Abstract: A system for tracking the position of an instrument relative to an area of interest includes a first fixator configured to carry first and second localizing devices. A second fixator is configured to carry the first localizing device. A third localizing device communicates with the first localizing device and the second localizing device communicates with the first localizing device such that the position of the second localizing device can be determined relative to the position of the third localizing device. The second localizing device is attachable to the instrument and the first localizing device is attachable to the first fixator such that the first localizing device communicates with the second localizing device on the instrument in order that the position of the second localizing device on the instrument can be determined relative to the third localizing device.

Abstract: A system for tracking the position of an instrument relative to an area of interest. The system includes an instrument and an instrument guide mounted to the instrument. The instrument guide carries a first localizer proximate the instrument. The first localizer is movable relative to the instrument. The system also includes a fixator configured to be attached to the area of interest. The fixator carries a second localizer proximate the area of interest. The second localizer is movable relative to the area of interest. The first and second localizers are movable in order that the first and second localizers are in communication such that the position of one of the first and second localizers is known relative to the position of the other of the first and second localizers.

Abstract: A computer assisted surgery system is described for assisting a surgeon in aligning a drill with the interlocking holes of an implanted intramedullary (IM) rod used for fixation of long bone fractures. With the IM rod inserted, a localizing device measures the pose of a tracked adapter attached to the rod's exposed end. Approximate AP and lateral fluoroscopic x-ray images are acquired of the end of the rod with the interlocking holes. Image processing algorithms determine the actual position of the rod and calculate an adjustment to the pose of the tracked adapter and IM rod. Using the adjusted pose information, the system displays, in three roughly orthogonal views, a representation of the drill trajectory relative to the images of the IM rod and relative to a graphic representation of the IM rod.

Abstract: A system for tracking the position of an instrument relative to an area of interest. The system includes an instrument and an instrument guide mounted to the instrument. The instrument guide carries a first localizer proximate the instrument. The first localizer is movable relative to the instrument. The system also includes a fixator configured to be attached to the area of interest. The fixator carries a second localizer proximate the area of interest. The second localizer is movable relative to the area of interest. The first and second localizers are movable in order that the first and second localizers are in communication such that the position of one of the first and second localizers is known relative to the position of the other of the first and second localizers.

Abstract: A system for tracking the position of an instrument relative to an area of interest. The system includes an instrument and an instrument guide mounted to the instrument. The instrument guide carries a first localizer proximate the instrument. The first localizer is movable relative to the instrument. The system also includes a fixator configured to be attached to the area of interest. The fixator carries a second localizer proximate the area of interest. The second localizer is movable relative to the area of interest. The first and second localizers are movable in order that the first and second localizers are in communication such that the position of one of the first and second localizers is known relative to the position of the other of the first and second localizers.

Abstract: A system for tracking the position of an instrument relative to an area of interest includes a first fixator configured to carry first and second localizing devices. A second fixator is configured to carry the first localizing device. A third localizing device communicates with the first localizing device and the second localizing device communicates with the first localizing device such that the position of the second localizing device can be determined relative to the position of the third localizing device. The second localizing device is attachable to the instrument and the first localizing device is attachable to the first fixator such that the first localizing device communicates with the second localizing device on the instrument in order that the position of the second localizing device on the instrument can be determined relative to the third localizing device.

Abstract: A system for tracking the position of an instrument relative to an area of interest includes a first fixator configured to carry first and second localizing devices. A second fixator is configured to carry the first localizing device. A third localizing device communicates with the first localizing device and the second localizing device communicates with the first localizing device such that the position of the second localizing device can be determined relative to the position of the third localizing device. The second localizing device is attachable to the instrument and the first localizing device is attachable to the first fixator such that the first localizing device communicates with the second localizing device on the instrument in order that the position of the second localizing device on the instrument can be determined relative to the third localizing device.

Abstract: A system and method for tracking progress of insertion of a rod in a bone includes a bone fragment including a central canal, a plurality of sensors including first and second sensors, and a computer. The first sensor is attached to the rod and the second sensor is attached to the bone fragment. The rod is inserted into the central canal of the bone fragment. The computer displays a location of the rod in the central canal. The location is based on at least a pose of the central canal relative to the second sensor, dimensional data of the rod relative to the first sensor, and tracking data provided by the sensors. The tracking data includes a position of the first sensor relative to the second sensor.

Abstract: A system and method for displaying surgical instruments accurately, in both time and space, within both slice and volumetric medical images of organs that may deform in a predictable manner over time due to an ongoing body activity. The system and method comprising using a gating signal associated with an ongoing body activity to determine which image in a sequence of acquired images best represents the state of the imaged anatomy at a given point in time and accurately displaying navigated surgical instruments within that image at that point in time.

