SYSTEMS AND DEVICES INCLUDING A SURGICAL NAVIGATION CAMERA WITH A KINEMATIC MOUNT AND A SURGICAL DRAPE WITH A KINEMATIC MOUNT ADAPTER
A non-sterile device such as, a sensor with a kinematic mount is provided, such that there is a positional relationship between an optical system within the sensor, and the kinematic mount. A sterile drape is provided to allow the introduction of non-sterile devices into the sterile surgical field. The sterile drape has a kinematic mount adapter with a sterile side and a non-sterile side, with a known positional relationship between both sides. The non-sterile side (internal to the drape) is configured to kinematically couple to the non-sterile device and the sterile side (external to the drape) is configured to kinematically couple to an object in the sterile field such that the position and orientation of the object with respect to the non-sterile device is known to a processing unit and can be used to calculate positional measurements.
This application claims priority to U.S. provisional application No. 62/072,041 titled “Systems, methods and devices for anatomical registration and surgical localization” and filed on Oct. 29, 2014, the entire contents of which are incorporated herein by reference.
This application claims priority to U.S. provisional application No. 62/072,030 titled “Devices including a surgical navigation camera and systems and methods for surgical navigation” and filed on Oct. 29, 2014, the entire contents of which are incorporated herein by reference.
This application claims priority to U.S. provisional application No. 62/084,891 titled “Devices, systems and methods for natural feature tracking of surgical tools and other objects” and filed on Nov. 26, 2014, the entire contents of which are incorporated herein by reference.
This application claims priority to U.S. provisional application No. 62/072,032 titled “Devices, systems and methods for reamer guidance and cup seating” and filed on Oct. 29, 2014, the entire contents of which are incorporated herein by reference.
FIELDThe present disclosure relates to systems and devices that use kinematic mounts in navigated surgical guidance. More particularly, the disclosure describes the use of kinematic mounts on a sensor and on a sterile drape in specific, pre-determined positional relationships. The sensor and drape, along with other components of a surgical navigation system assist in the calculation of a location in up to six degrees of freedom of a mechanical device that is kinematically coupled to the sensor or the sensor-drape assembly.
BACKGROUNDDuring a surgery, a sterile field around a patient is strictly maintained to prevent contamination of a surgical wound. Surgical tools and devices are typically provided terminally sterile or are sterilized prior to use during surgery in an autoclave. However, some devices may not be made of materials that are designed to withstand an autoclave or other sterilization techniques. Such devices offer other benefits to the surgeon and the introduction of these devices into a sterile field of surgery can be done safely by enclosing the device in a sterile drape.
Further, when performing navigated surgery, the knowledge of the spatial location of an effector of a surgical tool is important for accuracy of the overall system.
BRIEF SUMMARYThis specification discusses a non-sterile device, such as a sensor, with a kinematic mount. The sensor comprises an optical system. There is a pre-determined positional relationship, in up to 6 degrees of freedom, between an optical system in a sensor, with respect to which measurements can be calculated, and a kinematic mount on the sensor. The sensor can be kinematically coupled to a tool with a cooperating kinematic mount. There exists a second pre-determined positional relationship, in up to 6 degrees of freedom, between the tool, including an effector of the tool, and the kinematic mount of the tool. These relationships may be known to an intra-operative computing unit and used to calculate or measure the pose (position and orientation) of a target.
The specification also describes a sterile drape that offers a barrier between a sterile and non-sterile field to allow the use of non-sterile devices in a sterile environment. The sterile drape has a kinematic mount adapter that provides a repeatable connection that can be formed quickly and with a high level of accuracy. The non-sterile device can be received within the sterile drape. The sterile side of the kinematic mount adapter allows an assembly, comprising the device and the drape, to be kinematic coupled to a cooperating kinematic mount.
There is disclosed a sensor for a medical navigational guidance system comprising: an enclosure; a first kinematic mount on an exterior end of the enclosure configured to couple to a second kinematic mount on a tool; and an optical system housed within the enclosure, wherein the optical system is in a known positional relationship to the first kinematic mount, and the optical system is configured to receive positional information in up to six degrees of freedom from a target to provide surgical navigation. The sensor is configured to be enclosed in a sterile drape comprising a kinematic mount adapter with a sterile side and a non-sterile side wherein the first kinematic mount of the sensor is coupled to the non-sterile side of the kinematic mount adapter. The sensor further comprises positional sensing components wherein the positional sensing components are in another known positional relationship to the optical system.
