MANUAL TOOL

专利摘要:
tool with integrated navigation and guidance system and related devices and methods. Methods and apparatus are presented for integrating an electromagnetic navigation system and a tool and for aligning the tool to a target, including a sensor tool, a tool, a field generator, a display, and a computer. the sensing tool attaches to a target component in a unique position relative to the target features. the field generator is fixed to the tool except when rotating around a tool geometry axis. the viewfinder is adjustablely mounted on the tool and automatically adjusts the image parameters. error compensation and leveling methods are provided. the system detects signal and magnetic field disturbances that can lead to inaccurate navigation, filters navigation data, and adjusts filtering parameters based on detected conditions. apparatus is provided for proximally locking a stem im so that a clean passage through the cannulation of the stem is maintained.
公开号:BR112013021042B1
申请号:R112013021042-7
申请日:2012-02-17
公开日:2021-08-17
发明作者:Kevin Bryant Inkpen；Antony John Hodgson；Pierre Guy；Willem J. Atsma；Stephane Lavallee；James B. Stiehl
申请人:DePuy Synthes Products, LLC；
IPC主号:

专利说明:

Reference to related order
[0001] This application claims priority of patent application Nos. US 61/444,535, filed February 18, 2011, 61/444,558, filed February 18, 2011, 61/444,600, filed February 18, 2011, 61/476,709, filed April 18, 2011, and 61/553,499, filed October 31, 2011. For United States of America purposes, this application claims benefit under 35 USC §119 of the patent applications US 61/444,535, filed February 18, 2011, 61/444,558, filed February 18, 2011, 61/444,600, filed February 18, 2011, 61/476,709, filed April 18, 2011, and 61/553,499, filed on October 31, 2011, all of which are hereby incorporated by reference. technical field
[0002] This invention relates to tool guidance and navigation. Drills and saws are non-limiting examples of tools. The invention has application in the positioning of tools in relation to elements that may be hidden from view. The invention can be applied to the positioning of surgical tools, but it also has non-surgical applications. Background
[0003] There are procedures in many fields including fabrication, assembly, repair and surgery where it is useful to align a tool with a target route, feature or other target location that may be hidden from view or not sufficiently visible to the user. For example, in a fuselage assembly and repair it may be necessary to drill a hole through a layer of material in line with an existing hole in an inaccessible component positioned behind the material. As another example, many surgical procedures require a surgeon to align a tool such as a drill, guidewire driver, bone saw, or ultrasound probe to a target route that cannot be sufficiently marked or seen. The target route can be an ideal plane or tissue permeable trajectory as determined in preoperative planning or determined using intraoperative techniques, for example, an estimated centerline of an anatomical feature such as a femoral neck as described by Hodgson in the publication of international patent WO/2006/133573. The target route can also be related to elements of an implant, such as a fixation screw hole in a bone plate or IM rod ("IM"), where the purpose is to align a drill, guidewire driver, or other tool in relation to the hole when the hole or hole direction is hidden from view.
[0004] Some examples of surgical procedures that can be facilitated by guidance to establish a desired tool alignment are: • recapping of the femoral head. This procedure involves inserting a guidewire through the femoral neck along a target route at a planned angle or location.• pedicle screw fixation in spine surgery where a drill, guide drill or guidewire or screw must be inserted along a target route, within a known structure (a pedicle) and for a limited depth in order to avoid injury to surrounding structures outside the bone.• placement of ilio-sacral screws in pelvic bone surgery, where a drill, guide drill, guidewire or screw must be inserted along a target route (through the iliac bone, into the sacral wing and vertebral bone) and to a limited depth in order to avoid injury to surrounding structures outside of the bone. • osteotomy (cutting a bone), where the orientation of a surgical saw to be used to cut a bone in a specific planned orientation would be critical for the next steps of the procedure: bone realignment, implant placement (eg, arthroplasty of knee)• placement of hip or knee arthroplasty implants in a planned orientation (eg, placement of an acetabular component in hip arthroplasty)• location of fixed solid organs (eg, liver, pancreas, kidney or other) or organs Movable hollow (eg, bowel, bladder) for percutaneous placement of a stent or device or for establishing access to a planned location that is hidden from view. (For example, nephrostomy tube, percutaneous endoscopic gastrostomy tube, hepatic, biliary or pancreatic bypass stent) or for sampling a mass or tissue in a location hidden from view but known to a probe, for the purpose of biopsy.
[0005] Also, in many procedures like drilling or cutting with a tool, the user may find it useful to know how far a tool has progressed along a target route from a starting point, for example, to know how deep a hole has been drilled or in order to select the correct length of screw, pin or similar for installation. For example, in many surgical procedures, surgeons may want an estimate of the correct length of a screw to be installed in a drilled hole so that the screw passes through the bone at the hole location but does not protrude excessively from the bone into the tissue. surrounding.
[0006] Also, in many tool alignment procedures, the user may need to use the tool in various orientations from the user's point of view. The user may also prefer to hold the tool in their right or left hand, which can affect tool orientation and visibility of the tool and alignment target area. For example, in many surgical procedures, the surgeon may need to use a tool in multiple orientations to gain access to the work area and a clean tool route, for example, for the tool to bypass the patient's uninvolved limb, the table. operation and the various limb supports, supports and the like that are used in surgery.
[0007] In general, tool guidance and navigation procedures require some form of user interface and feedback, such as a visual display, to provide target information to the user.
[0008] Intramedullary nailing ("IM nailing") is an example of a surgical application in which it is necessary to align a tool to hidden elements. In the detailed description below, IM pinning is provided as a non-limiting example to illustrate on demand various aspects of the invention.
[0009] To stabilize a long fractured bone, surgeons typically insert an IM nail ("IM nail") along the medullary canal of the bone. To secure the distal section of the fractured bone, the distal locking screws are installed transversely to the geometric axis of the bone and pass through the holes in the distal end of the IM nail. Installing distal locking screws creates a challenge for the surgeon because the locking screw holes are inside the bone and cannot be seen. An IM rod can also unexpectedly distort as it is pushed distally down through the bone and the bone fragments are aligned, so the position of the distal locking holes can be difficult to determine using guides attached to the proximal end of the rod.
[00010] Surgeons commonly locate distal locking holes by trial and error using guide wires or a hand-held drill and a series of X-ray images taken during the operation. The primary tool for acquiring these images is the C-arm fluoroscope, which is typically moved incrementally until the holes appear as circles in the image, thus indicating that the fluoroscope is aligned with the distal locking holes. Then, the tip of the drill or guide drill is typically positioned on the surface of the skin over the hole area and adjusted, using more images, until it is centered and aligned with the hole. This method is time-consuming and exposes the surgical team and the patient to radiation.
[00011] Although the radiation dose a surgeon receives from a C-arm fluoroscope is normally considered safe, there is some disagreement about this. Hafez (2005) estimates that radiation doses recorded at the fingertips are as much as seventy-five times greater than the doses recorded at the base of the fingers. Cumulative radiation exposure can be a particular concern for trauma surgery teams.
[00012] Computer-aided techniques, which make use of electromagnetic position tracking technology to aid IM nail surgery, are described in Krause, US6074394 and US6503249; Govari, US7060075; and Ritchey, published application US20100274121. A navigation system (Trigen Sureshot™ Distal Targeting System, Smith & Nephew, Memphis, TN, USA) is commercially available. These systems use electromagnetic navigation systems (which comprise a field generator that emits a controlled magnetic field, at least one sensor that responds to the magnetic field by generating a signal indicative of the sensor's position in relation to the field generator, a computer and associated software), a drill bit and target display to show the user the relative locations of the drill bit and sensor so that the user can align the drill bit to a predetermined position relative to the sensor. Some systems described in the prior art include an electromagnetic sensor located on the implant at a known location in relation to the elements to be targeted (in the case of IM pegging, the distal locking holes) throughout the targeting procedure. Ritchey, WO2010/129141 describes various methods and apparatus for estimating the path of a drill bit through a guide drill.
[00013] The most modern and widely used IM nails are cannulated along their length, with the cannulation having a circular cross section and a diameter related to the overall size of the nail. IM rods have several holes and slots, in addition to locking holes, located along the length of the rod. Typically, the nail is implanted by attaching an insertion tool to the proximal end of the nail and passing the nail cannulation along a guidewire. The guidewire is then withdrawn and the shank can be further hammered, rotated, withdrawn or otherwise positioned as needed using and a variety of accessories attached to the insertion tool. In some systems, an electromagnetic sensor tool is inserted into the cannulation in a position that is known in relation to the locking screw holes.
[00014] The systems described by Krause and Govari and the Sureshot™ system include a separate guide drill that can typically be held by the surgeon in one hand while he holds a drill in the other hand.
[00015] In such systems that use a separate drill bit, the bit tip slides through the guide in one direction along the geometric axis of the bit tip. In prior art systems that have a separate field generator from the drill and the drill bit, the drill, drill bit and drill tip can all move in and out and move within the measuring range of the drill generator. field. When the field generator is integrated or attached to the guide bit in a fixed position, as shown in some prior art systems, the bit tip slides in and out of the field generator's measuring range during drilling.
[00016] In many surgical procedures, including IM nailing, it is desirable to position tools with sub-millimeter and sub-grade precision (Beadon 2007). Electromagnetic navigation systems can be affected by the presence of certain metals (particularly ferromagnetic and electrically conductive materials) and magnetic fields located in and near the measuring range of the field generator (Kirsch 2005; Beadon 2007). Many drills, including commonly used surgical drills, contain ferromagnetic and conductive parts and may also contain electric motors which may contain magnets and which may generate magnetic fields during operation. Commonly used surgical drill tips are made of ferromagnetic materials such as hardened stainless steel, which, when moved within the range of electromagnetic tracking equipment, can cause distortion of electromagnetic fields and can lead to inaccurate tracking measurements. There may also be variations in the particular field generator and environment that affect tracking accuracy.