Abstract: A computer assisted surgery system is described for assisting a surgeon in aligning a drill with the interlocking holes of an implanted intramedullary (IM) rod used for fixation of long bone fractures. With the IM rod inserted, a localizing device measures the pose of a tracked adapter attached to the rod's exposed end. Approximate AP and lateral fluoroscopic x-ray images are acquired of the end of the rod with the interlocking holes. Image processing algorithms determine the actual position of the rod and calculate an adjustment to the pose of the tracked adapter and IM rod. Using the adjusted pose information, the system displays, in three roughly orthogonal views, a representation of the drill trajectory relative to the images of the IM rod and relative to a graphic representation of the IM rod.

Abstract: A computer assisted surgery system with is enhanced graphics features is described for assisting a surgeon in orthopaedic procedures. A system is described for use in inserting multiple guide pins in hip fracture surgery using a single bore drill guide that has a graphical representation comprising its real trajectory and one or more virtual trajectories, the virtual trajectories representing potential positions of other guide pins to be placed during the procedure. Additionally, representations of inserted guide pins and virtual trajectories may be retained on the display at their inserted positions for use in aligning subsequent guide pins. A system is also described for orientation of an acetabular cup in a total hip replacement surgery. During cup insertion, the surgeon is provided with information regarding the orientation of the cup with respect to a pelvic reference frame that is based on accepted pelvic landmarks.

Abstract: A surgical drill for use with a computer assisted surgery system. In a first embodiment, at least three localizing emitters are mounted on and integral with each side of the drill housing, the emitters on each side arranged such that they are visible to a localizing device when that side is facing the localizing device. The emitters on each side are spaced sufficiently apart from one another to provide accurate pose information. In a second embodiment, the emitters are mounted on both sides of a two-sided fin assembly attached to the housing.

Abstract: A computer assisted surgery system is described for assisting a surgeon in aligning a drill with the interlocking holes of an implanted intramedullary (IM) rod used for fixation of long bone fractures. With the IM rod inserted, a localizing device measures the pose of a tracked adapter attached to the rod's exposed end. Approximate AP and lateral fluoroscopic x-ray images are acquired of the end of the rod with the interlocking holes. Image processing algorithms determine the actual position of the rod and calculate an adjustment to the pose of the tracked adapter and IM rod. Using the adjusted pose information, the system displays, in three roughly orthogonal views, a representation of the drill trajectory relative to the images of the IM rod and relative to a graphic representation of the IM rod.

Abstract: An image guided surgery system to enable a surgeon to move a surgical tool into a desired position relative to a body part is provided. The system works by accurately superimposing representations of the tool being used in the surgical field over images of the body part such that real-time tool position feedback is provided to the surgeon. The system uses a fluoroscopic x-ray device to generate two-dimensional body part images, a localizing device to determine the poses of surgical tools and the x-ray device, mathematical modeling of the imaging chain of the x-ray device, and a display for displaying the images of the body part superimposed with representations of the surgical tools. A digital flat-panel x-ray imager permits fluoroscopic x-ray device to be used in any orientation without being affected by distortions due to local magnetic fields.

Abstract: A computer assisted surgery system for accurate positioning of a drill bit into a body part. The system includes a drill guide and a drill with attached localizing emitters whose poses are determined by a localizing device. The drill bit is attached to the drill and the location of the tip of the drill bit is determined during a calibration step. During drilling, the drill bit is inserted through the bore of the drill guide and the pose of the drill bit is calculated from measured position data of both the drill guide and drill. A graphic representation of the drill bit is then displayed on a monitor screen in an appropriate position relative to stored images or other surgical instruments.

Abstract: An image guided surgery system to enable a surgeon to move a surgical tool into a desired position relative to a body part is provided. The system works by accurately superimposing representations of the tool being used in the surgical field over images of the body part such that real-time tool position feedback is provided to the surgeon. The system uses a fluoroscopic x-ray device to generate two-dimensional body part images, a localizing device to determine the poses of surgical tools and the x-ray device, mathematical modeling of the imaging chain of the x-ray device, and a means for displaying the images of the body part superimposed with representations of the surgical tools. A related feature is the use of a digital flat-panel x-ray imager that employs a regular array of sensors to convert incident x-ray energy to a computer readable image, thereby permitting the fluoroscopic x-ray device to be used in any orientation without being affected by distortions due to local magnetic fields.