SENSOR TECHNOLOGIES WITH ALIGNMENT TO BODY MOVEMENTS
Disclosed herein is a method for monitoring the interaction of a surgical tool with a patient's bone, comprising interacting a surgical tool with a proximal bone region; detecting at least one signal emanating from the bone following the surgical tool interaction with the bone region; and identifying based on the signal an interaction progression of the surgical tool relative to the bone.
This application is a Continuation of U.S. Provisional Patent Application No. 62/173,365 filed on Jun. 10, 2015.
This application is also related to co-filed, co-pending and co-assigned PCT Patent Application entitled “SENSOR TECHNOLOGIES WITH ALIGNMENT TO BODY MOVEMENTS” (Attorney Docket No. 65771) by Ehud ARDEL, Shlomo DAVID and Zvi FRIEDMAN, claiming priority of U.S. Provisional Patent Application No. 62/173,365 filed on Jun. 10, 2015, the contents of which are incorporated herein by reference in their entirety.
FIELD AND BACKGROUND OF THE INVENTIONThe present invention, in some embodiments thereof, relates to monitoring surgical bone tools and, more particularly, but not exclusively, to monitoring an interaction of a surgical bone tool with a bone and monitoring the interaction effects on a patient's body.
Scuola Superiore Di Studi University disclosed in U.S. Pat. No. 6,033,409 “a surgical drill comprising a rotating head having a drill bit suitable to bore a body and support means to which the head is pivotally connected. An actuating unit of the movement of the drill bit with respect to the body to bore is provided for, comprising a first support comprising the head and a second support, suitable for resting directly upon the body and translating with respect to the first support parallel to the drill bit. The movement between drill bit and body is caused by the relative movement between drill bit and second support. Means for the detection of the force acting on the drill bit and means for the control of the drill bit displacement in function of the drilling force are provided for. The drill, manually holdable, presents both a reference with respect to the patient body and allows a precise control of the drill bit displacement”.
Hsu et al., disclosed in U.S. Pat. No. 6,336,931 “an automatic bone drilling apparatus for surgery operation using a computer to control a hand tool drilling device to drill opening in skeleton. The computer has a fuzzy logic software to control the hand tool operation through a control box and a manual-automatic mode switch box. The hand tool drilling device may be securely mounted on the patient. Drilling location and size and depth may be precisely controlled to enhance surgical operation safety”.
U.S. Pat. No. 8,463,421 discloses a method of “drilling a hole in a workpiece in order to control breakthrough of the workpiece comprising the steps of: a) initiating contact between a drill bit of a drill unit and the workpiece; b) operating the drill unit to rotate the drill bit to drill the workpiece; c) during drilling of the workpiece measuring the force, F and torque, T, experienced by the drill bit; d) calculating a variable F′, based on the measured force, F, representing the rate of change of F; e) calculating a variable, T′ based on the measured torque, T, representing the rate of change of T; calculating a variable F″ representing the rate of change of F′; g) calculating a variable T″ representing the rate of change of T″; h) detecting the onset of breakout of the workpiece by use of the variables F′, F″, T′ and T″; i) thereby controlling the speed of rotation of the drill bit during breakthrough of the workpiece to control the degree of breakout of the drill bit from the workpiece”.
Additional background art includes U.S. Patent Application Publication No. US2014148808, International Patent Application No. WO2015014771, U.S. Pat. No. 8,926,614, CN Patent No. CN101530341, U.S. Patent Application Publication No. US2015066030, U.S. Patent Application Publication No. US2015088183, U.S. Patent Application Publication No. US2005131415, U.S. Patent Application Publication No. US20050116673 and U.S. Pat. No. 8,821,493.
SUMMARY OF THE INVENTIONFollowing are some examples of some embodiments of the invention:
Example 1A method for monitoring the interaction of a surgical tool with a patient's bone, comprising:
interacting a surgical tool with a proximal bone region;
detecting at least one signal emanating from the bone following the surgical tool interaction with the bone region; and
identifying based on the signal an interaction progression of the surgical tool relative to the bone.
Example 2The method according to example 1, wherein the at least one signal is sound waves having a frequency equal to or below 10 KHz.
Example 3The method according to example 2, further comprising filtering the sound waves to extract sound waves emanating from the bone only.
Example 4The method according to any of examples 2-3, further comprising filtering the sound waves to extract sound waves emanating from the surgical tool only.
Example 5The method according to any of examples 1-4, wherein the identifying comprises correlating the at least one signal with an orientation of an operating tip of the tool with respect to the bone.
Example 6The method according to any of examples 1-5, the detecting is provided by contacting a sensor with a body portion of a patient and not contacting the sensor with the tool.
Example 7The method according to any of examples 1-6, wherein the at least one signal is body vibrations.
Example 8The method according to any of examples 1-7, wherein the at least one signal is air pulses.
Example 9The method according to any of examples 1-8, further comprising conducting a stopping event based on the identifying of interaction progression.
Example 10The method according to example 9, wherein the stopping event is conducted when identifying the interaction progression comprises extrusion of a tip of the surgical tool through the bone.
Example 11The method according to any of examples 9-10, wherein the stopping event is conducted when identifying the interaction progression comprises being about 0.1 to about 0.5 seconds from the tip extrusion.
Example 12The method according to any of examples 9-11, wherein the stopping event is conducted when identifying the interaction progression comprises being about 0.1 to 0.5 mm distanced from the tip extruding the bone.
Example 13The method according to any of examples 9-12, wherein the stopping event is conducted when identifying the interaction progression reaching a predetermined spatial position threshold.
Example 14The method according to any of examples 9-13, wherein the stopping event is conducted when identifying the interaction progression comprises a predetermined pattern.
Example 15The method according to any of examples 9-14, wherein the stopping event comprises tool operation cessation.
Example 16The method according to any of examples 9-14, wherein the stopping event comprises tool operation attenuation.
Example 17The method according to any of examples 9-14, wherein the stopping event comprises activating an alert.
Example 18The method according to example 17, wherein the alert is selected from a group consisting of visual notification, audio notification and vibratory indication.
Example 19The method according to any of examples 1-18, wherein the identifying an interaction progression comprises correcting the signal to at least one second signal.
Example 20The method according to example 19, wherein the second signal comprises patient's body vibrations.
Example 21The method according to example 19, wherein the second signal comprises vibrations of a hand operating the tool.
Example 22The method according to example 19, wherein the second signal comprises mechanical output from the tool.
Example 23The method according to any of examples 1-22, wherein the identifying an interaction progression further comprises correlating the signal with a database having a plurality of signals resulting from previously conducted surgical tool interactions with a bone region.
Example 24The method according to any of examples 1-23, further comprising transmitting a monitoring signal to a monitoring region of the bone prior to the detecting at least one signal.
Example 25The method according to example 24, wherein the monitoring region is a distal region of the bone.
Example 26The method according to example 24, wherein the monitoring region is a region of the surgical tool interaction with the bone region.
Example 27The method according to example 24, wherein the monitoring signal comprises acoustic sound waves.
Example 28The method according to any of examples 24-27, wherein the monitoring signal comprises acoustic sound pulses.
Example 29The method according to any of examples 24-27, wherein the monitoring signal comprises ultrasound waves.
Example 30The method according to any of examples 24-29, wherein the monitoring signal comprises ultrasound pulses.
Example 31The method according to any of examples 29-30, wherein the detecting at least one signal comprises detecting ultrasound waves.
Example 32The method according to example 31, wherein the detecting ultrasound waves comprises detecting Doppler Effect.
Example 33The method according to any of examples 29-30, wherein the detecting at least one signal comprises detecting ultrasound pulses.
Example 34The method according to example 29, wherein the transmitted ultrasound signal is in the range of about 2 MHz to about 4 MHz.
Example 35The method according to any of examples 29-34, wherein identifying bone extrusion is based on identifying the tool tip outside a boundary of the bone.
Example 36The method according to example 29, further comprising:
determining a proximal region of a bone for penetrating using the surgical bone tool, and a distal region of the bone in an opposite orientation to the proximal region;
transmitting ultrasound waves to the distal region of the bone;
positioning an ultrasound receiver such that a backscatter of the transmitted ultrasound signal is not detected by the receiver;
interacting the surgical tool with the bone region; and
detecting a scatter of the transmitted ultrasound by the receiver;
Example 37The method according to example 36, further comprising correlating the detected scattered ultrasound to a roughness level of the distal region of the bone.
Example 38The method according to example 36, further comprising associating the roughness level to an interaction progression of the surgical bone tool.
Example 39The method according to any of examples 1-38, further comprising calculating an appropriate screw size based on the determined interaction progression.
Example 40An apparatus for monitoring the interaction of a surgical tool with a bone region of a patient, comprising at least one sensor for detecting at least one signal emanating from the bone following the surgical tool interaction with the bone region.
