera.
11. The system of claim 1 , wherein the computer system is further configured to:
receive one or more 3D images;
recognize the first and second radiographic glyphs in the one or more 3D images;
sense the tracking markers of the first array; and
perform registration using the sensed tracking markers of the first array and the recognized first and second radiographic glyphs.
12. The system of claim 1 , wherein the computer system is further configured to:
receive one or more 3D images;
recognize a geometric shape of the first and second radiographic glyphs separated by the distance in the one or more 3D images;
sense the tracking markers of the first array; and
perform registration using the sensed tracking markers of the first array and the recognized geometric shape.
13. The system of claim 1 , wherein the distance is between 5 millimeters and 100 millimeters.
14. The system of claim 1 , wherein the first radiographic glyph and the second radiographic glyph are coaxial with a length of the spine pin.
15. The system of claim 1 , further comprising:
a first glyph arm extending from the first radiographic glyph;
a third radiographic glyph coupled to the first glyph arm;
a second glyph arm extending from the second radiographic glyph; and
a fourth radiographic glyph coupled to the second glyph arm.
16. The system of claim 1 , further comprising:
a depth limiter disposed between the second radiographic glyph and the second end.
17. The system of claim 1 , wherein the tri-lobular cross sectional profile is rounded.
18. The system of claim 1 ,
wherein the spine pin further includes a tool engagement feature; and
wherein the system further comprises a spine pin inserter configured to couple with the tool engagement feature and facilitate insertion of the spine pin.
19. An apparatus comprising:
a spine pin including:
a first end section having a tri-lobular cross sectional profile and being configured to couple with an array and resist rotation relative to a coupled array;
a second end opposite the first end and having a sharp tip configured to be inserted into an anatomical feature;
a first radiographic glyph; and
a second radiographic glyph separated from the first radiographic glyph by a distance; and
a first array including tracking markers, the first array being configured to be releasably secured with a vertebra via a connection with the first end section of the spine pin.