There is disclosed a sterile drape comprising: a kinematic mount adapter with a sterile side and a non-sterile side; the non-sterile side is configured to couple to a first kinematic mount of a non-sterile device; the sterile side and the non-sterile side of the kinematic mount adapter are in a known positional relationship; and the sterile side is configured to couple to a second kinematic mount across a sterile barrier. The sterile drape further comprises: an opening configured to receive a non-sterile device within the sterile drape; and an optically transparent window. The kinematic mount adapter is located proximate the optically transparent window. The sterile side of the kinematic mount adapter is configured to couple to a second kinematic mount of an object wherein the object and the second kinematic mount are in another known positional relationship. The non-sterile device is an optical system configured to capture the position and orientation of a target within a surgical sterile field. The kinematic mount adapter is configured such that: a kinematic connection formed with the sterile side of the kinematic mount adapter is stronger than a second kinematic connection formed with the non-sterile side of the kinematic mount adapter; or vice versa.
There is disclosed a medical navigational guidance system comprising: a sensor comprising an optical system and a first kinematic mount, wherein a first positional relationship exists between the first kinematic mount and the optical system, and wherein the optical system is configured to generate optical measurements; a tool with a second kinematic mount kinematically coupled to the sensor, wherein a second positional relationship exists between the second kinematic mount and an effector of the tool; a target configured to provide positional signals in up to six degrees of freedom to the optical system, the optical system generating the optical measurements using the positional signals; and an intra-operative computing unit in communication with the sensor. The intra-operative computing unit configured to: process optical measurements from the optical system to determine a position and orientation of the target in up to six degrees of freedom with respect to the optical system; and calculate the position and orientation of the effector of the tool with respect to the target using the first positional relationship, the second positional relationship and the position and orientation of the target. The sensor is enclosed in a sterile drape comprising a kinematic mount adapter with a sterile side and a non-sterile side wherein the first kinematic mount of the sensor is kinematically coupled to the non-sterile side of the kinematic mount adapter and the second kinematic mount of the tool is kinematically coupled to the sterile side of the kinematic mount adapter. The tool is one of a probe, a broach, a calibration instrument, an actuated instrument, and an end effector of a robotic surgical system.
Embodiments disclosed herein will be more fully understood from the detailed description and the corresponding drawings, which form a part of this application, and in which:
It will be appreciated that for simplicity and clarity of illustration, elements shown in the figures have not necessarily been drawn to scale. For example, the dimensions of some of the elements may be exaggerated relative to other elements for clarity.
DETAILED DESCRIPTIONSeveral systems, methods and devices will be described below as embodiments. The scope of the claims should not be limited by the embodiments set forth in the examples, but should be given the broadest interpretation consistent with the description as a whole.
The target 104 is located within the field of view 110 of the optical sensor, and also within a sterile field 112. The target 104 is attached to objects, such as another surgical tool, a platform, an anatomy of a patient, etc. The use of multiple targets with one sensor is also contemplated within the scope of this disclosure. This system 100 may be used to provide a surgeon with clinically relevant measurements based on positional measurements between the target 104 and the sensor 102 in up to 6 degrees of freedom.
Reference is now made to
The sensor 102 may be comprised of an enclosure 204 containing components of an optical system 206 including an optical sensor, such as, a camera (lens, imager). The optical system 206 may further include a source of illumination. The optical system 206 is configured to be used such that the target 104 is within its field of view 110. The sensor 102 has an optically transparent window 208 to allow passage of signals for the optical system 206.
The optical system 206 is configured to detect targets at a relatively far distance from itself, for example >8 cm away. Since the camera is used to localize a target, a fixed focal length is preferred. The focal length should be known to the intra-operative computing unit in order to capture the location of the target. The optical system is configured to detect a target within its field of view. The optical sensor has a relatively large field of view. This is unlike endoscopic applications, where an endoscope is configured to view a scene inside a body cavity, where the scene is very close (e.g. <5 cm) to the optical system of the endoscope. Furthermore, endoscopes are used to visualize tissue, whereas the present optical system is primarily used to measure relative pose of targets.
The sensor may have additional electronics 212, which may include other positional sensing components, such as accelerometers, gyroscopes, magnetometers, IR detectors, etc.
The sensor may include a kinematic mount 106, on an exterior end of the enclosure 204. The kinematic mount 106 provides a repeatable mount for the sensor 102 to be accurately and repeatably coupled with a cooperating kinematic mount on a kinematic mount adapter, or on a mechanical device, such as, a tool, an end effector of a robotic arm, etc. The sensor may have an internal rigid structure 210 between the kinematic mount 106, the optical system 206, and the additional electronics 212. The rigid structure 210 enforces a constant positional relationship in up to 6 degrees of freedom, between the additional components 212, the optical system 206 and the kinematic mount 106. This positional relationship may be known to the intra-operative computing unit and used to calculate or measure the pose of the target relative to the kinematic mount and/or additional electronics.