Example 41The apparatus according to example 40, wherein the apparatus is positioned externally to the surgical tool.
Example 42The apparatus according to example 40, wherein the apparatus is positioned embedded within the surgical tool.
Example 43The apparatus according to any of examples 40-42, wherein the sensor is an acoustic transducer.
Example 44The apparatus according to any of examples 40-42, further comprising a sonic emitter.
Example 45The apparatus according to any of examples 40-44, further comprising an ultrasound transducer and wherein the sensor is an ultrasound receiver.
Example 46The apparatus according to example 45, wherein the ultrasound transducer and ultrasound receiver are embedded in the tool tip.
Example 47The apparatus according to any of examples 40-45, further comprising a housing containing the sensor.
Example 48The apparatus according to example 47, wherein the housing is made of a resilient material, rendering the apparatus to flexibly fit to a surface of the patient's body.
Example 49The apparatus according to example 47, wherein the housing is made of a semi-rigid material, rendering the apparatus to specifically fit to a designated body part.
Example 50A system for determining a desired interaction progression state of a surgical tool relative to a bone region of a patient's body, comprising the apparatus according to any of examples 40 to 49 and a controller.
Example 51The system according to example 50, wherein the controller is robotic.
Example 52The system according to any of examples 50-51, further comprising a display for graphically presenting real time monitoring of the interaction progression.
Example 53The system according to any of examples 50-52, wherein the surgical bone tool is a driller or a saw.
Unless otherwise defined, all technical and/or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention pertains. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of embodiments of the invention, exemplary methods and/or materials are described below. In case of conflict, the patent specification, including definitions, will control. In addition, the materials, methods, and examples are illustrative only and are not intended to be necessarily limiting.
As will be appreciated by one skilled in the art, some embodiments of the present invention may be embodied as a system, method or computer program product. Accordingly, some embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a “circuit,” “module” or “system.” Furthermore, some embodiments of the present invention may take the form of a computer program product embodied in one or more computer readable medium(s) having computer readable program code embodied thereon. Implementation of the method and/or system of some embodiments of the invention can involve performing and/or completing selected tasks manually, automatically, or a combination thereof. Moreover, according to actual instrumentation and equipment of some embodiments of the method and/or system of the invention, several selected tasks could be implemented by hardware, by software or by firmware and/or by a combination thereof, e.g., using an operating system.
For example, hardware for performing selected tasks according to some embodiments of the invention could be implemented as a chip or a circuit. As software, selected tasks according to some embodiments of the invention could be implemented as a plurality of software instructions being executed by a computer using any suitable operating system. In an exemplary embodiment of the invention, one or more tasks according to some exemplary embodiments of method and/or system as described herein are performed by a data processor, such as a computing platform for executing a plurality of instructions. Optionally, the data processor includes a volatile memory for storing instructions and/or data and/or a non-volatile storage, for example, a magnetic hard-disk and/or removable media, for storing instructions and/or data. Optionally, a network connection is provided as well. A display and/or a user input device such as a keyboard or mouse are optionally provided as well.
Any combination of one or more computer readable medium(s) may be utilized for some embodiments of the invention. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium and/or data used thereby may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for some embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the “C” programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider).
Some embodiments of the present invention may be described below with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.
Some of the methods described herein are generally designed only for use by a computer, and may not be feasible or practical for performing purely manually, by a human expert. A human expert who wanted to manually perform similar tasks, such as determining the contact force between a wheel and a surface, might be expected to use completely different methods, e.g., making use of expert knowledge and/or the pattern recognition capabilities of the human brain, which would be vastly more efficient than manually going through the steps of the methods described herein.
Some embodiments of the invention are herein described, by way of example only, with reference to the accompanying drawings. With specific reference now to the drawings in detail, it is stressed that the particulars shown are by way of example and for purposes of illustrative discussion of embodiments of the invention. In this regard, the description taken with the drawings makes apparent to those skilled in the art how embodiments of the invention may be practiced.
In the drawings:
The present invention, in some embodiments thereof, relates to monitoring surgical bone tools and, more particularly, but not exclusively, to monitoring an interaction of a surgical bone tool with a bone and monitoring the interaction's effects on a patient's body.
OverviewAn aspect of some embodiments of the invention relates to monitoring the effects of an interaction of a surgical bone tool with a patient's bone. In some embodiments, monitoring includes using sound as an indicator of interaction progression. Alternatively or additionally, monitoring includes using mechanical vibrations as indicating interaction progression. Alternatively or additionally, monitoring includes body vibrations as indicating interaction progression. Alternatively or additionally, monitoring includes air pulses as indicating interaction progression.
In some embodiments, passive detection is provided. Alternatively or additionally, active detection is provided. In some embodiments, passive detection is executed by monitoring output resulting directly from the process, for example output directly detected from the bone as a result of the interaction of the tool with the bone, and/or output directly detected from the operation of the tool.
In some embodiments, active detection is provided by actively providing an element of the process with input and detecting the resultant output. For example, in some embodiments, an element of the process is the tip interaction region with the bone. Alternatively or additionally, the element is a region of the bone not being directly modified, such as for example the distal boundary opposite to the tool's penetration region. In some embodiments, input is provided in the form of acoustic waves and/or pulses. Alternatively or additionally, input is provided in the form of ultrasound beams and/or pulses.
In some embodiments, monitoring is provided by detecting sound waves and/or pulses emanating from the bone itself, optionally after filtering out the acoustic output emanating from the tool's mechanical operation. Alternatively or additionally, monitoring is provided by detecting sound waves and/or pulses emanating from the tool's mechanical operation, optionally after filtering out the acoustic output emanating from the bone itself. Optionally, filtered data is used for identifying bone deformation.
In some embodiments, incipient breakthrough of the tool tip through bone is detected by identifying predefined output characteristics discovered by the inventors as potentially indicating breakthrough, such as for example a specific sound.
Alternatively or additionally, output from the bone tissue itself is used for detecting tissue transition. As interaction progresses the composition of the bone tissue changes, potentially leading to a different sound emanating from the bone region for each stage. In some embodiments, a stage is a spatial location of the surgical tool tip relatively to the bone.
It is a potential advantage to use both an identification of predefined patterns of the breakthrough point and a real-time detection of tissue transitioning, likely leading to more accurate breakthrough determination.
An aspect of several embodiments of the invention relates to using ultrasound feedback to identify incipient breakthrough of a tool's tip through a bone and/or monitor a surgical tool's interaction with a bone region. In some embodiments, a tool interacts with a proximal region of a bone and ultrasound feedback is used to monitor one or more properties of the distal region of the bone. In some embodiment, bone properties relate to a bone surface shape, for example being planar or having a curve, and/or transitioning from a more planar surface to a more curved surface. Alternatively or additionally, bone properties relate to a bone surface roughness level, optionally to the change in roughness level over time when a tool is interacting with a bone.
In some embodiments, a single ultrasound probe is used, optionally having transmitting and receiving properties. In some embodiments, a plurality of ultrasonic waves is transmitted having variable angles with respect to the bone. Alternatively or additionally, a plurality of ultrasonic waves is propagated into variable depths inside the patient's body. In some embodiments, a plurality of ultrasound waves having variable frequencies is used, optionally, having values within a specific frequency range, for example, ranging between 1 MHz and 2 MHz, or between 2 MHz and 3 MHz, or between 3 MHz and 4 MHz, or any range having smaller, larger or intermittent frequency values.
In some embodiments, transmitted ultrasound frequency changes as the tool tip progresses through its interaction with the bone. Alternatively or additionally, transmitted ultrasound amplitude changes as the tool tip progresses through its interaction with the bone. Alternatively or additionally, the intensity of transmitted ultrasound changes as the tool tip progresses through its interaction with the bone. It is a potential advantage to use increasing frequency, which is likely to increase scattering effect due to surface roughness, potentially increasing the detection sureness of roughness resulting from the tool's interaction proximally to the bone boundary. In some embodiments, effect of surface roughness on the ultrasound scattered energy can be used, optionally qualitatively, to identify smooth planar flaws, rough planar flaws and/or volumetric flaws.
In some embodiments, at least two ultrasonic probes are provided. In some embodiments, one ultrasonic probe is used as a transmitter, and the other ultrasonic probe is used as a receiver. In some embodiments, both probes are moved over the surface of the patient's body, optionally being spaced apart at a fixed distance.
In some embodiments, the tool bit is used for an ultrasonic transmitter and/or receiver, optionally providing indication for bit spatial positioning. Optionally spatial positioning comprises extent of depth.
In some embodiments, the ultrasound sensor has a detection area having a two-dimensional boundary, optionally substantially rectangular. In some embodiments, the ultrasound sensor has a detected area having a first dimensionality of 200 mm, 180 mm, 150 mm, 120 mm, 100 mm, or any length being larger, smaller or intermittent. In some embodiments, the ultrasound sensor has a detected area having a second dimensionality of 100 mm, 80 mm, 60 mm, 40 mm, 20 mm, or any length being larger, smaller or intermittent.