[00017] In typical electromagnetic position tracking systems, the sensor coordinate system in which the system reports the position and orientation of a sensor is defined by the relative location and characteristics of components within the sensor tool. These are variables in manufacturing. For example, in a cylindrical sensor tool, the sensor coordinate system as manufactured might have a geometry axis only approximately coaxial with the cylindrical geometry axis. To achieve an accurate known relationship of the coordinate system to the physical shape of the sensor tool, a set of correction factors can be determined by calibrating each individual sensor tool in a manufacturing calibration accessory and writing the correction factor in a memory device built into the sensor (Aurora™ Tool Design Guide Rev. 3 Dec 2005 Northern Digital Inc. Waterloo, Ontario, Canada). This individual calibration and programming process, together with an adequate memory device, generally increases the cost of manufacturing the sensor tool.
[00018] When attaching a sensor tool to an implant in order to target elements in the implant, the accuracy for which the relative position of the sensor coordinate system and the elements is known directly affects the targeting accuracy. This relative position can be included in a database stored in memory and recalled if the user correctly indicates the type of sensor and implant to be used, as long as the implant dimensions database includes that particular implant. In this case, the manufacturing tolerances of the implant, the sensor tool and any other component used to position the sensor tool all become direct factors in the targeting accuracy. For example, with an IM nail, if the sensor tool attaches to the insertion tool which, in turn, is attached to the proximal end of the nail, as shown in certain modalities described by Ritchey in patent application WO2010/129141, the tolerances of handle fabrication, the distance from the proximal end of the nail to the locking holes, and the length of the sensing tool can all contribute to the bleaching variance.
[00019] With electromagnetic position tracking systems, measurement errors can occur if external magnetic fields are present or objects made of certain metals are introduced into the range of the field generator (Kirsch 2005). Such distortions can be unpredictable and may not be apparent to the user during navigation. For example, measurements may appear constant, but may be biased several millimeters in a particular direction by the presence of a ferromagnetic tool, such as a surgical hammer, located near the field generator.
[00020] Emissions from typical electromagnetic position tracking systems may include high amplitude and low frequency measurement noise. Such noise can lead to variation in measurement values. It is also typical for these systems to occasionally fail to return a valid reading to a sensor which can cause the user display to momentarily freeze until satisfactory data is again received. Small, lightweight field generators and small sensors are specifically prone to producing guidance data that have occasional peripheral values.
[00021] Finally, in certain cases and with certain types of IM nailing procedures, the preferred practice is to drill through the proximal holes and lock the bone fragment proximal to the nail before drilling and locking the distal holes (eg, see TFN ™ Titanium Trochanteric Fixation Nail System; Technique Guide. Synthes GmbH, Oberdorf, Switzerland). In such cases, the proximal locking screws block the stem cannulation and make it impossible to install a sensor tool that passes through the cannulation beyond the proximal locking screws, for example, for the purpose of targeting distal locking holes.
[00022] The aforementioned examples of the related art and limitations related thereto are intended to be illustrative and not exclusive. Other limitations of the related technique will become apparent to those skilled in the technique upon reading the descriptive report and a study of the designs. SUMMARY
[00023] The invention has several aspects. These aspects can be applied in combination, but they also have application individually and in sub-combinations. These aspects include without limitation:• sensor tools;• tools that have built-in field generators;• methods for measuring distances traveled by tools that have built-in field generators;• tools configured to measure distances traveled and other tool position and motion parameters; • tools that have built-in user interfaces and visual display devices; • methods for showing tool alignment to targets; • tools configured to show tool alignment to targets; • fixtures for calibration tools that have built-in field generators; fixtures for leveling tools that have field generators built in to the targets; • methods for calibration tools that have field generators built in; • tools configured with calibration functions; • methods for leveling tools that have field generators built into the targets; • tools configured with functions to level tools on targets; • methods and apparatus for monitoring measurement conditions that affect field generators built into the tools; • methods and apparatus for filtering measurement data from tool-integrated field generators and interacting with sensors; • methods and apparatus for determining and optimizing filtering parameters used to filter measurement data from tool-integrated generators and interacting with sensors ;• tangible medium storage computer software that, when executed, causes a processor to perform any of the methods listed above, and;• methods and apparatus for securing surgical implants, the apparatus having provisions for the installation of electromagnetic sensor.
[00024] The invention includes, without limitation, the aspects claimed in the attached embodiments. The invention also includes all other aspects which may be the subject of additional embodiments which may be suitably presented in the future as supported by the present descriptive reports, drawings and embodiments. In an exemplary application, the tool is a drill, the feature is a hole in a component that is positioned behind an opaque material, and the purpose might be to align the drill with the hole so that the user can drill a hole through the material aligned with the hole. For another example, the tool might be a driver and the objective might be to align the driver with the feature in order to install a pin or bolt through the feature. For another example, the tool can be a tool and the feature can be an anatomical feature of a patient. For another example, the tool could be a drill and the resource could be a hole in an implant. Some embodiments of the invention are particularly suited for computer-assisted IM shank locking, including location of locking holes in the shank, computer-aided drill positioning, and real-time intraoperative positioning feedback to the user.
[00025] Some embodiments of the invention provide a sensor tool adapted for attaching to a target component that has a target resource. Sensor tools according to some embodiments have one or more of the following features: • fit a range of existing components of a variety of sizes and shapes, • as required, fit a variety of existing tools or accessories that can be used with the component to position or hold the component;• has the ability to be installed quickly and precisely in a unique position relative to the target feature;• indicates to the user when the sensor is installed in the unique position, and;• remains in position throughout the piercing procedure without blocking or otherwise interfering with the target resource.
[00026] An exemplary aspect of the invention provides a sensor tool incorporating a tip portion at a distal end, wherein a handle portion at a proximal end and a shaft portion connect to the nose portion and the handle portion . Electromagnetic sensor coils are provided in a fixed position within the tool adjacent to the distal end. The shaft portion can be flexible. The tip portion is adapted to fit and center within a cannulation on a component such as an IM rod or other implant. A single sensing tool can have a tip that is self-centered within cannulations that have multiple diameters within a range of diameters.
[00027] In some embodiments, the handle portion is adapted to engage existing insertion tool elements that are commonly used to insert IM rods or other implants. Such engagement can secure the sensor tool in a predetermined fixed position relative to the stem or other implant in all 6 degrees of freedom until removed. The handle portion can be further adapted to create an audible sound (such as a click) when the sensor tool is fully engaged with the insertion tool. The handle portion may further be adapted to create a different indication to the user that it is fully engaged, such as a vibration or a change in shape or position of a portion of the handle portion.
[00028] In some embodiments, the shaft portion has sufficient selected flexibility to allow the sensor tool to be inserted into IM rods or other components that are not straight. The shaft portion has a length selected to be compatible with a predetermined range of IM shank lengths so that the distal end of the tool does not block a distal locking hole of the shorter shank in the range and so that the feature of sensor is within a predetermined distance (related to the range of the electromagnetic navigation system) from the locking holes when used on the longest rod in the range.
[00029] Another aspect of the invention provides a navigation unit that incorporates a field generator. The navigation unit can be integrated with a tool or adapted for attachment to a tool. Navigation units in some modalities have one or more of the following features:• work with a variety of existing tools, including those that have electric motors and that contain parts made of ferromagnetic material,• can be easily attached, removed and fixed to the tool again, so that a tool geometry axis and a point on that axis have the same position and orientation in relation to the field generator every time the unit is fixed, and in case the tool is a drill, this has the ability to keep the field generator static in relation to the geometric axis of the drill and the point of the drill tip, so that the only relative movement freely allowed between the field generator and the drill tip is rotation about the geometric axis of the drill.• can be fixed in positions offset from the geometric axis of the tool, to give the user a clear view of the working area and to provide space around the tool, allowing the user to work with the tool without having to remove the field generator,• are light and small enough so that they do not interfere with tool handling and positioning, and;• have the ability to level, store and use a correction map to correct tracking measurement distortions produced by the tool being mounted close to the field generator.
[00030] An exemplary embodiment provides an electromagnetic field generator mounted on the drill and a mounting frame unit adapted to fasten to a drill quickly, easily, temporarily and precisely in a known position relative to a geometric axis of the drill before or during use. The mounting structure is designed so that the field generator is temporarily fixed relative to a drill axis around which a drill tip rotates and a point on the axis on the drill tip. In an exemplary embodiment, the mounting structure comprises a drill chuck, a housing portion that encloses the drill chuck, a rigid extension arm extending away from the housing portion and having a distal end at a distance. predetermined from the axis and a field generator mounting portion attached to the distal end of the extension arm. The drill chuck is adapted to grip a drill in at least one rotational position around the axis of the drill and to hold a drill bit.
[00031] According to another aspect of the invention, the mounting structure is adapted so that the field generator component can be removed and replaced at precisely the same location in the structure as described above. In some embodiments, the structure also confines and insulates the field generator, for example, to isolate a non-sterile field generator in a sterile surgical field.
[00032] According to another aspect of the invention, the mounting structure includes a drill pad rigidly connected to the mounting portion of the field generator and having a rotatable fit tight to the drill tip handle, thus limiting movement relative possible between the field generator and the geometric axis of the drill.
[00033] According to another aspect of the invention, a method of determining the position of a geometric axis of the tool and a point on the geometric axis of the tool in relation to a field generator is presented, the method comprising: • connecting the field generator unit to an electromagnetic navigation system, so that the position of the field generator can be registered relative to a fixed reference frame, • hold the tool geometry axis in a fixed position relative to the reference frame. fixed reference, • rotate the field generator around the geometry axis of the tool and level the position of the field generator at various rotational positions; • calculate the position of the geometry axis of the tool in relation to the field generator by determining the geometric axis of less variable rotation of the field generator, and; • define a point on the geometric axis at a predetermined position in relation to the field generator or if the tool tip rests on the geometric axis. rich, by using a pivot calibration method to define the point coincident with the tool tip.
[00034] According to another aspect of the invention, selected motions and motion parameters of a point on the geometric axis of the tool in relation to a target component are registered and analyzed and used advantageously and optionally together with other registered parameters to inform the user and trigger selected actions related to tool movement and state.
