Granted Patent B2

US 12,239,327 · App. 17/555,777 · Granted Mar 4, 2025

Inventors: Brad Jacobsen (Erie, CO); Milton F. Barnes (Grand Prairie, TX); Rowena Vigh (Superior, CO); Steven Hartmann (Superior, CO)

Assignee: Medtronic Navigation, Inc.

A61B17/1671A61B17/1695A61B34/20G06T7/12A61B2034/2065G06T2207/20081G06T2207/20101G06T2207/30012

Abstract

Claims (48)

1. A system to control operation of a surgical instrument, comprising:

a tracking device configured to be associated with the instrument;

a navigation system configured to determine a pose of the instrument based on tracking the tracking device;

an instrument controller configured to operate the instrument according to a selected operation parameter, wherein the instrument controller comprises a processor module configured to execute instructions to alter the operation parameter of the instrument based at least on the determined pose of the instrument; and

an avoidance space determination system configured to determine an avoidance space of a boundary in an anatomy;

wherein the operation parameters are altered based on the determined pose of the instrument relative to the avoidance space;

wherein the operation parameters include at least a full rotation parameter and an oscillation parameter.

2. The system of claim 1 , wherein the instrument is a drill configured to rotate a tool and the controller is configured to alter an operate of the drill to alter a rotation of the tool.

3. The system of claim 1 , wherein the avoidance space determination system comprises:

a display device configured to display an image; and

an input configured to allow an input of a user regarding the avoidance space of at least a portion of an anatomy displayed in the image.

4. The system of claim 1 , wherein the avoidance space determination system includes an image segmentation system configured to segment images of the subject.

5. The system of claim 1 , further comprising:

an operation parameter input system configured to input and store operation parameters;

wherein avoidance spaces are determined within an image of a subject and operation parameters are stored regarding operation of the instrument when at selected pose relative to the avoidance spaces.

6. The system of claim 1 , further comprising:

an imaging system configured to image the subject.

7. The system of claim 6 , wherein the oscillation parameter is selected at a distance relative to the avoidance space in the image.

8. The system of claim 6 , wherein the avoidance space determination system includes an image segmentation system configured to segment the images of the subject.

9. The system of claim 1 , wherein the oscillation parameter is selected at a distance relative to the boundary in the anatomy.

10. The system of claim 1 , wherein the processor module is configured to execute further instructions to alter the operation parameter of the instrument based at least on a machine learning based algorithm.

11. A method to control operation of a surgical instrument, comprising:

determining a position of the instrument with a navigation system configured to determine a position of the instrument;

controlling an operation of the instrument according to a selected operation parameter, wherein controlling the operation includes executing instructions with a processor module to alter the operation parameter of the instrument based on the determined position of the instrument; and

determining an avoidance space in an image;

wherein controlling the operation of the instrument is based on the determined position of the instrument relative to the avoidance space;

wherein the operation parameters include at least a full rotation parameter and an oscillation parameter.

12. The method of claim 11 , further comprising:

tracking a tracking device associated with the instrument;

wherein the determined position is based on tracking the tracking device.

13. The method of claim 12 , further comprising:

wherein controlling the operation of the instrument includes rotating the tool a first distance from the determined avoidance space and oscillating the tool a second distance from the avoidance space.

14. The method of claim 13 , wherein the second distance is less than the first distance.

15. The method of claim 11 , further comprising:

configuring the instrument as a drill configured to rotate a tool or oscillate the tool.

16. The method of claim 11 , further comprising:

displaying the image; and

inputting a user selection regarding the avoidance space of at least a portion of an anatomy displayed in the image.

17. The method of claim 11 , further comprising:

acquiring an image with an imaging system; and

determining the avoidance space within the image.

18. The method of claim 17 , wherein determining the avoidance space within the image includes receiving a user input.

19. The method of claim 18 , wherein the oscillation parameter is selected at a distance relative to the determined avoidance space in the image.

20. A method to control operation of a drill, comprising:

determining an avoidance space within an image of a subject;

determining a position of an instrument with a navigation system relative to the avoidance space in the image; and

controlling an operation of the instrument according to a selected operation parameter by executing instructions with a processor module to automatically alter an operation of the instrument based on the determined position of the instrument relative to the determined avoidance space;

wherein the operation includes at least a full rotation of a tool driven by the instrument at a first position relative to the avoidance space and an oscillation of the tool driven by the instrument at a second position relative to the avoidance space.

Assignments (2)

Continuity (2)

References Cited (50)