In some embodiments, ultrasound energy is transmitted having a square wave pattern. In some embodiments, the square wave relates to alternating transmission and reception. In some embodiment, transmission is provided in a temporal range of between 100 and 500 microseconds. In some embodiments, reception is provided in a range of between 500 and 1000 microseconds. In some embodiments, the temporal range is determined as a function of the bone thickness. Alternatively or additionally, the temporal range is determined as a function of the surrounding tissue thickness, whether proximally to the tool or distally.
In some embodiments, ultrasound waves and/or pulses are transmitted and/or received using the bit of the surgical tool. Optionally, an ultrasound transducer transmits the signal through the bit. In some embodiments the bit serves as a transducer, both transmitting and detecting ultrasound. In some embodiments, ultrasound detected by the bit is used for identifying a spatial location of the bit, for example its depth in the bone. Alternatively or additionally, ultrasound detected by the bit is used for identifying incipient breakthrough of the bit through the bone.
An aspect of some embodiments of the invention relates to using ultrasound Doppler Effect detection to monitor a progress of a surgical tool tip when interacting with a bone. In some embodiments, Doppler Effect results when ultrasound is transmitted to the tool's interaction region with the bone, while the tool mechanically vibrates the bone. In some embodiments, detection of a Doppler Effect correlates with an occurrence of bone mechanical vibrations. In some embodiments, increasing bone vibrations indicate the progression stage of the tool's interaction. Optionally, Doppler Effect is detected using high pulse repetition frequency (HPRF).
In some embodiments, a Doppler Effect results from real-time formation of surface irregularities. It is postulated by the inventors that as the interaction of the surgical tool with the bone progresses, surface irregularities appear at the bone surface. Potentially, the formation of surface irregularities causes a relative movement of the bone surface, potentially deflecting a transmitted ultrasound wave to create a Doppler Effect.
It is potentially advantageous to use Doppler Effect sensing, because it may filter out stationary signals scattering from relatively stationary locations, such as the patient's skin or other tissue surrounding the bone, but not affected by its vibrations. However, in some embodiments, stationary scattered signal is detected in addition to detecting Doppler Effect, potentially enabling tool bit breakthrough detection.
The inventors have found that ultrasonic monitoring of a bone penetration process, for example a long drilling process, is based on the, optionally, abrupt change of the bone surface reflection properties, for example upon the drilling bit extruding it and/or on the simultaneous change of the bone bit-induced vibrations occurring during bit extrusion.
In some embodiments, ultrasonic energy is used to identify the instance of the bit extrusion through the bone. In some embodiment a stationary ultrasonic monitoring is used. Alternatively or additionally, a dynamic ultrasonic monitoring is used.
In some embodiments, stationary ultrasonic monitoring is based on the intact bone being smooth relative to the scale of ultrasonic wavelengths, potentially leading to the beam being reflected at a reflection angle equal to the angle of incidence.
In some embodiments, when there is no tool-bone interaction, the ultrasound transducer is positioned in a specific geometric location from the detected area, likely to have a small signal being scattered back to the sensor. Most of the energy is probably reflected away from the transducer, which is oriented to receive energy in the direction of the incident wave, depending on wavelength, and/or bone smoothness and/or the nature of the crack.
In some embodiments, as the penetration proceeds close to bone extrusion, the surface of the bone becomes irregular. Upon cracks appearing on bone cortex and any bulge created, a scattered wave is potentially detectable at the ultrasound transducer. This is potentially due to reflection becoming more diffuse when bone smoothness decreases.
In some embodiments, ultrasound energy is used to monitor vibrations induced on the surface of the bone in the direction of the tool's interaction. Potentially, the frequencies of these vibrations are proportional to rotational velocity of the bit and/or its detailed design, at an amplitude proportional to the force exerted on the drill.
It is likely that at the moment of extrusion, the force of interacting through the bone, optionally for example due to pressing down on the tip, is reduced due to the tip of the bit not pressing any longer on the surface on the bone. In some embodiments, after extrusion, the tip of the bit becomes a temporally modulated reflector at a frequency proportional to the rotational frequency of the drill and/or the detailed design of the tip. These effects are measured, preferably using the Doppler Effect.
In some embodiments, the extrusion time will be determined based on the analysis of the Doppler signals from both transducers.
In some embodiments, a change in sound, optionally at frequencies below 10 KHz, results from a spatial location of the tip breaking through and/or getting closer to a bone boundary, optionally cortical bone tissue boundary, optionally leading to detection of the tool's tip before penetrating into the cortical bone Alternatively or additionally, a change in sound results from a spatial location of the tip changing while breaking through the cortical bone tissue region, optionally leading to detection of when the tool's tip broke through the cortical bone and therefore extruded beyond the bone's boundary.
In some embodiments, acoustic data is filtered to monitor the sound emanating from the surgical tool itself, optionally monitoring the change in the sound, potentially indicating tip bone breakthrough and/or tissue transition. Alternatively or additionally, acoustic data is filtered to monitor the sound emanating from the interacted bone. In some embodiments, audio waves are detected at frequencies in the range of about 20 Hz and about 5 KHz, optionally at about 10 KHz and/or below.
An aspect of several embodiments of the invention relates to an apparatus having a plurality of sensors for monitoring the interaction of a surgical tool with a bone region. In some embodiments, the apparatus comprises a housing enabling mounting of the apparatus on a patient's body, optionally in proximity to the operated region. Alternatively or additionally, a sensor apparatus may be mounted on the surgeon's operating hand. Optionally in addition is provided a housing enabling positioning of the apparatus in association with the surgical tool, optionally within the tool's casing, alternatively or additionally, mounted externally on the tool. In some embodiments, the apparatus housing enables positioning of the apparatus on a third object, such as for example, the patient's bed.
In some embodiments, the housing is mounted on the patient's body using a standoff, hydrogel or biologic glue, for enabling wave propagation. In some embodiments, the housing is substantially flat, having a high surface contact with the patient's body, potentially promoting better detection of the sensors. Optionally, the housing is relatively elastic, enabling the deformation of the apparatus to fit across a body surface of the patient, for example, to be shaped to fit the skin surface of a patient's limb. In some embodiments, the housing is relatively rigid, allowing its mounting on specifically designed body surfaces. In some embodiments, the apparatus is positioned non-concentrically to the operation region of the tool to avoid interfering with the tool's operation.
In some embodiments, the apparatus comprises at least one ultrasound probe, optionally a transducer. In some embodiments, a transducer is oriented to receive energy in the direction of the incident ultrasonic wave. In some embodiments, prior to the surgery, the transducer is positioned such that only a relatively small fraction of the wave will be scattered back. Potentially, once bone penetration starts, tracking is conducted. Optionally, once reflection is detected in the transducer, it suggests that the roughness of the distal portion of the bone increased. In some embodiments, detected level of roughness is correlated with progressed bone tissue interaction. Optionally, roughness extent, measured by the change in the detection of received ultrasound waves, indicates cortical bone penetration.
In some embodiments, sensory electrodes, optionally mounted on the patient's body, transmit sensory data to the sensor apparatus, optionally also mounted on the patient's body. Alternatively or additionally, sensory electrodes are mounted on the body while sensor apparatus is positioned remotely to the body.
In some embodiments, the apparatus comprises an acoustic transducer for detecting acoustic sound waves emanating from the bone as a result of the interaction of the tool with the bone. Optionally, the acoustic transducer is configured to detect waves and/or pulses passing through an intermediary material, without passing through air. In some embodiments, passing through the body, rather than through the air, is provided by mounting the apparatus over a patient's body, and not on the tool, or on a position remotely located from the tool or the body. In some embodiments, the housing of the apparatus comprises at least one aperture for allowing sound waves to propagate into the apparatus and reach the sensors, for example, when housed within the surgical tool, to enable detection of sound emanating externally from the tool.
In some embodiments, the sensor apparatus detects tool related mechanical parameters. For example, in some embodiments the sensor unit includes a torque sensor to measure the torque produced by the tool's motor, optionally between the tool's chuck and its operating tip.
In some embodiments, the sensor apparatus comprises a three-dimensional accelerometer sensor, potentially for detecting body vibrations when mounted on the patient's body, optionally, configured to detect frequencies of less than 20 Hz. In some embodiments, a three-dimensional accelerometer is provided in a sensor apparatus embedded in the surgical tool. It is a potential advantage to monitor the tilting of the surgical tool by using a three-dimensional gyroscope, because tilting of the tool may result in a change in the acoustic sound emanating from the tool's interaction with the bone. In some embodiments, gyroscope data is integrated with acoustics data, potentially to correct for tilting. It is a potential advantage to correct acoustic data with the orientation of the surgical tool, due to a sound emanating from the bone likely being different when interacted through a different spatial orientation of the tool.