[00035] According to another aspect of the invention, a navigation system calibration method for correcting measurement errors caused by the presence of portions of a tool within the measurement volume of the navigation system and portions of a positioned tool is presented. close to the field generator, the method comprising the steps of: • fixing the tool to the field generator and leveling the position of a sensor as it is moved through a series of known positions, • calculating the difference between the known position and the registered position for each known position in the series, thus creating a lookup table of measurement correction values,• interpolate between correction values in the lookup table to create a continuous function of correction value versus the position of the sensor, and• read the current position of the sensor during navigation, find the nearest corresponding measurement correction factors from the look-up table, or alternatively ively calculate correction values from the continuous function and apply the correction values to the current sensor position to create a corrected current sensor position for use in navigation.
[00036] In one embodiment of the invention, the lookup table is generated by assembling a drill, drill chuck, drill tip and field generator set in an accessory on a coordinate measuring machine that moves a sensor through of the series of known positions programmed into the coordinate measuring machine and stores the look-up table in a memory device integrated into the field generator.
[00037] In another embodiment of the invention, the lookup table is generated during use with the specific sensor and target component to be used to install a leveling tool on a drill, drill chuck, drill tip and generator set field, insert a sensor into an IM shank, insert the leveling tool into a distal locking hole in the shank so that the tip of the drill axis and the hole axis are coincident, rotate the assembly around the coincident geometry axes, flatten a hole geometry axis definition for each location recorded around the drill axis, interpolate between locations to increase lookup table resolution, or to create a continuous function of the hole geometry axis definition versus position around the geometric axis of the drill and store the lookup table or function in the navigation system's memory for use during navigation. Alternatively, any device that can be calibrated from measurement data and that produces correct sensor readings can substitute for a look-up table function used in the sample modality. The correction can be applied with equal effect on the calibrated drill hole position or on sensor readings.
[00038] To allow a user to navigate and align a tool with one hand and not have to look away from the desktop to view the navigation and alignment information and feedback or reach away from the desktop to send operating commands to the navigation system, a visual display and a user interface unit can be advantageously mounted on or near the tool and generally move with the tool.
[00039] For use in the sterile field, surgical drills are typically designed to be steam sterilized (autoclaved). However, an electronic device and touch-sensitive devices best suited for the exemplary surgical application and available at reasonable cost generally do not support steam sterilization. It is possible to use lower temperature sterilization processes such as ethylene oxide sterilization for items containing sensitive electronic components, but this in general still increases the cost of the electronic components, and in the case of ethylene oxide sterilization the process is takes longer and may present occupational health and safety concerns due to residual chemicals. For these reasons, steam sterilization is the preferred method in most hospitals and, consequently, a display and user interface unit containing electronic components and located on or near a tool in the sterile field are advantageously separable from the tool. , so they can be sterilized separately by an alternative method or isolated in a sterile dressing or pouch and then reconnected to the tool in the sterile field.
[00040] When the UI unit is integrated into the tool as described above, the different orientations of the tool that can be used may require adaptability of the UI unit relative to the tool to allow adjustment to a position where the screen display is easily visible to the user. As the viewfinder is moved relative to the drill and the drill is used in various orientations relative to the target, it is an advantage if the image shown on the viewfinder can automatically change the field of view, magnification and/or orientation to better represent the target area.
[00041] To align a tool with a selected target, the user typically needs to first find the target within the general target area and possibly locate the desired target among a group of possible targets, in the case where a wide field of view is advantageous. Then, when close to the desired target, the user usually makes fine adjustments to the tool position within a suitable tolerance, in which case a smaller field of view that is aligned, enlarged and centered on the chosen target is advantageous.
[00042] Consequently, some embodiments of the invention provide a user interface unit attached to a tool and which has one or more of the following features: • mounted on or near the tool such that it is generally within the field. of the user's view while looking towards the tool's working area;• adapted to fit and work with a variety of existing tools;• attachable and removable by hand without the use of tools;• visible or can be adjusted to be visible for user in various tool orientations; • can receive user input and relay information and commands to and from the navigation system; • automatically adjusts image orientation, field of view and/or magnification using information in the orientation of display, patient position and/or tool movement in relation to the target, and; • shows the user the current position and orientation of the tool in relation to the target and indicates to the user io when the alignment with the target is within selected limits based on the selected parameters, where the limit of any parameter may be a function of other parameters.
[00043] Another aspect of the invention provides an electronic display and user interface unit with mounting apparatus adapted for installation in a tool, wherein the user interface unit can be removed for separate sterilization or stapling and easily reinstalled in the tool. sterile surgical field.
[00044] Another aspect of the invention provides an electronic display and user interface unit with an adjustable mounting mechanism that allows the unit to be moved with respect to the tool to be visible in various positions of the tool with respect to the point of view of the tool. user.
[00045] In one embodiment, the mounting mechanism comprises a swivel joint with a geometry axis around which the user interface unit can rotate, a second swivel joint that has a second axis around which the interface unit can rotate and a removable gasket between the user interface unit and the mounting mechanism designed to accommodate a flexible film material or dressing material between the joining surfaces of the removable gasket.
[00046] Some modalities comprise at least one sensor that generates a signal indicative of the position of the user interface unit in relation to the gravity direction.
[00047] Some embodiments comprise detection apparatus that generates a signal indicative of the position of the user interface unit in relation to a field generator.
[00048] Another aspect of the invention provides a method of comparing and indicating to the user the current relative position of a tool geometry axis and a target geometry axis having a fixed position relative to a sensor, comprising the steps of:• Monitor the current position and orientation of the tool axis and a point on the tool axis in relation to the sensor; • Calculate the perpendicular distance from the target axis to the point and determine if the distance is within a selected limit and, if so, show a first indicator, and;• Calculate the intersection point of the tool geometry axis and a plane perpendicular to the target geometry axis and pass through a selected point along the target geometry axis,• Calculate the perpendicular distance from the geometric axis of the target to the intersection point and determine if the distance is within a selected limit and, if it is and the first indicator is shown, show u m second indicator.
[00049] The measure of the distance between the point and the target geometry axis can be any that consistently reflects the tip geometry axis distance. In some modalities, the point is coincident with the geometric axis of the tool and the tool tip.
[00050] Another aspect of the invention provides an alternative method of comparing the current relative position of a tool geometry axis and a target geometry axis that has a fixed position relative to a sensor, comprising the steps of:• Monitoring the position and current orientation of the tool's geometric axis with respect to the sensor• Calculate a first point of intersection of the drill's geometric axis and a first plane perpendicular to the target axis and pass through a first selected point along the target's geometric axis,• Determine if the first intersection point is within a selected first tolerance zone around the target geometry axis and, if so, show a first indicator,• Calculate a second intersection point between the tool geometry axis and a perpendicular second plane to the target geometry axis and pass through a second selected point along the target geometry axis, and• Determine whether the second intersection point is within a second selected tolerance zone around the geometric axis of the target and, if it is and the first indicator is shown, show a second indicator.
[00051] In order to minimize cost, risk of error, reliance on accurate manufacturing tolerances, accurate stored dimensions, individual sensor tool calibration and consistent sensor, field generator and environmental characteristics, it is advantageous to directly level a target resource into a sensor with the use of the particular tool and field generator set, sensor, target component and any component insert or clamping tool being used. Some embodiments of the invention provide a leveling tool that has one or more of the features set out below: • fit target features within a range of sizes; • fit the tool and navigation unit as assembled for use, and; precisely at a known relative position to the target feature in selected degrees of freedom during the grade measurement.
[00052] Another aspect of the invention provides a leveling tool comprising a body portion adapted to slide over a portion of a tool, for example a saw or drill, and a nose portion adapted to fit within a target feature on a target component, thereby fixing the position of the leveling tool relative to the feature in selected degrees of freedom.
[00053] In one embodiment, the leveling tool has a sliding fit over a drill tip, so that when installed at the drill tip, the tip portion has a geometric axis coincident with the longitudinal axis of the drill tip, the target feature being a cylindrical orifice having a diameter within a predetermined range and a centerline of the cylinder, and the nose portion is adapted to closely fit the hole so that when the nose portion is installed in the hole, the tip portion geometric axis and the geometric axis of the orifice target are coincident, thus fixing the relative position between the hole and the leveling tool in all six degrees of freedom, except rotation around and translation along the coincident geometric axes. The tip portion may include at least one resilient element adapted to provide a close fit in different holes having diameters within a predetermined range of diameters. In some embodiments, the fit is an interference fit and the interference is selected in conjunction with the hardness of the resilient element and the friction between the resilient element and the hole or other feature to allow the leveling tool to be installed and removed from the feature. With the hands.
[00054] In another embodiment, the leveling tool has a sliding fit over a drill tip and engages a target hole that has a revolved surface around a hole axis within predetermined size and shape limits, so that the tip of the drill axis and the hole axis are coincident, thus fixing the relative position between the hole and the leveling tool and all six degrees of freedom, except rotation around and translation along the coincident geometric axes.
[00055] In another embodiment, the leveling tool has a sliding fit over a drill tip and engages a target hole that has a revolved surface around a hole geometry axis within predetermined size and shape limits, so that the tip of the drill axis and the hole axis are coincident and the leveling tool additionally engages a second fixed feature with respect to the target hole, so that the relative position between the hole, the second feature and the leveling tool is fixed in all six degrees of freedom.
[00056] Another aspect of the invention provides a method of leveling the navigation system to at least one target resource of a target component by measuring the position of the target resource in relation to a sensor. In one embodiment, the method comprises the steps of:• fixing a sensor component of a navigation system to a target component such that the sensor is fixed in all six degrees of freedom in a position reactive to a target feature of the target component, but where the relative position is not known in advance to a sufficient degree of accuracy, • fix a leveling tool to a field generator tool and assembly such that a geometry axis of the leveling tool is in one location. relative to the field generator, • temporarily fix the leveling tool and assembly to the target feature of the target component so that the geometric axis of the leveling tool is in a known spatial relationship to the target feature, • level the position of the sensor relative to the field generator,• calculate the position of the resource relative to the sensor, and• store the position of the resource relative to the sensor in the navigation system's memory.