In order to allow use in a sterile field, the sensor 102 may be autoclavable, terminally sterile (i.e. provided sterile for a single use) or placed within a sterile barrier (e.g. a sterile drape with an optical window).
In some embodiments, a kinematic mount 106 and a non-kinematic mount are provided on the sensor. The kinematic mount may be used where the sensor is to be attached with a known positional relationship to the effector of a tool. The non-kinematic mount may be used to perform other functions, for e.g., if the sensor requires adjustment to its field of view, a ball joint mechanism may be provided. As disclosed in U.S. 20140275940 titled “System and method for intra-operative leg position measurement”, the entire contents of which are incorporated herein, the non-kinematic mount is used to aim the sensor 102 to direct its optical field of view 110 to a region of interest.
A kinematic mount is a mechanical interface which is highly repeatable (i.e. between connect and disconnect cycles) in up to 6 degrees of freedom (3 degrees of freedom in orientation and 3 degrees of freedom in translation). One example of a kinematic mount 106 is illustrated in
According to this specification, the sensor 102 provides a kinematic mount 106 for use within the sterile field 112. There are many use cases for the kinematic mount, which are described herein. Furthermore, although the kinematic mount 106 is provided for sterile use in a sterile field 112, non-sterile use is also contemplated. For example, the kinematic mount 106 on the sensor 102 may be used during sensor manufacturing (e.g. for calibration), for in-field accuracy assessments, or for attachment of the sensor to a tool, a platform, or fixtures such as robotic arms in non-sterile fields.
The kinematic mount is preferably co-registered with the sensor. The step of co-registering entails determining a positional relationship (creating a co-registration) between the kinematic mount and the optical system in the sensor. This positional relationship can be determined through strict manufacturing techniques, factory calibration or in-field calibration. The positional relationship is preferably determined and known to the intra-operative unit in up to 6 degrees of freedom.
Reference is now made to a block diagram in
The specification further discloses a sterile drape with a kinematic mount adapter illustrated in
Further in
The kinematic mount adapter 508 may enforce a kinematic connection using any suitable means for coupling, including magnets, spring clips, threaded connectors, etc. The non-sterile coupling means (internal kinematic coupling) in the interior of the sterile drape may be different from the sterile coupling means (exterior kinematic coupling). Either the internal kinematic coupling may be stronger and more persistent than the external kinematic coupling or vice versa, such that a gentle manual force is unable to dislodge the weaker coupling. This can be achieved by using stronger magnets or a threaded attachment mechanism, for a stronger kinematic connection, whereas the weaker coupling may utilize weaker magnets or a weaker spring force. If the external coupling is weaker, the sensor-drape assembly may be engaged or disengaged multiple times during surgical use from the mechanical device with a decreased chance of disengaging the sensor from the non-sterile side of the drape itself. If the internal coupling is weaker, the sensor may be disengaged from the drape itself but would not be dislodged from the mechanical device that the sensor-drape assembly is coupled to.
In one embodiment shown in
In one embodiment, illustrated in
The kinematic mounts described herein are to be understood as examples for clarity. There are many other types of kinematic mounts that can be applied to the sensor and/or kinematic mount adapter.
A kinematic mount that is available during sterile and non-sterile use of the sensor can be kinematically coupled to a cooperating kinematic mount on a mechanical device, such as a tool 107 to serve a useful function or purpose in surgical procedures. A tool is intended to be interpreted broadly. Examples include calibration instruments, actuated instruments (e.g. bone cutting instrument), end effectors of robotic systems, probes, broaches, etc. Most tools have an effector, the exact nature and dimensions of which may vary depending on the application of the tool. This is typically a feature of the tool that has the greatest effect in achieving its purpose. Examples of such effectors include, and are not limited to, the shape of a broach (used in Total Hip Arthroplasty to shape the femoral canal for receiving a prosthetic implant), a tip of a probe, a cutting blade of a scalpel, a surgical drill tip, a tip of an electro-cautery device, a laser beam for affecting tissue, etc. The location of the kinematic mount on the tool with respect to the location of the effector of the tool is pre-determined and known to the intra-operative computing unit.
An exemplary configuration is illustrated in
In one embodiment, with reference to
In one embodiment, with reference to
In one embodiment, with reference to
In one embodiment, with reference to
Many of the embodiments presented herein enable a surgical navigation system to calculate a position and orientation of an effector of a tool with respect to a target based on an accurate coupling between the kinematic mount on a sensor and a cooperating kinematic mount on the tool. To determine the validity of measurements calculated by the surgical navigation system, it may be desirable to validate the accuracy of the kinematic connection.