In some embodiments, the sensor apparatus comprises a range finder, optionally when the apparatus is housed within the tool, potentially used to determine the distance of the tool, optionally the tool's tip, from the patient's bone. Alternatively or additionally, the measured distance pertains to the distance of the tool tip from a surgical bone plate. Alternatively or additionally, the measured distance relates to a distance from the bone to at least one preset element provided between the tool and the bone, such as for example a spacer. In some embodiments, a range finder is used to determine the relative distance of the bit from the preset elements.
In some embodiments, the sensor apparatus comprises a magnetometer, optionally when the apparatus is mounted on the patient's body, and potentially used for detecting the presence of the tool's tip, such that, for example, as the tool progresses along the bone, the tool's tip detection in the magnetometer increases.
In some embodiments, the sensor apparatus detects physiologic parameters of the patient. In some embodiments, physiologic parameters include heart rate measurements. Alternatively or additionally, physiologic parameters include body temperature measurements; optionally specific temperature measurement is conducted in the penetrated bone area, for example, by an infrared sensor. Alternatively or additionally, physiologic parameters include blood pressure measurements.
In some embodiments, the sensor apparatus detects environmental parameters related to the ambient environment where the surgery is being conducted. In some embodiments, environmental parameters include room temperature measurements.
Alternatively or additionally, environmental parameters include room humidity measurements. Alternatively or additionally, environmental parameters include light conditions. In some embodiments, environmental parameters are used to normalize other measurements of the sensor unit.
In some embodiments, the apparatus is mounted on the patient's body, optionally in proximity to the operation region. Alternatively or additionally, the apparatus is mounted on the surgeon's operating hand. In some embodiments, the apparatus is mounted in proximity to the distal portion of the bone with respect to the operation region, optionally in a non-concentric position opposite to the surgical tool's penetration site. In some embodiments the apparatus is mounted in proximity to the proximal portion of the bone with respect to the operation region, for example, mounted on a plane substantially the same as the operation region, and optionally axially shifted. In some embodiments a plurality of apparatuses, optionally each having a distinct set of sensors, are mounted simultaneously at various positions.
In some embodiments the apparatus is disposable. In some embodiments, the apparatus is fit for a single use only because of battery considerations, optionally having a limited life battery. Alternatively or additionally, the apparatus is fit for a single use only because it is produced having a material which is unable to undergo sterilization. Alternatively, the apparatus is repeatedly used, and optionally manufactured having materials suitable for sterilization.
In some embodiments, the apparatus comprises a replaceable housing. According to this, in some embodiments, the housing is provided as an outer disposable housing, containing in it at least one reusable element, having the potential advantage of not having to sterilize such reusable elements and only provide them with a new and/or separately sterile housing.
In some embodiments, the apparatus further comprises a controller. In some embodiments the controller has instructions for collecting sensory data in a digital fashion. In some embodiments, the apparatus comprises a transmitter for transmitting the digital sensory data, optionally wirelessly.
An aspect of some embodiments of the invention relates to predicting a surgical tool's tip bone extrusion and/or its interaction stage with a bone. In some embodiments, prediction is based on sensory data emanating from the bone tissue itself as a result from the tool's interaction with the bone. In some embodiments, prediction is calculated by a processor. In some embodiments, once a desired stage is predicted to occur, the tool's interaction with the bone is modulated.
In some embodiments, such as in a limb bone surgery, for example when drilling a thread for accepting a screw, a desired stage is progression of the tool up to a region proximal to the cortical bone tissue but without breaking through it to the tissue surrounding the bone. In some embodiments, such as in brain surgery, a desired stage is possibly when a tool penetrates through the tissue leading up to the skull, but without penetrating into the skull itself. Alternatively or additionally, such as in sawing procedures, a desired stage may be an invasion into the bone for up to 30%, 50%, 70% of the bone's diameter, or any percentage smaller, higher or intermittent.
In some embodiments, modulation of the tool's interaction results in stopping the mechanical operation of the tool, optionally automatically. In some embodiments, automatic operation is provided by robotic systems. Alternatively or additionally, modulation results in attenuating the tool's speed or force, for example, upon predicted estimation of drilling up to the skull bone, the driller's torque is attenuated, potentially leading to a more attentive drilling.
In some embodiments, once a desired stage is predicted to occur, a notification is provided, optionally in the form of a visual and/or an audio alert. In some embodiments, visual notification is provided on a display, such as a screen. Alternatively or additionally, visual notification is provided in the form of a light, such as by using LED. In some embodiments, audio notification is provided by a buzzer. Alternatively or additionally, a speaker is provided to sound a notification, such as in a non-limiting example, speech or buzzing sound. In some embodiments, the screen, LED, buzzer or speaker, and any combination thereof, is embedded within the surgical tool.
An aspect of several embodiments of the invention relates to identifying a stage of interaction of the tool with a bone by integrating a plurality of detected signals. In some embodiments, data provided by sound waves and/or pulses, acoustic and/or ultrasonic, and/or bone vibrations is integrated with mechanical sensory data resulting from the tool's mechanical operation. For example, vibrations resulting from the tool enable filtering out ultrasonic scattering from the underlying tissue.
In some embodiments, data integration is performed by normalization. It is a potential advantage to integrate sound data with mechanical data, because the mechanical operation profile also affects the sound emanating from the tool's interaction with the bone. For example, tilting of the surgical tool, or the extent of axial force applied, can affect the sound, and it is a potential advantage to correct the sound according to such mechanical influences.
In some embodiments, operating the surgical tool prior to its interaction with the patient's body gives a baseline of mechanical characteristics, optionally relating to the tool's sound, and/or the tool's forces, as being exerted without interference.
In some embodiments, mechanical sensory data pertains to sensing axial force exertion. Each surgeon is likely to produce a different force exertion, whether relatively to other surgeons, and/or relatively to himself at distinct times. It is a potential advantage to monitor the axial force exerted by the surgeon, and correct prediction accordingly. For example, a surgeon who exerts a relatively low force exertion will take more time to advance the tool inside the bone, probably extending the time taken for the tool's tip to progress. Therefore, in some embodiments, axial force sensory data prolongs or shortens the predicted tool's tip progress in the bone.
In some embodiments, additional sensory data is collected, such as body vibrations, magnetic and/or electric sensing of the tool's operating tip, motor torque production, axial forces applied and/or the tool's radial velocity.
In some embodiments, a machine learning algorithm is provided, which includes storing sensory data collected during surgery and using this data when determining bone extrusion and/or assessing tissue transition. In some embodiments, the algorithm includes a training/learning phase. In some embodiments, learning phase includes providing a database having exemplary data, potentially allowing buildup of patterns to be detected.
In some embodiments, audio data, whether raw, filtered, enhanced, sampled or normalized, or any combination thereof, is subjected to pattern recognition algorithms, optionally, to detect a change in frequency during the surgical procedure, optionally by using the pattern buildup database. In some embodiments, audio data is filtered to reduce noise and/or background sounds.
In some embodiments, sensory data is compared, and/or correlated, and/or analyzed in relation to a database having bone information, optionally in real time. In some embodiments, sensory data is compared to predefined patterns pre-identified in the database, optionally by using pattern recognition algorithms. In some embodiments, the database includes data related to mechanical aspects of bones, optionally human bones, such as size, and/or length, and/or width, and/or radius. Alternatively or additionally, mechanical aspects include bone rigidity values. Alternatively or additionally, mechanical aspects include gender dependent characteristics. Alternatively or additionally, mechanical aspects include age dependent characteristics. Alternatively or additionally, patient specific information is provided. Alternatively or additionally, data regarding the surgical tool is provided, for example, driller manufacturer, and/or drill bit information, and/or diameter, and/or length, and/or Trocar use.
Optionally, data received in real time is compared to predefined patterns in the database and/or feature set information. In some embodiments, database and/or feature set information represent a weighted correlated information regarding breakthrough probability. Optionally, pattern comparison uses pattern recognition algorithms. In some embodiments, pattern recognition algorithms perform correlations to provide a most likely matching, optionally, taking into account typical statistical variations.
In some embodiments, the algorithm calculates the probability of bone breakthrough and, optionally, user can set actions to occur on any defined probability. For example, setting the threshold to 90% will stop the mechanic operation of the tool more frequently than when setting the threshold to 99%.
In some embodiments, a user interface is provided. In some embodiments, the user interface is provided for enabling a surgeon to put in input related to the patient undergoing surgery, such as in a non-limiting example, age, gender, bone type being operated, height, weight, tool type being used and so forth. In some embodiments, the user interface is used for displaying output to the surgeon, such as in a non-limiting example, statistical data related to the bone type being operated, or data related to typical bone parameters of the age group and/or gender of the patient. In some embodiments, the user interface displays operation progress, such as the measured depth of the surgical tool. In some embodiments, the user interface alerts the surgeon of an incipient breakthrough of a specific depth.