[00057] In an embodiment of the invention, the relative position of the resource to the sensor is defined as a line expressed in the sensor coordinate system and representing a geometric axis of the target, and is recorded by averaging a selected number of position measurements.
[00058] Some embodiments of the invention provide methods, apparatus and software for control and signal processing that have one or more of the features presented below. Signal processing and control methods, apparatus and software can advantageously: • Detect measurement distortions during navigation; • Detect externally generated magnetic fields during navigation; • Monitor total measurement noise and detect peripheral data; measurement data to minimize signal noise to create a smooth display; • Filter the data to exclude low frequency high amplitude peripheral data; • Present the remaining valid measurement data to the user; • Warn the user of potentially inaccurate data and high rates of peripheral data, and;• Use detected information about measurement data, measurement distortions and externally generated magnetic fields to optimize filter parameters.
[00059] Another aspect of the invention provides a method of detecting tracking measurement distortions and externally generated magnetic fields during navigation, the method comprising the steps of: • Tracking the position of a first sensor and simultaneously monitoring the position of a reference sensor, where the first sensor can move with respect to the field generator and the reference sensor is mounted in a fixed position at selected degrees of freedom with respect to a field generator,• Compare selected deviation parameters in position and/or orientation of the reference sensor (which may include position, orientation and its derivatives of time or any function thereof) to predetermined threshold values,• Activate warning functions, modify selected characteristics of the navigation system and filter and process navigation data, including the display of navigation information to the user, when selected parameters or combinations of parameters and are within a range of predetermined values or exceed threshold values.
[00060] In one modality, data from the reference sensor is compared to its known calibrated position and orientation. The sum of the absolute values of the difference between the reference sensor position reading and the calibrated position is compared to a threshold. The same procedure is applied to orientation expressed as a vector of quaternions with a separate boundary. An interference condition is recognized if the amount of derived position or orientation exceeds its associated threshold value. The reference sensor can additionally self-calibrate automatically upon the start of the navigation system and/or upon a command issued by the user. Reference sensor data can additionally be used to help determine certain states of a tool, such as engine on or off, and certain tool usage conditions, such as engine speed range and whether it is engaged or not engaged with the target. .
[00061] Another aspect of the invention provides a method of filtering measurement data generated by the navigation system to detect and exclude or correct data that is changed by interference or measurement errors, the method comprising the steps of: • Monitoring the current position and orientation of a first sensor that can move relative to the field generator, calculate its time derivatives, and calculate selected characteristics from the position and orientation data of the first sensor over a selected period of time,• Compare characteristics selected for predetermined threshold values,• Delete current position and orientation reading if certain selected features or combinations of features exceed predetermined threshold values,• Monitor the frequency of deleted position and orientation readings over a selected period of time preceding the current reading , and if the frequency exceeds a selected threshold, show the user u m indicating that the current data is unreliable and optionally showing the user an estimate of the current position and orientation which is calculated from the position and orientation data gathered over a selected period of time.
[00062] In an embodiment of the invention, peripheral sensor readings are determined from the sum of the absolute values of the time derivative of the position vector and the time derivative of the orientation vector expressed as quaternions. Each value is compared to an associated threshold and when the threshold is exceeded, the sensor reading is identified as an out-of-limit result. Once a certain number of consecutive out-of-limit results or missed readings are identified, a suitable indicator is shown in the user interface.
[00063] In another embodiment of the method, the reference sensor is used to provide a correlated measure of interference noise and used to remove interference noise in the first sensor. Noise cancellation can be performed with a linear adaptive noise cancellation technique or any other cancellation method that uses a noise reference source as input.
[00064] In yet another modality of the method, a Kalman filter is applied to the sensor readings. Any other adaptive method that uses input signal statistics to adjust its filter behavior, such as recursive Bayesian estimation methods, can also be applied.
[00065] In certain variations of the exemplary surgical procedure, there may be a need to proximally lock an IM rod before the distal locking is completed. In such cases, it is an advantage if a sensing tool passes through the length of the stem cannulation when a proximal locking device is in place. Accordingly, in another aspect of the invention, an apparatus and method is provided for locking a bone fragment to an IM rod in such a way as to temporarily or permanently maintain an open passageway through the cannulation along the longitudinal centerline of the rod. In one embodiment of the invention, the locking apparatus is a fenestrated drill tip also adapted for drilling through bone. In another embodiment, the locking element is a fenestrated post inserted temporarily after drilling, which engages the bone and passes through the rod, prior to installation of the permanent locking element. In another modality, the permanent locking element is fenestrated. In another embodiment of the invention, the locking element is a post with an expander element at one end adapted to engage a cortex of a bone and the internal hole of a locking hole in an IM rod implanted in the bone.
[00066] An exemplary modality is particularly adapted for computer-assisted IM nailing, with particular focus on the step of drilling through the bone in-line with selected transverse holes in the nail (known as locking holes) to allow the installation of locking screws. In this exemplary modality, the apparatus comprises: • a surgical drill with a ferromagnetic drill tip; • a small light weight field generator mounted on the drill and with a portion of the drill tip that rests within the measuring range of the field; and;• a sensor tool that generates a response indicative of its position relative to the field generator and adapted for precise insertion into an implant during surgery at a predetermined fixed location in all 6 degrees of freedom relative to selected implant features .
[00067] A display screen is provided to show alignment information to a user. In some embodiments, the display screen is mounted on or in close proximity to the drill. In some embodiments, the display screen is mounted on the drill in a position relative to the drill that is fixed in 4 degrees of freedom and adjustable in various positions in two degrees of freedom relative to the drill.
[00068] The modalities shown are particularly adapted for use, in conjunction with an electromagnetic navigation system, in computer-assisted IM pinning, in particular, the step of drilling through the bone and selected transverse holes in the stem (known as locking holes ) to allow installation of the locking screws.
[00069] In addition to the exemplary features and embodiments described above, additional features and embodiments will become more apparent by reference to the drawings and by study of the detailed descriptions below. BRIEF DESCRIPTION OF THE DRAWINGS
[00070] The included drawings illustrate non-limiting exemplary embodiments of the invention.
[00071] Figure 1 is a block diagram illustrating a system according to an exemplary embodiment of the invention.
[00072] Figure 1a shows an exemplary sensor tool according to an embodiment of the invention and a set of IM rods with which the sensor tool can be used.
[00073] Figure 2 and Figure 2a show details of the tip portion of the exemplary sensor tool.
[00074] Figure 3 is an exploded view showing an insertion tool, cannulated pin, IM rod and the exemplary sensor tool.
[00075] Figure 4 shows the components of Figure 3, assembled for use in the exemplary embodiment of the invention.
[00076] Figure 5 is a cross-sectional view through the assembly of Figure 4 showing the engagement of the sensor tool with the cannulated pin according to the exemplary modality.
[00077] Figure 6 is a cross-sectional view through the exploded view of Figure 3, which considers the approach of the sensor tool with the insertion tool during installation according to the exemplary modality.
[00078] Figure 6a is a cross-sectional view through the assembly of Figure 4, which considers the engagement of the exemplary sensor tool in the insertion tool according to the exemplary modality.
[00079] Figure 6b shows another example of a snap fit arrangement for a sensor tool.
[00080] Figure 6c is a cross-sectional view taken from Figure 6b showing a push-fit sensor handle engaged with a cannulated pin having a groove.
[00081] Figure 6d is a cross-sectional view taken from Figure 6b showing a rotational restraint arrangement for a sensor tool for an implant and insertion handle assembly.
[00082] Figure 6e is a detailed view showing the proximal portion of a cannulated nail with an extended cap, a groove and a countersink.
[00083] Figure 6f shows another example of a fixation of a sensor tool on an implant using a hand-tight clasp.
[00084] Figure 6g is a cross-sectional view taken from Figure 6f.
[00085] Figure 7 shows an exemplary navigation unit integrated to a drill, according to an embodiment of the invention, together with an IM rod that has a locking hole and a sensor tool and also shows a set of coordinate systems exemplary.
[00086] Figure 7a shows the exemplary coordinate systems of the field generator and the sensor that look along the axis of the drill from the user's point of view, and the parameters of the subset of sensor positions that are fundamental in the application and exemplifying modality.
[00087] Figure 8 is a section taken from Figure 7, through the geometric axis of the drill, which shows the exemplary navigation unit attached to the drill.
[00088] Figure 8a shows an alternative embodiment of the invention, in which a navigation unit is integrated to a drill through the structure above rather than below the drill chuck.
[00089] Figure 8b shows another embodiment of the invention in which the field generator can be removed and replaced repeatedly at the same location within the navigation unit.
[00090] Figure 9 shows an example of a plot of the distance from the drill tip along the drill path versus time for drilling through a bone.
[00091] Figure 9a shows a flowchart of the targeting and UI method described in Figure 9.
[00092] Figure 10 shows an example of a user interface unit mounted on a drill in accordance with an embodiment of the invention, with a display screen in position for drilling with the drill vertical and pointing forward and away from the user's body , with the user holding the drill in their right hand.
[00093] Figure 10a is similar to Figure 10, but with the screen set in a position for a user holding the drill in their left hand.
[00094] Figure 11 shows the sample user interface unit mounted on a drill with the screen in position for drilling with the drill rotated in a horizontal position and pointing forward and away from the user's body.
[00095] Figure 11a is similar to Figure 11, but with the screen set in a position for a user holding the drill in the opposite horizontal orientation.
[00096] Figure 12 shows the sample user interface unit mounted on a drill with the screen in position for drilling with the drill rotated in a horizontal position and pointing to the user's left side.
[00097] Figure 12a is similar to Figure 12, but with the screen set in a position for drilling with the bit rotated in a horizontal position and pointing to the user's right side.
[00098] Figure 13 shows an exploded view of the exemplary embodiment of the invention, which shows a removable user interface unit, a mounting unit and a movable joint between the display and mounting units.
[00099] Figure 14 is a section showing the exemplary mounting unit installed on a drill chuck.
[000100] Figure 15 is a cross-sectional view taken from Figure 14, perpendicular to the geometric axis of the drill, showing towards the user of the drill.