The sensor may be adapted to include sensing means to detect whether the kinematic mounts are accurately coupled. The sensing means may generate kinematic mount mating detection signals (KMMDS), and provide these signals to an intra-operative computing unit. The processing unit may use the KMMDS to determine the validity of the pose measurements (between the sensor and the target). There are various sensing technologies that could be applied for any given kinematic mount style/design.
In one embodiment of the sensing means, illustrated in
In another embodiment of the sensing means, as illustrated in
In another embodiment, as illustrated in
Accordingly, it is to be understood that this subject matter is not limited to particular embodiments described, and as such may vary. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.
As will be apparent to those of skill in the art upon reading this disclosure, each of the individual embodiments described and illustrated herein has discrete components and features which may be readily separated from or combined with the features of any of the other several embodiments without departing from the teachings herein. Any recited method can be carried out in the order of events recited or in any other order which is logically possible.
Claims
1. A sensor comprising:
- an enclosure;
- a first kinematic mount on an exterior end of the enclosure, the first kinematic mount configured to couple to a second kinematic mount on a tool; and
- an optical system housed within the enclosure, wherein the optical system is in a known positional relationship to the first kinematic mount, and the optical system is configured to receive positional information in up to six degrees of freedom from a target to provide surgical navigation.
2. The sensor of claim 1 configured to be enclosed in a sterile drape comprising a kinematic mount adapter with a sterile side and a non-sterile side wherein the first kinematic mount of the sensor is coupled to the non-sterile side of the kinematic mount adapter.
3. The sensor of claim 1 wherein the sensor further comprises positional sensing components wherein the positional sensing components are in another known positional relationship to the optical system.
4. A sterile drape comprising:
- a kinematic mount adapter with a sterile side and a non-sterile side;
- the non-sterile side configured to couple to a first kinematic mount of a non-sterile device;
- the sterile side and the non-sterile side of the kinematic mount adapter are in a known positional relationship; and
- the sterile side configured to couple to a second kinematic mount across a sterile barrier.
5. The sterile drape of claim 4 further comprising an opening configured to receive a non-sterile device within the sterile drape.
6. The sterile drape of claim 4 further comprising an optically transparent window.
7. The sterile drape of claim 4 wherein the sterile side of the kinematic mount adapter is configured to couple to a second kinematic mount of an object wherein the object and the second kinematic mount are in another known positional relationship.
8. The sterile drape of claim 4 wherein the non-sterile device is an optical system configured to capture the position and orientation of a target within a surgical sterile field.
9. The sterile drape of claim 4 wherein the kinematic mount adapter is located proximate the optically transparent window.
10. The sterile drape of claim 4 wherein a kinematic connection formed with the sterile side of the kinematic mount adapter is stronger than a second kinematic connection formed with the non-sterile side of the kinematic mount adapter.
11. The sterile drape of claim 4 wherein a kinematic connection formed with the non-sterile side of the kinematic mount adapter is stronger than a second kinematic connection formed with the sterile side of the kinematic mount adapter.
12. A system comprising:
- a sensor comprising an optical system and a first kinematic mount, wherein a first positional relationship exists between the first kinematic mount and the optical system, and wherein the optical system is configured to generate optical measurements,
- a tool with a second kinematic mount kinematically coupled to the sensor, wherein a second positional relationship exists between the second kinematic mount and an effector of the tool;
- a target configured to provide positional signals in up to six degrees of freedom to the optical system, the optical system generating the optical measurements using the positional signals; and
- an intra-operative computing unit in communication with the sensor, the intra-operative computing unit configured to: process optical measurements from the optical system to determine a position and orientation of the target in up to six degrees of freedom with respect to the optical system; and calculate the position and orientation of the effector of the tool with respect to the target using the first positional relationship, the second positional relationship and the position and orientation of the target.
13. The system of claim 12 wherein the sensor is enclosed in a sterile drape comprising a kinematic mount adapter with a sterile side and a non-sterile side wherein the first kinematic mount of the sensor is kinematically coupled to the non-sterile side of the kinematic mount adapter.
14. The system of claim 13 wherein the sterile side of the kinematic mount adapter on the sterile drape is kinematically coupled to the second kinematic mount of the tool.
15. The system of claim 14 wherein the tool is one of a probe, broach, a calibration instrument, an actuated instrument, and an end effector of a robotic surgical system.
Type: Application
Filed: Oct 29, 2015
Publication Date: Nov 23, 2017
Inventors: ANDRE NOVOMIR HLADIO (HAMILTON), ARMEN GARO BAKIRTZIAN (KITCHENER), RICHARD TYLER FANSON (STONEY CREEK)
Application Number: 15/522,503