In some embodiments, the user interface provides a suggested screw size, fit to accommodate the depth of the resultant hole due to the tool's penetration. Alternatively or additionally, screw size is suggested according to the bone's diameter. Alternatively or additionally, screw size is suggested according to the bone's texture, for example its level of crispness, or elasticity. In some embodiments, screw suggestion, and/or another appropriately fitting element, is transmitted to a 3D printer.
In some embodiments, bone condition after the operation is provided as an output, optionally on the user interface. Optionally, bone condition refers to qualitative characterization of the bone after being modified, such as for example, if the tool bit penetrated relatively smoothly, or alternatively penetrated causing bone fractures and/or cracks.
In some embodiments, user interface display is mounted on the surgical tool itself.
An aspect of some embodiments of the invention relates to a method for providing an appropriate screw size for a drilled bore in a patient's bone. In some embodiments, screw size is provided by associating a calculated penetration depth to a most fitted screw size from a database having a plurality of screw specifications, such as length and/or diameter. In some embodiments, suggested screw size is visualized on a display, optionally, a display mountable on the surgical drill.
In some embodiments, a database stores a plurality of driller bore depths. In some embodiments, driller bore depths history is graphically presented on a display.
An aspect of some embodiments of the invention relates to a method for selective processing of tissue, optionally for the selective processing of hard tissue, such as bone, cartilage, teeth, scull and the like. In some embodiments, selective processing is performed by identifying an inter-joint boundary.
In some embodiments, the sensor apparatus and/or methods thereof are used in conjunction with an adaptor for mechanically modifying the operation of the surgical bone tool, such as disclosed in PCT Patent Application Agent Ref: 65764, incorporated herein by reference in its entirety. In some embodiments, the bone drilling system is composed of a driller with drilling bit, optionally fitted over an add-on adaptor in between and/or embedded within the driller itself. In some embodiments, is provided a sensor unit, i.e. a Bio-Medical patch, and/or at least one designated sensor, optionally mounted upon the organ and/or in any other location that enables it to sense and/or get the needed related information. In some embodiments, the adaptor and/or the sensor is connected to a controller computer in various configurations.
In some embodiments, within the add-on adaptor there is a set of sensors, optionally, for example, composed of any combination of the following:
a. Torque sensor optionally to measure the torque produce by the driller engine between driller original chuck and the tip of the driller bit
b. Pushing/pulling force sensor optionally to measure the axis force (positive or negative) that is produced at the drill bit tip
c. Radial velocity sensor (RPM) optionally to measure the drilling bit rotating speed
d. Driller battery power consumed sensor optionally connected in line to the drilled battery and optionally measures and power (W) that is consumed by the driller engine. Optionally measuring current (Ampere) and voltage (Volt) will yield the power (Watts) supplied
e. 3 Dimensions accelerometer sensor that is optionally used to measure radial force measured in the add-on adaptor in all 3 dimensions (X, Y, Z). Optionally this is used to track trembling of the adaptor
f. 3 Dimensions tilt sensor that is optionally used to measure the adaptor tilt comparing to the horizon
g. Microphone (magnetic or piezoelectric) optionally to pick up audio waves of frequencies from 100 Hz to 5 KHz
h. Electro mechanical axial clutch, that is optionally used to cut the drilling power to the drilling tip
In some embodiments, at least one of the add-on adaptor sensors is based on Piezo-Electric devices and/or any other sensing technology that measures the information in small factor and/or light weight elements optionally allowing designing of the adaptor add-on in a light, small size and/or short manner that will cause as little interferences to the surgeon working and driller handing comparing to his current way of work. In some embodiments, the connection to the driller battery is also used to run the internal add-on adaptor electronics.
In some embodiments, all of the above is part of a semi-automated/fully automated drilling/cutting device (optionally embedded within the system and/or part of it).
In some embodiments, add-on adaptor rotational sensors deliver their data to the Add-on adaptor controller board (optionally a non-moving part at the fixed side of the Add-on Adaptor), optionally by the use of conductive slippery rings and/or by the use of laser signal transferring between moving and non-moving parts of the add-on Adaptor.
In some embodiments, the add-on adaptor measures all signals from the sensors and/or checks the changes over time (derivatives of the signals). In some embodiments, using this information the controller computer can recognize specific signals pattern that are potentially unique to bone cortical penetration. In some embodiments, the controller computer is preconfigured with all types of bones information and/or human bones attributes. In some embodiments, the surgeon configures the controller prior to the surgery start, optionally with the specific information of the patient information and/or surgery type, such that the controller will know what pattern to track.
In some embodiments, upon pattern positive identification, the controller sends a signal to the add-on adaptor to initiate an LED light and/or Buzzer and/or any other notification and/or automatic drilling rotating stop, optionally by using the add-on adaptor internal clutch.
In some embodiments, the signals of the add-on adaptor sensors are being sampled, and/or filtered, and optionally sent to the controller computer. Optionally the information will be transferred to the controller computer by the use of wired or wireless communications path, such as Wi-Fi, Bluetooth, ZigBee or similar.
In some embodiments, an external sensor unit, i.e. Bio-Medical patch, comprises the following sensors (any possible combination):
a. 3 Dimensional accelerometer sensor optionally to pick up body vibrations of frequencies less than 100 Hz
b. Microphone (magnetic or piezoelectric) optionally to pick up audio waves of frequencies from 100 Hz to 5 KHz
c. Ultrasound piezoelectric sensor optionally to produce and detect ultrasound signals at 4 MHz. Optionally ultrasound waves will be use to locate the driller tip position and/or assess the distance to the patch and/or to assess cracks and/or fractions with the bone itself, as potentially signal reflection is much difference at bone which is untouched or a bone with a hole in it
d. Magnetometers (copper coil) sensor that optionally detect drilling bit metal tip and produce electricity in relations to the tip distance from the patch
e. Hall Effect sensor—optionally when the Hall probe is held so that the magnetic field lines are passing at right angles through the sensor of the probe, the meter gives a reading of the value of magnetic flux density (B). Potentially a current is passed through the crystal which, when placed in a magnetic field has a “Hall effect” voltage developed across it.
f. Pickup coils (at numerous variations of installations around the drilled area) optionally to pickup electricity induced from the drilling tip, which is charged with voltage
g. Resistance sensor to optionally measure conductivity between driller tip to the patch, through measuring the current run inside the human tissues
h. Thermal sensor (based on Infra-Red waves read and/or piezoelectric sensor) to optionally read the body temperature in the area of drilling
In some embodiments, the signals of the Bio-Medical patch sensors are being sampled, and/or filtered and optionally sent to the controller computer.
In some embodiments the Bio-Medical patch is attached to the body with the aid of either biological glue and/or hydro gel compound potentially ensuring good transfer of signals from the body.
In some embodiments, the Bio-Medical patch is produced in different forms, other than patches, such as for example: Mattress cover to be placed under the patient bed or head throne that will cover patient head during neurological surgery or belly belt to be used in spinal surgery.
In some embodiment the Bio-Medical patch is connected to Controller computer, optionally connected to an automated drilling robot to optionally send acquired signals and/or enhance drilling robot information regarding the progress of the drilling and/or enhance decision making of when to stop the drilling.
In some embodiments the Add-on adaptor and/or the Bio-Medical patch can be produced for single use only and/or for a multiple uses, optionally in surgeries with the ability to be sterilized before use.
In some embodiments, the controller computer comprises a user interface optionally to control all drilling parameters before the surgery start, and/or display the progress of the drilling during the surgery and/or review option to track all surgeon performance to allow later review.
Potential advantages of the invention may include the following:
a. The invention may prevent harming tissues other than the bone by stopping the driller on time (drilling only the bone itself)
b. The bone drilling controlling device of the invention might be quicker to use by surgeons and as overall performance, shortening the Orthopedics/Neurologic surgery time. Further, the device of the invention might be safer to the patients and/or reduce risks of being harmed by driller tip penetration after reaching bone cortical layer.
c. The bone drilling controlling device of the invention may reduce patients recovery time after surgery
d. The approach of having an add-on adaptor that is attached to currently available drillers and drilling bit potentially allows easy adoption of the tool without the need to reeducate the surgeons and way of working
This invention is referring to all and any bone (such as scull, spine bones, teeth and/or any other bones) drilling and/or cutting/sawing procedures being done on humans and/or animals perfumed manually or semi-automated/full-automated system.
Before explaining at least one embodiment of the invention in detail, it is to be understood that the invention is not necessarily limited in its application to the details of construction and the arrangement of the components and/or methods set forth in the following description and/or illustrated in the drawings and/or the Examples. The invention is capable of other embodiments or of being practiced or carried out in various ways.