[000101] Figure 16 is a cross-sectional view taken from Figure 14, perpendicular to the geometric axis of the drill, showing towards the tip of the drill.
[000102] Figure 17 shows an alternative embodiment of the invention that has multiple display screens, rather than a movable joint between a user interface unit and the drill.
[000103] Figure 17a shows the alternative embodiment of Figure 17, in a second drilling position.
[000104] Figure 18 shows an exemplary user interface according to an embodiment of the invention during use in the exemplary application, with the drill approaching alignment with a locking hole.
[000105] Figure 18a shows the sample user interface of Figure 18, but with the drill within alignment tolerance for a lock hole and with a depth indicator shown.
[000106] Figure 18b shows a flowchart of a method for controlling the field of view and magnification parameters of the UI display.
[000107] Figure 19 shows a cross-sectional view through a bone and implant during the use of the exemplary modality in the exemplary application, with the drill aligned with a locking hole within predetermined limits.
[000108] Figure 19a shows a flowchart of targeting and the UI method described in Figure 19.
[000109] Figure 20 is similar to Figure 19 but shows an alternative method of defining drill alignment boundaries.
[000110] Figure 20a shows a flowchart of the alternative targeting and user interface method described in Figure 20.
[000111] Figure 21 shows an exploded view of an exemplary field generator component of a navigation system, a drill, a drill tip, an IM rod with a distal locking hole, a sensor inserted into the rod, a tool and a drill pad integrated with the field generator according to an embodiment of the invention.
[000112] Figure 22 shows the components of Figure 21 assembled according to the exemplary modality and the exemplary application, with the leveling tool inserted in the distal locking hole and in position to level the system to the hole.
[000113] Figure 23 shows a section through the exemplifying leveling tool.
[000114] Figure 23a shows a section through the tip portion of the exemplary leveling tool.
[000115] Figure 24 shows a section through the sample leveling tool and IM rod when in position to level the system in the hole.
[000116] Figure 24a shows a section through a first additional exemplary modality of a leveling apparatus.
[000117] Figure 24b shows a section through a second additional exemplary modality of a leveling apparatus.
[000118] Figure 24c shows a section through a third additional exemplary embodiment of a leveling apparatus.
[000119] Figure 24d shows an exploded view of a fourth additional exemplary embodiment of a leveling apparatus.
[000120] Figure 24e shows a section through the fourth additional exemplary modality of a leveling apparatus.
[000121] Figure 24f shows a section through a fifth additional exemplary modality of a leveling apparatus, in which an additional degree of freedom is controlled.
[000122] Figure 25 shows an exemplary plot of typical measurement error versus field generator position around the drill axis at various distances from the field generator, with the field generator mounted on a typical drill.
[000123] Figure 26 shows a flowchart exemplifying the steps of leveling and operation of the system according to an embodiment of the invention.
[000124] Figure 26a shows a flowchart of intraoperative calibration of a navigation system that also generates a correction value lookup table, according to an alternative embodiment of the invention.
[000125] Figure 27 shows an exemplary plot of reference sensor readings when a ferromagnetic tool is passed in and out of the measurement range of a field generator and causing the measurement error.
[000126] Figure 28 shows an exemplary plot of reference sensor readings when a drill motor of a fixed drill is started and stopped, creating external magnetic fields that affect the measurements of the navigation system.
[000127] Figure 29 shows an exemplary plot of readings of sensor orientation versus field generator position around the drill axis, with a field generator mounted on a typical drill.
[000128] Figure 30 shows a flowchart of an exemplary filtration method for leveling and correcting sensor position and orientation data during navigation, and modifying filtration parameters based on selected conditions detected by the system, according to a modality of the invention.
[000129] Figure 31 shows an IM nail implanted in a femur, the femur being shown in section with a fenestrated drill tip that passes through the femoral neck and into the femoral head, and a sensor tool, according to a embodiment of an aspect of the invention.
[000130] Figure 32 shows the fenestrated drill tip, looking along the geometric axis of the slotted hole.
[000131] Figure 32a shows the fenestrated drill tip, looking perpendicular to the geometric axis of the slotted hole.
[000132] Figure 33 shows a sectional view through the femur and the IM shank with the fenestrated drill tip in place and a sensor tool installed.
[000133] Figure 34 shows a top view of a cannulated and fenestrated abutment, according to an alternative embodiment of an aspect of the invention.
[000134] Figure 35 is a front view of the alternative embodiment of the invention shown in Figure 34.
[000135] Figure 36 shows a sectional view through a femur and IM nail showing the cannulated and fenestrated pillar of Figure 34 and a guidewire in place, prior to guidewire retraction.
[000136] Figure 37 shows an expansion pin that engages only a bone cortex and a stem wall, according to yet another embodiment of an aspect of the invention.
[000137] Figure 37a is a cross-sectional view taken from Figure 37 through the expansion pin.
[000138] Figure 38 is a cross-sectional view of the expansion pin of Figure 37 in use on a patient's limb. DESCRIPTION
[000139] Throughout the following description, specific details are presented in order to provide a fuller understanding for those skilled in the art. However, well-known elements may not be shown or described in detail to avoid unnecessarily obscuring the description. Consequently, the description and drawings are to be considered in an illustrative and not restrictive sense.
[000140] Different aspects of the invention and its presently preferred embodiments will be better understood by reference to the detailed description below and/or the accompanying drawings. Where the same reference numbers are used in different drawings, the reference numbers refer to the same or similar parts.
[000141] As used herein "distal", when referring to a drill and attached components, refers to the direction leading further away from the user and towards the end of the drill tip, and proximal, as used herein, is the opposite direction to the distal. As used herein, "distal" when referring to an IM rod and components attached to it, refers to the direction leading further away from the insertion tool, and proximal, as used herein, is the direction opposite to the distal.
[000142] As used here, 'Navigation System' is a combination of an electromagnetic field generator, at least one electromagnetic sensor and a controller, which may comprise a computer connected to the field generator and sensor. The controller is configured to determine the position and orientation of the sensor resource relative to the field generator. An example of a suitable navigation system is an Aurora™ system made by Northern Digital Inc. (Waterloo, Ontario, Canada), which can be suitably modified and controlled by custom software for use in applications as described here. Other suitable navigation systems are available from Ascension Technology Corporation, 107 Catamount Drive, Milton, VT 05468, USA.
[000143] Figure 1 is a block diagram illustrating a system according to an exemplary embodiment of the invention. The 600 console includes processor and power supply components from an electromagnetic navigation system. The 600 console can provide additional processing and particular communication components to an order, such as IM pinning. Charging station 602 receives and charges user interface unit 606 when not in use. When in use, the user interface unit 606 and the navigation unit 601 are fixed to the tool 603. The unit 601 includes a field generator and at least one reference sensor that communicates with the console 600 via cable 608 User interface unit 606 communicates with console 600 via wireless communication link 604. Sensor tool 610 communicates with console 600 via sensor cable 612. Memory 614 accessible to console 600 includes dimensions, features, and component graphical data models, as well as measurement correction maps, lookup tables, parameter sets, software, firmware, and the like.
[000144] The 616 database contains dimensions, features and component graphics data models, as well as measurement correction maps, lookup tables, parameter sets, software, firmware, and the like and are stored in a memory device external. Database 616 may be connected via communication link 618 to memory 614 to update the contents of memory 614. Communication link 618 may comprise, for example, a wired, internet or wireless connection or some combination of the same.
[000145] Software, firmware and data stored in user interface unit 606 can be updated via communication link 604 and via connection 605 of charging station 602 with memory 614. Software, firmware and data stored in unit 601 can be updated via cable 608. In various other embodiments in which tool 603 includes an electrical power source, such as a battery, cable 608 can be replaced with a wireless communication link to control signals between the console 600 and unit 601, and a wire that supplies power from tool 603 to unit 601. In various other embodiments, sensor cable 612 can be replaced by a power source, a signal amplifier, and the wireless communication unit. wire included in sensor tool 610, and a wireless communication link from sensor tool 610 to console 600. Non-limiting examples of suitable wireless links are communication systems. Bluetooth™ and WiFi wireless local area action.
[000146] One aspect of the invention provides a sensor tool for use with a navigation system. The sensor tool comprises an elongate member having a self-centering tip portion containing a sensor element. A snap-on mechanism is provided to hold the sensor tool in place on a component (eg an IM rod) so that the sensor element has a known geometric relationship with an element in the component (eg a hole locking system).
[000147] Figures 1a to 6 show an exemplary sensor tool 10. The illustrated sensor tool 10 can be used in IM pegging procedures, for example. Exemplary sensor tool 10 includes several desirable elements as described below. Each feature can be beneficial individually or in combination with some or all of the other features described. Other embodiments within the scope of the invention may include a subset of the advantageous features described in the exemplary embodiment.
[000148] A desirable feature of the sensor tool 10 is that the distal tip portion self-centers in the range of different cannulation diameters. The self-centering feature can be provided by resiliently flexible members incorporated into the tip portion that are radially outwardly biased to a maximum diameter, but can be resiliently compressed radially inwardly to a range of smaller diameters, all concentric to the maximum diameter. For example, the self-centering feature can be provided by flexible members 186 (shown in Figures 2 and 2a) that are arcuate in shape when viewed in a plane that traverses the longitudinal centerline of sensor tool 10 and that are angularly spaced around from a centerline of the tip portion.
[000149] Another desirable feature of the sensor tool 10 is that sensory feedback is provided to the user when the sensor tool 10 is properly installed in a component such as an implant. Sensory feedback can be provided by a push-fit mechanism. The push-in mechanism can provide tactile and/or audible feedback to the user by engaging only in the properly installed position. A snap-on mechanism can be provided between the sensor tool 10 and a component, such as an implant, or between the sensor tool 10 and an insertion tool affixed to the component. A snap-on mechanism can be provided by means of a suitable detent mechanism. For example, a snap-on mechanism may be provided by flexible tabs 192 shown in Figures 6 and 6a which engage grooves 195.
[000150] Another desirable feature of the sensor tool 10 is its fixed length and one-piece finished construction that allows the user to precisely install the sensor tool 10 in a unique predetermined position relative to a component in a single movement without adjust or reference graduation markings or the like to select the correct installation position. For example, the length of sensor tool 176 shown in Figure 1a determines the position of nose portion 154 relative to shank assembly 37 and insertion tool 39 (shown in Figure 3) along the centerline of shank 37.
[000151] Figure 1a shows a sensor tool 10 and a set of rods IM 37 and 165 (collective or usually set 164 or rods IM 164) with which the sensor tool can be used. A rod in assembly 164 may have different characteristics from others, for example, a different length, cannulation diameter, or a different arrangement of elements such as slots and holes. Each IM rod in set 164 has at least one distal locking hole 38 which may vary in size and location from one rod to another in set 164, and may be the only distal feature of interest, or may be part of a group of distal locking holes 189 as shown. For purposes of this description, if group 189 includes more than one hole or features that will be drilled, hole 38 is defined as the most proximal hole of group 189.
[000152] The sensor tool 10 has the tip portion 154 at its distal end, the shaft portion 156 and the handle portion 158 at its proximal end. Shaft diameter 160 of shaft portion 156 is less than or equal to the minimum cannulation diameter 162 (visible in Figure 5) present in assembly 164. For example, shaft diameter 160 is in some cases in the range of three to four millimeters. Nose diameter 166 is selected as equal to or slightly greater than the maximum cannulation diameter 168 present in assembly 164. Shoulder shaped part 170 has shoulder shaped part diameter 172 which is greater than peg cannulation diameter 174 of the cannulated pin 173 (shown in Figure 5). The length 176 from the shoulder-shaped portion 170 to the distal end of the sensor tool 10 is selected as less than the minimum locking hole distance 178 (shown in Figure 4) present among the rods in the assembly 164, so that the hole 38 remains clear for drilling.
[000153] Referring to Figures 1 and 2 together, sensor wire 180 extends from sensor element 182 embedded within sensor tool 10 and connects to the navigation system (not shown) via connector 184 (visible in Figure 3). Sensor tool 10 can be injection molded from a medical grade plastic, eg ABS or PEEK, and can be assembled and bonded together in two or more parts to form a solid unit in which sensor element 182 is embedded. and held in a fixed position within the sensor tool 10 with the longitudinal axis of the sensor element 182 seated approximately collinear to the common longitudinal axis of the nose portion 154 and the axis portion 156.
[000154] An example of a suitable 182 sensor element is a Mini 6 DOF sensor from Northern Digital Inc., Waterloo, Ontario, Canada, part number 610029. This sensor is approximately 1.8 millimeters in diameter by nine millimeters in length . In an alternative embodiment, sensor 10 may incorporate a battery, amplifier, analog-to-digital converter and wireless transmitter to wirelessly send signals to the navigation system. Some or all components can be housed in the handle portion 158.
[000155] Figures 2 and 2a show the tip portion 154 of the sensor tool 10 in detail. As most satisfactorily seen in Figure 2a, the flexible segments 186 all have the same cross-section and shape and are evenly spaced around the common longitudinal axis of the nose portion 154 and the axis portion 156. The flexible segments 186 are designed to flex within the elastic range of their material so that the tip diameter 166 can be compressed to the minimum cannulation diameter 162 without rupturing or permanently deforming, so that the sensor tool 10 can be removed, subjected to cleaning and resterilized, and reused if desired. The sensor element 182 is embedded in the sensor tool 10 close to the nose portion 154. Since the flexible segments 186 compress radially inward uniformly when the nose portion 154 is in a cylindrical bore having a diameter less than the diameter of tip 166, sensor element 182 is centered within the cannulation of any stem in assembly 164 when tip portion 154 is inserted into the stem. Shaft diameter 160 is also shown.
[000156] The person skilled in the art will recognize that a variety of other constructions can be chosen to provide the self-centering feature of the tip portion 154, for example, the flexible segments 186 can be replaced by a series of flexible blades or the tip portion 154 may be a burette that has at least one relief slit that allows the burette to be compressed to a smaller diameter.
[000157] Referring to Figure 3, according to an embodiment of the invention, the shank 37 which is selected from the permanent deformation 164 (see Figure 1a) is shown in an exploded view with the insertion tool 39 and the cannulated pin 173 , which can be used with all in set 164 to insert and position the rod into a patient's bone. The selected shank 37 is secured to the insertion tool 39 using the cannulated pin 173 which threads to the shank 37. The tang 187 of the insertion tool 39 engages the slot 188 at the proximal end of the shank 37, thereby securing the shank 37 in all six degrees of freedom with respect to insertion tool 39, and sensor tool 10 can be inserted through cannulated pin 173 and into cannulated rod 37. Connector 184 is also shown.
[000158] Referring to Figure 4, the exploded view of Figure 3 is shown assembled with the sensor tool 10 installed and showing the shank 37, the insertion tool 39 and the cannulated pin 173. The minimum locking hole distance 178 extends from the contact point of the shoulder-shaped portion 170 and the cannulated pin 173 (as seen in Figure 5) to the proximal edge of the distal locking hole 38, which is the most proximal feature that will be drilled.
[000159] Figure 5 is a partial sectional view taken of Figure 4 in a plane through the longitudinal centerline of the cannulated pin 173. When the sensor tool 10 is fully inserted into the shank assembly 37, the insertion tool 39 and of the cannulated peg 173, the shoulder shaped portion 170 contacts the countersunk surface 175 of the cannulated peg 173. When full contact is maintained between the circular edge of the shoulder shaped portion 170 and the conical surface of the countersunk surface 175 , the sensor tool 10 is fixed in translation along the geometric axis of the rod 37. The cannulation diameter of the pin 174, the axis portion 156 and the sensor wire 180 are also shown.
[000160] Shaft portion 156 can be flexible with sufficient flexibility to allow the sensor tool to be inserted into IM rods or other components that are not straight.
[000161] Figures 6 and 6a illustrate the engagement of the sensor tool 10 to the insertion tool 39. Figure 6 is a cross-sectional view through the handle portion 158 of the sensor tool 10 and also through the insertion tool 39, taken of Figure 3 in the grip area 197, with the sensor tool 10 approaching but not yet engaged with the insertion tool 39. Figure 6a is a cross-sectional view taken from Figure 4, similar to Figure 6, but with the insertion tool. sensor 10 in its installed position, engaged with insertion tool 39. Referring to Figure 6, gap 198 is smaller than tool width 191 so that, while sensor tool 10 is pushed distally into position, flexible tabs 192 are forced to spread outwardly to pass over insertion tool 39. When surface 193 of sensor tool 10 contacts top surface 194 of insertion tool 39, flexible tabs 192 snap fit. at the groove 195 as shown in Figure 6a, creating an audible snapping sound and a vibration that can be sensed by the user through the handles 197 when the sensor tool 10 reaches its fully installed position.
[000162] Referring to Figure 6a, the flexible flaps 192 are designed to have an interference fit with the edge 196 of the groove 195 so that, in the installed position, the offset span 199 is greater than the span 198 and the flaps pliers 192 are flexed outward by a predetermined amount within the elastic range of the material, and thus creates a distally directed seating force on sensor tool 10 against insertion tool 39 which is reacted on top surface 194 and part contact. shoulder shaped 170 with countersunk surface 175 of cannulated peg 173 (see Figure 5). The interference fit of the flexible tabs 192 against the edge 196 also creates a centering force that prevents the sensor tool 10 from rotating around the longitudinal axis of the cannulated pin 173 (see Figure 5). Sensor tool 10 is thus held fixed at all six degrees of freedom with respect to insertion tool 39, which, in turn, is fixed at all six degrees of freedom with respect to rod 37. Referring also to Figures 1a and 2, as the sensor element 182 is fixed within the sensor tool 10 at a known location in relation to the shoulder-shaped part 170 and is centered within the stem cannulation having a diameter within the diameter range 162 to diameter 168, sensor element 182 is thus held in a known position and orientation fixed relative to rod 37, and using level measurements (described elsewhere in this description) and/or predetermined geometry of rod 37 , selected features of stem 37 such as distal locking hole 38 or group of holes 189 can be located by the navigation system to which sensor element 182 is connected without specifying the cannulation diameter.
[000163] To remove the sensor tool 10, the user squeezes the handle portion 158 of the sensor tool 10 onto the handles 197 towards a midplane of the sensor tool 10, causing the flexible tabs 192 to spread apart and clean edge 196, allowing the user to withdraw the sensor tool 10 in a proximal direction.
[000164] One of skill in the art will recognize that there are a variety of sensor tool 10 constructions that can also be used to provide the characteristic of sensor tool 10 that engages and indicates engagement in a unique position relative to shank 37. For example, various connection methods can be used to secure the sensor tool 10 to one or any combination of insertion tool 39, cannulated pin 173 or rod 37 e.g. by clamping, crimping or friction fit.
[000165] Figures 6b to 6e show another example of a snap-in engagement for a sensor tool adapted to engage an element (such as a cannulated pin 178). Such an arrangement is adaptable to a wide variety of insertion tools. Figure 6b shows sensor tool 10 with sensor wire 180 and an alternate handle portion 676. Sensor tool 10 is shown installed on insertion tool 39 which is mounted on rod 37 with cannulated pin 673. 6c is a cross-sectional view taken from Figure 6b showing a push-fit sensor handle engaged with groove 671 in peg 673. Figure 6d is a cross-sectional view taken from Figure 6b showing protrusion 684 engaged with hole 670 of the clevis tool. insert 39. Figure 6e is a detail view showing the proximal portion of a cannulated peg 673 having a proximally extended cap portion with a groove 671 and countersunk surface 672.
[000166] In this exemplary embodiment, the sensor tool 10 includes the handle portion 676 having the conical surface 682. The groove 671 has a rotated section constant of one full rotation around the peg centerline that forms the edge 674. Countersunk surface 672 may be a complete rotated section, but it may also be evenly spaced segments of a rotated section around the dowel centerline. Handle portion 676 also includes flexible tabs 678 that engage edge 674 and create a seating force that holds tapered surface 682 against countersunk surface 672 of pin 673 to flexible tab 192 and groove 195 shown in Figures 6 and 6a, and thus constrains the sensor tool 10 with respect to pin 673 in all degrees of freedom except rotation about the centerline of pin 673.