Exemplary Process for Monitoring the Interaction of a Surgical Tool with a Bone
Reference is now made to
In some embodiments, process 100 begins by interacting the surgical tool with the bone 102. In some embodiments, interacting is by penetrating or extruding. Alternatively or additionally, interacting relates to sawing and/or cutting. Alternatively or additionally, interacting relates to scraping and/or polishing. Alternatively or additionally, interaction relates to machining and/or etching.
In some embodiments, once interaction starts, monitoring, or sensing, the effects of this interaction is followed 104. In some embodiments, sensing is made to monitor the influence of the interaction between the surgical tool and the bone. In some embodiments, sensing relates to detecting sound waves emanating from the interaction. In some embodiments, sensing relates to using ultrasound feedback to detect patterns apparent in the bone and resulting from the interaction. In some embodiments, sensing is provided to detect mechanical aspects of the surgical tool operation.
In some embodiments, the detected interaction is used for identifying the interaction state of the tool with the bone 106. In some embodiments, sensory data in 104 is collected at real time to provide the interaction state 106 in real time. In some embodiments, interaction state pertains to the tool's tip spatial positioning with respect to the bone, optionally, with respect to the cortical bone tissue, optionally, with respect to the cortical bone tissue being distal to the position of the tool.
In some embodiments, it is desired to identify an interaction state of the tool with the bone 106 a few seconds, milliseconds, or microseconds prior to its penetration into a bone tissue optionally for example, identify the bit is going to extrude in 0.1-0.5 ms. Alternatively or additionally, it is desirable to identify when the bit is distanced a few millimeters before breaking through, optionally for example, identify the bit being 0.1-0.5 mm away from extrusion. In some embodiments, it is desired to identify an interaction state of the tool with the bone 106 a few millimeters prior to its penetration into a bone tissue.
In some embodiments the bone tissue is specific and predetermined prior to the surgery. In some embodiments the bone tissue is a cortical bone tissue, optionally the distal portion with relation to the tool. Alternatively or additionally, the bone tissue is the cortical tissue proximal to the tool penetration site. Alternatively or additionally, the bone tissue is the inner boundary of the cortical bone tissue. Alternatively or additionally, the bone tissue is the outer boundary of the cortical bone tissue
Exemplary Signal Integration ProcessReference is now made to
In some embodiments, data integration 202 utilizes sensory data emanating from the bone itself as a result of the tool-bone interaction 222. For example, some embodiments include sensing sound waves and/or pulses, and or vibrations emanating from the interaction site, and/or using ultrasound transmission and feedback to characterize the interaction site.
In some embodiments, data integration 202 utilizes sensory data relating to the tool's mechanical operation 224. It is a potential advantage to integrate data pertaining to the mechanical specifications of the tool's operation, because the characteristics of the mechanical operation are likely to have an influence on other sensory detections. In some embodiments, mechanical sensing relates to vibration of the tool. Alternatively or additionally, it relates to tilting of the tool. Alternatively or additionally, it relates to pushing/pulling axial forces directed through the tool. Alternatively or additionally, it relates to spinning speed of a tool's main shaft. Alternatively or additionally, it relates to a distance of the tool's tip from the bone.
In some embodiments, data integration 202 utilizes sensory data relating to the patient's physiologic parameters 226. For example, in some embodiments, the temperature of the bone is measured, potentially contributing to the determination of the interaction state, because, for example, heated bone tissue is likely to indicate a proximal action of the tool. In some embodiments, physiologic parameters pertain to vibrations of the patient's organ being operated. It is a potential advantage to integrate sensory data with the patient's movements or vibrations, likely to correct for spatial shifting which is not related to the tool-bone interaction.
In some embodiments, data integration 202 utilizes general bone information 240. In some embodiments, general bone information comprises a variety of bone types and their characteristic profile, optionally pertaining to size, composition, strength, surrounded tissue, typical surgical operations, age related differences, gender related differences and so forth. In some embodiments, general bone information includes tracking of previously conducted surgeries and its interaction profile of the surgical tool with the bone. It is a potential advantage to integrate general bone information with sensory data, likely to contribute to a more accurate analysis of the sensory data. For example, an acoustic sound having the same profile could result in completely different interaction state detection, such as when the sound derives from an initial penetration into the bone boundary in a healthy young male, or deriving from an extensive penetration into an elderly woman suffering from osteoporosis.
In some embodiments, data integration 202 utilizes patient specific information 260. In some embodiments, patient information includes age, gender, weight, medical condition, medical history and so forth. Optionally, patient information is inputted by the surgeon. In some embodiments, data integration 202 utilizes patient information to extract relevant information and profiles from the general bone information.
Exemplary System for Identifying a Surgical Tool Interaction State with a Bone
Reference is now made to
According to an exemplary embodiment of the invention, sensors are used to detect parameters pertaining to the effect of the surgical tool's interaction with the bone. In an exemplary embodiment, sensor unit 322 is provided embedded in the surgical tool 320. Alternatively or additionally, it is added in line to it. Alternatively or additionally, sensor unit 310 is provided externally to the surgical tool 320.
In some embodiments, sensors are configured to detect parameters resulting from the tool-bone interaction and affecting the patient's body, for example the patient's bone. Alternatively or additionally, sensors are configured to detect parameters resulting from the tool-bone interaction and affecting the surgical tool, for example the sound emanating from the surgical tool itself, and its potential distortion as the tool progresses within the patient's body.
In some embodiments, sensor unit 310 and/or sensor unit 322 comprise communication means 312, 324, respectively, optionally for wireless communication. In some embodiments, communication means 312 and/or 324 are transceivers, transmitting sensory data to a controller 330. In some embodiments, controller 330 is located externally to the surgical tool, optionally in a server or a computer. Alternatively or additionally, controller 330 is embedded within the surgical tool 320. Alternatively or additionally, controller 330 is embedded within the external sensor apparatus 310. In some embodiments, upon sensing feedback from active signal sensing, optionally acoustic and/or ultrasound and/or air pulses, the feedback data is sent in real-time to controller 330.
In some embodiments, controller 330 comprises communication means 334 for communicating with sensor units 310 and/or 322. In some embodiments, sensory data received in the communication means 334 is directed to a processing circuit 332 and/or directly to a memory circuit 336. In some embodiments, processing circuit 332 analyzes sensory data to identify the interaction state of surgical tool 320 with the bone.
In some embodiments, a database 340 is provided, optionally communicating with controller 330. In some embodiments, database 340 comprises general bone information.
In some embodiments, a user interface 350 is provided, optionally communicating with controller 330. In some embodiments, user interface 350 is used for the surgeon to input information, potentially relevant for the specific operation taking place. Alternatively or additionally, user interface 350 is used for outputting sensor detection and analysis, optionally conducted by controller 330.
In some embodiments, a notification unit 360 is provided, optionally communicating with controller 330. In some embodiments, upon an identification of a desired state of tool-bone interaction, the notification unit provides an alert in the form of a visual and/or audible notification. In some embodiments, upon an identification of a desired state of tool-bone interaction, the notification unit signals the surgical tool 320 to cutoff its mechanical operation, optionally automatically.
In some embodiments, notification unit 360 is positioned onto surgical tool 320. Alternatively or additionally, notification unit is provided as a feature of user interface 350.
Exemplary External Sensor Apparatus ConfigurationReference is now made to
According to an exemplary embodiment of the invention, an apparatus 310 comprising a plurality of sensor is provided. In some embodiments, the apparatus comprises sensors suitable for externally detecting effects of the interaction between the surgical tool and the bone.
In some embodiments, in order to utilize ultrasound feedback to characterize these effects, an ultrasound transducer 4161 and an ultrasound pickup 4162 are provided.
In some embodiments, an acoustic transducer 4163 for passively detecting acoustic waves emanating from the tool and/or the tool's interaction with the bone is provided. Alternatively or additionally, a sonic emitter 4164 is provided for actively transmitting acoustic waves and/or pulses, optionally directed to the distal portion of the bone where bit breakthrough is expected. Alternatively or additionally, sonic emitter 4164 may be directed to transmit to the proximal portion of the bone where the tool interacts with the bone. Alternatively or additionally, sonic emitter is directed to any intermediate portion of the bone between the proximal boundary and the distal boundary. Potentially, analysis of the return acoustic waves and/or pulses scatter enables detection of bone characteristics, such as for example bone surface geometry change over time.
In some embodiments, vibration sensor 4165, potentially for detecting patient's movements and vibrations is provided. Optionally, vibration sensor 4165 is used to pick up body vibrations resulting from the tool's operation.
In some embodiments, a magnetometer 4166, such as for example a magnetic coil, is provided to potentially detect the presence or nearing of the tool's operating tip within the patient's body.
In some embodiments, apparatus 310 further comprises a controller 414. In some embodiments, the controller has an analog front end circuitry configured to transform signals from the sensors into digital signals. Optionally, controller 414 further comprises circuitry having instructions to analyze sensory data.