[000167] A wide variety of features on the insertion tool can be engaged by a portion of the sensor tool for clamping. The rotational position of the sensor tool 10 can be fixed by providing a portion of the sensor tool adapted to engage any of a wide variety of features on the insertion tool. In the exemplary embodiment shown, insert handle 39 has hole 670 parallel to the pin centerline. Cylindrical boss 684 is a press-fit with bore 670. Protrusion 684 has slot 686 to allow a press-fit to eliminate rotational play between sensor tool 10 and shank 37 under expected torque loads that may be applied to the sensor tool 10 during use. Handle portion 676 also includes angled surface 688 that engages a countersink on a different type of insertion tool (not shown).
[000168] To remove the sensor tool 10, the user squeezes the handles 680 in the direction of the dowel centerline to flex the tabs 678 outward to clear the groove 671 and then push the sensor tool 10 outwardly. proximal.
[000169] Due to the fact that the engagement features on the peg 673 are revolved sections around the peg centerline, which is coaxial to the shank centerline, the sensor tool 10 can be installed in the same position regardless of the rotational position of the dowel around the centerline. In this way, pin 673 can be tightened and re-tightened in different rotational positions without substantially affecting the installed location of sensor tool 10 relative to rod 37 when sensor tool 10 is reinstalled. Conical surface 682 may alternatively be a shoulder shaped portion similar to shoulder shaped portion 170 shown in Figure 5. Conical surface 682 and countersunk surface 672 may alternatively be mating surfaces or features that secure the location of the handle portion 676 in translation along the centerline of peg 673 regardless of the rotational position of peg 673 about the centerline.
[000170] Various other mechanical arrangements could be used in place of protrusion 684 or surfaces 688 depending on common features of a group of different style insertion tools intended for use with sensor tool 10, e.g. to Figures 6 and 6a, in a tool set having a common width 191 but not sharing a common geometry of grooves 195 or hole 670 with respect to the cannulated dowel, a set of flexible tabs similar to tabs 192 having a groove by interference with the external surfaces of tool 39 it can be used to restrict rotation and, in combination with the locking arrangement of pin 673 and tabs 678, to secure the location of sensor tool 10 relative to shank 37.
[000171] Figure 6f shows an example of an attachment of a sensor tool to an implant using a hand-tight closure rather than a snap-on attachment of the sensor tool 10 to an insertion handle, cannulated pin and intramedullary nail assembly. Figure 6g is a section through the sensor tool, insertion knob and stem showing the threaded hand-tight fastener fastener assembly. In certain embodiments, an insertion tool kit including tool 702 may have a common threaded hole 690 with respect to the centerline of cannulated pin 173, and a surface 704 with which a surface 692 of handle portion 696 is the insertion tool. sensor 10 may match when hand-tight fastener 698 is tightened. In this embodiment, the sensor tool 10 has a fixed length 694 from the coupling surface 692 to the sensor tip (not shown, see Figure 1a) and the translational position along the centerline of the shank 37 of the sensor tool 10 is determined by surface 704 and by surface 692. The sensor handle portion 696 and the lock 698 have the countersink 700. The lock 698 is threaded to match the hole 690.
[000172] In this embodiment, the sensor tool 10 has shaft diameter 706 at least over the proximal region where the sensor shaft rests within the pin 173 when the sensor tool 10 is installed. Diameter 706 of shaft portion 156 of sensor tool 10 is a sliding fit to cannulation diameter 174 of pin 173 (visible in Figure 5). When lock 698 is tightened, sensor tool 10 can rotate around the centerline of bore 690 only to the extent of the difference in diameters 706 and 174, and shaft portion 156 will bear on the inner surface of cannulated pin 173 as the 698 clasp is tight. In this way, when latch 698 is tightened, sensor tool 10 is secured in all six degrees of freedom relative to rod 37 in a precise position. The closure 698 can be produced from a sterilizable plastic material similar to that of the sensor tool 10 and provided with the sensor tool 10, for example, or it can be produced from metal or another reusable and sterilizable material. One of ordinary skill in the art will recognize that to be compatible with multiple insertion knobs, knob portion 698 may have a scratch of holes at different locations and may have several different mating surfaces similar to surface 692 to match selected insertion knobs .
[000173] Another aspect of the invention provides a tool comprising a field generator that is configured to remain fixed relative to a geometric axis of the tool and a point along the geometric axis during tool use, where the portion of the tool can move with respect to the geometric axis and/or the point. For example, the tool may comprise a bit and the moving portion may be a bit tip that rotates around the axis with the tip of the bit tip at the point on the axis. For another example, the tool may comprise a saw and the moving portion may be a cutting blade that rotates around the axis in a plane that passes through the point. For another example, the tool could be an oscillating saw and the moving portion could be a cutting blade that rotates back and forth along a small range of rotation, in a plane that passes through the point. This arrangement is an advantage due to the fact that, particularly when the moving portion of the tool is produced from ferromagnetic and/or electrically conductive materials, the tool can affect the performance of the field generator and lead to measurement errors. Therefore, limiting the position, movement pattern and movement range of the tool and any moving portion of the tool to known and predictable values can allow measurement correction and error compensation to be used to optimize the performance of the generator. field.
[000174] In some modes, the geometry axis can be moved from the field generator, which can optimize access to the portions of the tool located on the geometry axis and optimize the user's view of the tool and the work area. For example, a drill tip lying along the geometric axis and passing outside rather than through, the field generator may be easier to change and easier to point as the user can look along the length of the drill tip. .
[000175] The field generator can be mounted or mounted directly on the tool. In other embodiments, the field generator is mounted or mountable and removable from a fixture for the tool. In other embodiments, the field generator and/or the clamping unit may be attachable to a variety of tools. In other embodiments, the field generator and/or the clamping unit may be fixable at various rotational positions around the geometry axis without changing the field generator's relationship with the geometry axis or the point on the geometry axis. For example, the tool can be a drill and the field generator can be mounted in a unit that comprises a drill chuck that can fit several different types of drill, and can attach to a drill at various angles around the axis. drill tip geometry relative to a drill handle, allowing the user to select a field generator position that does not block the view of the work area or does not interfere with obstacles in the work area.
[000176] In other embodiments, the field generator is mountable and removable to a fixture for the tool, wherein the fixture is adapted to hold the field generator at a selected location in relation to a geometry axis and a point on the geometry axis . Some arrangements may additionally comprise a housing that confines and isolates the field generator. For example, in modalities adapted for surgery, the fixation may comprise an autoclavable housing and the field generator may not be autoclavable, and in use in a sterile field, a non-sterile user drops the field generator into the sterile fixation maintained by a sterile user, who then closes the housing thereby securing the field generator in position and isolating it from the sterile field. This arrangement has the advantage of reducing the cost and extending the life of the field generator.
[000177] Each feature of a tool comprising a field generator described above can be advantageous individually or in combination with some or all of the other features described. Other embodiments within the scope of the invention may include a subset of the advantageous elements described above and in exemplary embodiments.
[000178] Figure 7 shows an exemplary navigation unit 1 with drill tip 2 installed. The navigation unit is mounted on drill 3. The sensor tool 10 and the IM shank 37 which has the locking hole 38 are also shown. Unit 1 includes electromagnetic field generator 7.
[000179] It has been observed that when a commonly used type of drill tip 2 (part no. 03.010.104 Synthes™, Monument, CO, USA 80132) is moved in front of a typical field generator, measurement distortions are :• Much larger than a millimeter when the tip of drill 2 is moved around in front of the field generator,• Greater than one mm when the tip of drill 2 is moved in and out of the area in front of the field generator along a fixed geometry axis, e• Less than one millimeter when the tip of drill 2 is rotated around a fixed geometry axis with respect to a field generator.
[000180] Advantageously, in the embodiment of the invention shown in Figure 7, the drill tip 2 rotates around the geometric axis of drill 5 and the unit 1 holds the drill tip 2 in a fixed location in relation to the field generator 7 through of housing 9. Point 98 coincides with geometry axis 5 and with the tip of the drill tip 2, and, together with geometry axis 5, is fixed with respect to housing 9 and field generator 7 while unit 1 is in use. This arrangement limits the effects of electromagnetic distortion in the navigation system due to the presence of drill tip 2 in the measuring range of field generator 7 at a predictable and manageable level, thus allowing drill tip 2 to be produced from materials typical ferromagnetics. In various embodiments of the invention, the bit tip 2 can be replaced with various items such as punches, mill cutters, drill bits, guide wires and the like.
[000181] Advantageously, the drill 3 and the unit 1 including the field generator 7 can be mounted in a single unit that can be operated with one hand. In such an integrated unit, it can be an additional advantage to minimize the size and weight of the field generator 7, and to position the field generator 7 in relation to the drill 3 so as to minimize interference with the handling of the drill 3, on the patient and on the operating table, and in the user's view of the desktop. In particular, it can be an advantage if the user has a clear view of the tip of drill 2. Consequently, in certain embodiments, unit 1 can be fixed to drill 3 in a variety of rotational positions around the geometric axis of drill 5 and can be removed and re-attached in a different rotational position during use without requiring recalibration.
[000182] An additional advantage of the unit 1 that has the field generator 7 and chuck 4 integrated may be that the distal tip of the drill tip 2 is in a fixed position relative to the field generator 7, and with the tool of sensor 10 in a fixed position relative to the region being drilled, the distance traveled by the bit tip 2 along the geometric axis of drill 5 through the region can be tracked directly by the navigation system as described below in Figure 9. Identifying itself an entry or starting point, the drilling progress along the drill axis can be reported to the user. By identifying an entry point and an exit point through a bone, for example, the length of hole drilled through the bone can be reported to the user and used to help select the correct screw length to be installed.