In some embodiments, apparatus 310 further comprises communication means 312, optionally a transceiver. The communication means 312 are configured to transmit the sensory data provided by the sensors, optionally in a wireless manner.
In some embodiments, apparatus 310 further comprises power source 418. In some embodiments, the power source has a limited lifetime, such as for example being a zinc air battery, rendering the apparatus disposable at the end of its use.
Exemplary Embedded Sensor Apparatus ConfigurationReference is now made to
According to an exemplary embodiment of the invention, apparatus 320 is provided having a plurality of sensors suitable for detecting mechanical parameters of the surgical tool, optionally parameters which are affected by the tool's interaction with the bone.
In some embodiments, axial force sensor 5261 is provided, potentially detecting axial forces being exerted upon the surgical tool, such as by a surgeon. In some embodiments, spinning sensor 5262 is provided, potentially detecting the spinning speed of the tool's main shaft. In some embodiments, torque sensor 5263 is provided, potentially detecting the torque force provided by the tool. In some embodiments, vibration sensor 5264 is provided, potentially detecting vibrations of the tool, optionally of the tool's tip. In some embodiments, an accelerometer 5265 is provided, potentially detecting trembling of the tool. Alternatively or additionally, a gyroscope 5266 is provided, potentially detecting tilting of the tool relative to the horizon.
In some embodiments, a distance tracker 5267 is provided, for example an ultrasound range finder and/or an infrared range finder, and/or a laser range finder. Optionally, distance tracker 5267 is comprised within the tool's bit. In some embodiments, data output from range finder may lead to termination of the tool's operation, for example, after detection of a predetermined depth, for example, identifying 20 mm penetration, optionally without bone breakthrough.
In some embodiments, a temperature sensor 5268 is provided, optionally a non-contact thermometer. In some embodiments, temperature sensor 5268 comprises a photodiode, optionally configured to detect infrared range. Alternatively or additionally, temperature sensor 5268 comprises a photodiode configured to detect illumination in any wavelength.
In some embodiments, sensing of a bone temperature greater than a predetermined threshold, i.e. detecting overheating of the interacted region, leads to a stopping event. Alternatively or additionally, sensing of overheating of the operating tip leads to a stopping event.
In some embodiments, sensory data provided by the above mentioned sensors is transmitted to controller 524, optionally functioning as an analog front end. In some embodiments, controller 524 receives other sensory data and/or information through communication means 322, optionally being a transceiver. In some embodiments, controller 524 transmits data through communication means 322.
In some embodiments, controller 524 analyzes sensory data. In some embodiment, controller 524 integrates sensory data, as will be further described below.
In some embodiments, controller 524 comprises instructions for detecting predetermined patterns in the sensory data. In some embodiments, upon detection of a specific pattern controller 524 sends a signal to cutoff the power transmission of the tool to the operating tip. Alternatively or additionally, controller 524 signals to apply a notification, optionally being visual and/or audible.
In some embodiments, apparatus 320 further comprises a power source 528. In some embodiments, power source 528 has a predetermined limited lifetime, such as for example being a zinc air battery, rendering the apparatus disposable at the end of its use. Alternatively or additionally, apparatus 320 receives power from the power source of the surgical tool. Alternatively or additionally, power source 528 comprises a capacitor for storing energy generated by the tool, e.g. the apparatus harvests kinetic energy and stores it in the capacitor for its own use.
Exemplary Machine Learning AlgorithmReference is now made to
According to an exemplary embodiment of the invention, sensory data is collected 601 from at least one sensory apparatus having sensors for detecting the effects of a surgical tool's interaction with the bone.
In some embodiments, data is classified 602. In some embodiments, data is classified by comparing the data to a database having a plurality of interaction behaviors optionally identifying predetermined patterns.
In some embodiments, learning patterns 603 is conducted on the classified data. In some embodiments, learning patterns is conducted by identifying statistically recurring patterns associated with a specific interaction state.
In some embodiments, learnt patterns 603 are used to predict pattern 604. In some embodiments, pattern is predicted based on the classified data. In some embodiments, pattern prediction is done by comparing the classified data to a known pattern behavior characteristic of the classification of the data.
In some embodiments, pattern prediction 604 leads to identification of the interaction state 605 of the surgical tool with the bone.
Exemplary Sensor Configuration Using Stationary Ultrasound MonitoringReference is now made to
According to several embodiments of the invention, surgical tool 700 is, for example, a bone driller, used for penetrating a bore into bone 710 through plate 720. In some embodiments, tool 700 comprises an embedded sensor apparatus 320, optionally detecting parameters resulting from the tool's mechanical operation. In some embodiments, embedded apparatus 320, and/or tool 700, further comprises communication means 702 for transmitting sensory data, for example to an external controller. In some embodiments, tool 700 further comprises a mechanical cutoff mechanism 704 for cutting the power transmission to the tool's operating tip, optionally resulting in cessation of the tool's operation. Alternatively or additionally, distance tracker 742 is provided, optionally for measuring the penetration depth of bit 706.
In some embodiments, an external sensory apparatus 310 is provided, optionally fitted for mounting on the patient's skin, optionally in opposite orientation to the tool's interaction site, i.e. distally positioned. In some embodiments, sensory apparatus 310 comprises an ultrasound transducer 701, and ultrasound energy is used, optionally for detecting bone characteristics of the distal bone surface, being closest to the sensory apparatus 310.
In some embodiments, ultrasound beam 744 is transmitted to a region of the bone expected to change properties as the tool-bone interaction progresses. In some embodiments, changed properties pertain to the appearance of a bulge, or curved surface. Alternatively or additionally, changed properties pertain to increasing surface roughness. In some embodiments, ultrasound feedback is analyzed in view of acoustic sound 748 detection.
Potentially, as long as the tool tip 706 is spatially positioned away from the cortical bone tissue, ultrasound waves are reflected away by the smooth, relatively planar surface of the observed bone region, optionally being reflected at a reflection angle equal to the angle of incidence, for example as illustrated in beam 746. Optionally, the apparatus 310 is positioned such that reflections of smooth surfaces will not be detected as feedback.
Reference is now made to
In some embodiments, upon bit breakthrough of the cortical bone, a stationary scattered signal also becomes detectable, potentially due to reflection from the operating bit itself.
In some embodiments, once the tool tip 706 penetrates enough into the cortical bone tissue, optionally breaking through it, the bone surface changes such that transmitted ultrasound beams are reflected back (746) to the apparatus 310, potentially being detected by ultrasound transducer 701. Alternatively or additionally, ultrasound beams are detectable at transducer 701 due to reflection from the operating bit itself.
Exemplary Sensor Configuration Using Dynamic Ultrasound MonitoringReference is now made to
In some embodiments, at least two transducers 802 and 804 are provided, optionally positioned at distinct locations over a patient's body, optionally mounted on skin 808. Alternatively or additionally, only one transducer is provided. In some embodiments, one of the transducers or both are positioned near a region of the bone being distal to the interaction with bit 706, optionally positioned asymmetrically with respect to the interaction site.
In some embodiments, a single parallel beam is transmitted to the bone. Alternatively, two parallel beams are transmitted towards the bone, optionally beam 820 is provided roughly perpendicular to the surface of the bone, and second beam 840 is provided at an inclination (for example of about 45°) to the surface. In some embodiments, the two transducers 802 and/or 804 operate at the constant wave (CW) mode, optionally operating at distinct frequencies.
In some embodiments, beam 820 is positioned to intersect the bone at a position axially shifted to the expected site of extrusion of bit 706. Alternatively or additionally, beam 840, optionally also being a parallel wide beam, is directed toward the expected site of extrusion of bit 706.
In some embodiments, both transducers 802 and 804 operate in the Doppler mode, optionally in constant wave (CW) Doppler. According to some embodiments, transducer 802 receives Doppler signals reflected from the surface of the bone at roughly right angles, so that the velocities measured can be potentially attributed to the vibrating bone 801 surface. The signal of transducer 802 potentially changes upon extrusion due to the change of the mechanical coupling between the tip of bit 706 at times close to and/or immediately post extrusion. Alternatively or additionally, the signal of transducer 804 changes upon extrusion.
Exemplary Sensor Configuration Using Acoustic DetectionReference is now made to
According to an exemplary embodiment of the invention, a driller 870 is used to thread a bore in a bone 871 through a plate 872, penetrating into the patient through proximal skin region as illustrated in line 881.
In some embodiments, acoustic waves emanating from the interaction of the tool with the bone are detected. In some embodiments, a sensory apparatus 831 external to the surgical tool is used, optionally mounted on the patient's body, as illustrated for example in apparatus 831 being mounted on the distal skin region as illustrated by line 882. It is noted that mounted apparatus 831 is illustrated herein for exemplary illustration only, and it may be mounted over the patient's body in many other configurations, illustrated for example in
Alternatively or additionally, apparatus 831 is mounted on the surgeon's body, optionally on the surgeon's hand operating the tool. It is a potential advantage to mount the apparatus on the tool operating hand, directly receiving mechanical parameters affecting the tool, but not emanating from the tool's mechanical operation itself.
In some embodiments, the external apparatus 831 comprises an acoustic sensor for detecting acoustic waves and/or pulses. Optionally, the acoustic sensor is configured to detect sound only through body and not through the air. Optionally, the acoustic sensor is piezoelectric. In some embodiments, acoustic waves 862 are emanating from the interaction region. In some embodiments, acoustic waves 864 are emanating from the surgical tool itself.
Exemplary Sensory ApparatusReference is now made to
It should be noted that the shape, size and configuration of the sensory apparatus and the apparatus housing as provided herein is for illustration purposes only, and any other form, shape, material, external configuration, internal configuration, personalization, and/or body part specific adjustment is within the scope of this invention.
According to an exemplary embodiment of the invention, a sensory apparatus is designed to detect sensory data resulting from an interaction of a surgical tool with a bone, while being external to the surgical tool. Reference is now made to
Reference is now made to
In some embodiments, the apparatus is designed to be fitted over a patient's skin 920, optionally using an intermediary material 910 for transferring signals efficiently, such as for example an ultrasound standoff, and/or hydrogel, and/or biologic glue. In some embodiments, the apparatus housing is made of a resilient material, enabling twisting or deforming the apparatus, potentially enabling a better fit with a patient's body part. Alternatively, the housing is made of a relatively rigid material, potentially limiting the apparatus for a specific structural use, for example, to a specific body part, such as the leg, hand, spine, head and so forth.
In some embodiments, apparatus 9310 is provided, for a non-limiting example, in a substantially rectangular shape, In some embodiments, the rectangular shape having a short dimension of between 10-40 mm, alternatively between 25-35 mm, or any size smaller, larger or intermediate to this. In some embodiments, the rectangular shape having a long dimension of between 80-120 mm, alternatively between 95-105 mm, or any size smaller, larger or intermediate to this.
In some embodiments, apparatus 9310 is provided, for a non-limiting example, as having a thickness of 10-30 mm, alternatively between 15-25 mm, or any size smaller, larger or intermediate to this.
Exemplary Alternative Positions of the Sensor ApparatusReference is now made to
It is noted that alternatively or additionally to the illustrated, in some embodiments the apparatus is mounted on the operating hand of the surgeon. Alternatively or additionally, the apparatus is positioned in a remote location, such as for example, under the patient's bed mattress.
Exemplary Surgical Tool Mechanical SensingReference is now made to
Reference is now made to
Reference is now made to
Reference is now made to
Reference is now made to
Reference is now made to
Exemplary Ultrasound Doppler Frequency after Cortex Breakthrough
Reference is now made to
Reference is now made to
For example, during training session many tests are analyzed to correlate sensors data (Driller axial force, driller speed, acoustic audio, ultrasound information and more) in a sliding window of 300 milisoecind and each sample is labeled with the exact timing of the breakthrough. Each sensor data is stored in time domain and also in frequency domain.
Once training session is ended, the data base contain many samples it its general pattern. In real time operation, the classifier can match, its internal labeled sensor data, with the real time sensors data received, and match patterns in 300 mS windows to the ones stored inside the databased, thus producing a probability grade in real time of breakthrough occurrence. The system will decide of breakthrough timing, based on selected probability (normally 80% and above).
Exemplary Dynamic Dual Notch FilterReference is now made to
The terms “comprises”, “comprising”, “includes”, “including”, “has”, “having” and their conjugates mean “including but not limited to”.
The term “consisting of” means “including and limited to”.
The term “consisting essentially of” means that the composition, method or structure may include additional ingredients, steps and/or parts, but only if the additional ingredients, steps and/or parts do not materially alter the basic and novel characteristics of the claimed composition, method or structure.
As used herein, the singular forms “a”, “an” and “the” include plural references unless the context clearly dictates otherwise.
Unless otherwise indicated, numbers used herein and any number ranges based thereon are approximations within the accuracy of reasonable measurement and rounding errors as understood by persons skilled in the art.
It is appreciated that certain features of the invention, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features of the invention, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable subcombination or as suitable in any other described embodiment of the invention. Certain features described in the context of various embodiments are not to be considered essential features of those embodiments, unless the embodiment is inoperative without those elements.
Although the invention has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the spirit and broad scope of the appended claims.
All publications, patents and patent applications mentioned in this specification are herein incorporated in their entirety by reference into the specification, to the same extent as if each individual publication, patent or patent application was specifically and individually indicated to be incorporated herein by reference. In addition, citation or identification of any reference in this application shall not be construed as an admission that such reference is available as prior art to the present invention. To the extent that section headings are used, they should not be construed as necessarily limiting.
Claims
1. A method for monitoring the interaction of a surgical tool with a patient's bone, comprising:
- interacting a surgical tool with a proximal bone region;
- detecting at least one signal emanating from said bone following said surgical tool interaction with said bone region; and
- identifying based on said signal an interaction progression of said surgical tool relative to said bone.
2. The method according to claim 1, wherein said at least one signal is sound waves having a frequency equal to or below 10 KHz.
3. The method according to claim 2, further comprising filtering said sound waves to extract sound waves emanating from the bone only.
4. The method according to claim 1, wherein said identifying comprises correlating said at least one signal with an orientation of an operating tip of the tool with respect to the bone.
5. The method according to claim 1, said detecting is provided by contacting a sensor with a body portion of a patient and not contacting said sensor with the tool.
6. The method according to claim 1, wherein said at least one signal is body vibrations.
7. The method according to claim 1, wherein said at least one signal is air pulses.
8. The method according to claim 1, further comprising conducting a stopping event based on said identifying of interaction progression.
9. The method according to claim 8, wherein said stopping event is conducted when identifying said interaction progression comprises extrusion of a tip of the surgical tool through the bone.
10. The method according to claim 8, wherein said stopping event is conducted when identifying said interaction progression comprises a predetermined pattern.
11. The method according to claim 8, wherein said stopping event comprises tool operation cessation.
12. The method according to claim 8, wherein said stopping event comprises activating an alert.
13. The method according to claim 1, wherein said identifying an interaction progression comprises correcting said signal to at least one second signal.
14. The method according to claim 13, wherein said second signal comprises at least one of:
- a. patient's body vibrations;
- b. vibrations of a hand operating said tool; and
- c. mechanical output from said tool.
15. The method according to claim 1, wherein said identifying an interaction progression further comprises correlating said signal with a database having a plurality of signals resulting from previously conducted surgical tool interactions with a bone region.
16. The method according to claim 1, further comprising transmitting a monitoring signal to a monitoring region of said bone prior to said detecting at least one signal.
17. The method according to claim 16, wherein said monitoring region is a distal region of said bone.
18. The method according to claim 16, wherein said monitoring signal comprises at least one of acoustic sound waves and acoustic sound pulses.
19. The method according to claim 16, wherein said monitoring signal comprises at least one of ultrasound waves and ultrasound pulses.
20. The method according to claim 19, wherein said detecting at least one signal comprises detecting ultrasound waves.
21. The method according to claim 20, wherein said detecting ultrasound waves comprises detecting Doppler Effect.
22. The method according to claim 19, wherein said detecting at least one signal comprises detecting ultrasound pulses.
23. The method according to claim 19, further comprising:
- determining a proximal region of a bone for penetrating using said surgical bone tool, and a distal region of said bone in an opposite orientation to said proximal region;
- transmitting ultrasound waves to said distal region of said bone;
- positioning an ultrasound receiver such that a backscatter of said transmitted ultrasound signal is not detected by said receiver;
- interacting said surgical tool with said bone region; and
- detecting a scatter of said transmitted ultrasound by said receiver.
24. The method according to claim 1, further comprising calculating an appropriate screw size based on said determined interaction progression.
25. An apparatus for monitoring the interaction of a surgical tool with a bone region of a patient, comprising at least one sensor for detecting at least one signal emanating from said bone following said surgical tool interaction with said bone region.
26. The apparatus according to claim 25, wherein said sensor is an acoustic transducer.
27. The apparatus according to claim 25, further comprising a sonic emitter.
28. The apparatus according to claim 25, further comprising an ultrasound transducer and wherein said sensor is an ultrasound receiver.
29. The apparatus according to claim 28, wherein said ultrasound transducer and ultrasound receiver are embedded in the tool tip.
30. The apparatus according to claim 25, further comprising a housing containing said sensor.
Type: Application
Filed: Jun 9, 2016
Publication Date: Dec 15, 2016
Inventors: Ehud ARDEL (Givat Ada), Shlomo DAVID (Binyamina), Zvi FRIEDMAN (Kiryat-Bialik)
Application Number: 15/177,692