[000183] In general, electromagnetic measurement distortions can be limited to manageable levels by limiting and providing for the introduction, removal and mass movement of ferromagnetic and conductive material within the range of the field generator 7 and in a smaller measure close to the field generator 7. Accordingly, in another exemplary embodiment, the unit 1 is adapted to attach to a tool such as an oscillating saw, and is further adapted to hold a cutting tool, so that the tool cut moves in a limited range and in a predetermined pattern, where the pattern is at a fixed location relative to the field generator 7. For example, an exemplary modality is like the drill shown in Figure 7, except that the tip of the drill 2 is replaced with an oscillating cutting blade, drill 3 is replaced with an oscillating saw, and chuck 4 is replaced with an oscillating cutting blade chuck that has a geometric axis around d. which the blade oscillates within a predetermined limit of angular travel, so that the blade oscillates around the axis in a plane perpendicular to the axis, where the plane and the axis are in fixed positions relative to the generator of field 7.
[000184] Now, looking in detail at the exemplary embodiment shown in Figure 7, unit 1 includes chuck 4 as an integral component of housing 9, reference sensor 8 (visible in Figure 8) and drill pad 46, all which are mounted at fixed locations relative to the field generator 7. The geometry axis 5 is defined by the mandrel 4 and the pad 46 and therefore is also at a fixed location relative to the field generator 7 during use. User interface unit 6 is also mounted on unit 1 and can be adjusted in different positions relative to unit 1 as described in more detail later in this description. One skilled in the art will recognize that modalities that do not include a user interface unit 6 in unit 1, e.g., a display screen, may alternatively be located outside the surgical field.
[000185] Referring also to Figure 8, in which the field generator 7 emits an electromagnetic field that causes the reference sensor 8 and the sensor tool 10 to emit signals indicative of their positions in relation to the field generator 7 Field generator 7, sensor 8, and sensor 10 are part of, and connected to, a navigation system (not shown). The reference sensor 8 returns to a constant predetermined location relative to the field generator 7 to the navigation system and, if that location varies beyond predetermined limits, an error warning can be issued to the user. The reference sensor 8 is shown in the embodiment embedded in the structure connecting the field generator 7 and the pad 46, however, the person skilled in the art will recognize that the reference sensor 8 may alternatively be integrated with the field generator 7 (as shown in Figures 8a, 8b and 8c) e.g. rigidly mounted or molded to the front face of the field generator 7, or otherwise mounted in a fixed position relative to the field generator 7 and within the measuring range of the field generator field 7. For increased reliability and redundancy, a group of multiple reference sensors 8 can be used. When installed (see Figures 1 to 6b), the sensor tool 10 is situated on the IM shank 37 at a predetermined fixed location in relation to the locking hole 38, but does not block or protrude in the hole 38. The shank 37 is shown as a straight shaft that has a straight longitudinal centerline 40, however, the shaft 37 may also be curved over selected regions of its length. In the embodiments shown, except where otherwise specified, rod 37 is straight from a point proximal to the most proximal locking hole 38 to the distal end of rod 37, and centerline 40 refers to the longitudinal centerline of that portion. straight.
[000186] During typical use, stem 37 is implanted into a bone (not shown). The navigation system uses the position data from sensor 10 and the predetermined location to generate guidance information shown to the user on display 6 to help the user align axis 5 with locking hole 38. A suitable navigation system, including field generator 7 and suitable sensors 8 and 10 is an Aurora™ system manufactured by Northern Digital Inc., Waterloo, Ontario, Canada. A suitable field generator model for this application is the Compact Field Generator™, being small enough and light enough so as not to hamper the operation of drill 3, while still having sufficient measuring range to cover sensor tool 10 during drill sight 3 with drill tip 2 attached. Field generator 7 has a built-in erasable and rewritable memory 620, visible in Figure 8, which can be used to store information such as calibration factors and serial numbers. Memory 620 may be, for example, a fast-type memory device.
[000187] Drill 3 can be an electric or typical powered surgical drill that optionally contains ferromagnetic parts and can generate and emit magnetic fields. In the exemplary modality, Drill 3 is a Synthes Small Battery Drive (Synthes USA, West Chester, PA, USA) with a brush-type CD electric motor powered by a battery mounted in the drill handle area. Drill tip 2 can be produced from ferromagnetic material such as hardened stainless steel. The chuck 4 is adapted to be coupled to the drill 3 at various rotational positions around the geometric axis 5. The interface between the chuck 4 and the drill 3 can be adapted as desired to fit selected types of drill 3, e.g. several different manufacturers, air-fed drills, or other types of tools. The mandrel 4 is mounted so that its geometric axis of rotation is fixed with respect to the field generator 7. For example, the mandrel 4 can be mounted to rotate suitable oscillating pads, bearings or the like.
[000188] Although unit 1 is shown separate from drill 3, in other embodiments, elements of unit 1 such as field generator 7 and/or a sight glass and/or chuck 4 can be integrated directly into a tool such as the drill 3.
[000189] Chuck 4 can be replaced or adapted for tools or other drills and drill bits, eg K-wire drivers, screw drivers, pin inserters or for other procedures that require the alignment of a tool that has a geometric axis that can be defined in relation to the field generator 7. The mandrel 4 can also contain or can be made of hardened stainless steel or other ferromagnetic materials.
[000190] Referring also to Figure 8, the field generator 7 is simultaneously connected to a navigation system console (not shown, typically located outside the sterile surgical field) via cable 73. The reference sensor wire 79 also connects to cable 73 and is also connected to the navigation system. The navigation console communicates wirelessly with a display screen 6. Cover 24 is also shown. One skilled in the art will recognize that various combinations of wired and wireless communication can be used in alternative embodiments of the invention, for example, the field generator 7 can be powered from an electrical energy source that also powers the drill 3, as a battery, and the field generator control communication 7 and the reference sensor signals 8 can be wirelessly transmitted to and from the navigation system console, thus eliminating cable 73. In the mode shown in Figure 8, field generator 7 is adapted to be sterilized with unit 1 and is rigidly connected to housing 9 via countersunk screws 85.
[000191] Also shown in Figure 7 are the coordinate frames that are defined for calibration and navigation. Various coordinate frame arrangements can be used with respect to a target geometry axis such as hole geometry axis 38 for sensor 10 and drill axis 5. All coordinate frames described below for the modality shown are not necessarily required in other embodiments of the invention. The configuration shown is a side approach, and arrow 44 shows the direction of a center approach. The field generator coordinate system 130 (subscript 'w' for 'world'), the drill coordinate system 132 (subscript 'd'), the sensor coordinate system 134 (subscript 's') and the system of lock hole coordinates 136 (subscript 'h') are all three-dimensional and right-hand Cartesian coordinate systems with orthogonal geometric axes X, Y, and Z. Field generator coordinate system 130 is predetermined in the manufacture of field generator. field, is fixed at all six degrees of freedom with respect to the field generator structure 7, and is the coordinate system in which the navigation system reports the position of sensors such as sensor 8 and sensor 10 within the range of field generator measurement 7 (therefore the subscript is 'w' for 'world', since this is how the navigation system sees the world). The description of the relative positions in the components in terms of homogeneous transforms, a constant transform Twd is defined from the field generator 130 coordinate system of the field generator 7 to the drill coordinate system 132 aligned with the drill axis 5. Drill coordinate system 132 has its origin at a selected point on drill axis 5, with a suitable point being the tip end of drill 2 which can be pre-programmed into the system as determined by the inserting user. the drill tip length, or by a typical pivot calibration method as described in the spatial tracking literature (also available as software routines from navigation system manufacturers such as Northern Digital Inc., Waterloo Ontario, Canada). The Zd geometry axis of drill coordinate system 132 is defined as collinear with the drill axis 5 and that it has the positive Zd direction extending distally from the drill user. The geometry axis Xd of the drill coordinate system 132 is defined as perpendicular to the geometry axis Zd of the drill coordinate system 132 and which lies in the plane passing through the drill geometry axis 5 and the origin of the drill generator coordinate system. field 130, with the positive Xd direction of drill coordinate system 132 extending in the opposite direction of field generator 7. The geometric axis Yd of drill coordinate system 132 is then defined by the cross product of the Xd geometry axes. and Zd to form a right-hand three-dimensional Cartesian coordinate system. Sensor coordinate system 134 is predetermined at sensor fabrication and is fixed at all six degrees of freedom with respect to sensor structure 10, with the geometric axis Zs of sensor coordinate system 134 approximately collinear to longitudinal centerline 40 of the rod 37 when sensor 10 is installed on rod 37. During operation, the navigation system reports the Tws transform of field generator coordinate system 130 to sensor coordinate system 134 at a rate of twenty to forty times per second . Lock hole coordinate system 136 can be defined by the predetermined dimensions of sensor tool 10, shank 37, and insertion tool 39. Alternatively, lock hole coordinate system 136 can be defined by aligning the axis drill geometry 5 to hole centerline 38 (for example, using a leveling tool as shown below in Figure 22) and making a direct measurement as follows: • The geometry axis Zh of the hole coordinate system 136 lies on the line normal to the drill axis 5 and traverses the origin of the sensor coordinate system 134, with the direction of Zh positive towards the distal end of the shank 37• The origin of the coordinate system of lock hole 136 is at the intersection of geometry axis Zh and drill axis 5.• The geometry axis Xh of lock hole coordinate system 136 is collinear to axis g drill geometry 5 with the positive Xh direction pointing away from the drill.• The geometry axis Yh of the lock hole coordinate system 136 is the cross product of the geometry axis Zh and the drill axis 5.
[000192] Also shown is the reference sensor coordinate system 137 which is at a fixed location relative to the field generator coordinate system 130. The reference sensor coordinate system 137 can be positioned at any fixed location and guidance within the measurement volume of the navigation system. Distance 141 is defined as the distance from the origin of field generator coordinate system 130 to the plane YsZs of sensor coordinate system 137 along the geometric axis Zw of field generator coordinate system 130. The direction of approach of the navigation unit 1 in relation to the handle assembly 39 (noted in Figure 3), the rod 37 and the sensor 10 can be determined as lateral or central as follows: • If the inner product of Zw and Xs is negative, it is a lateral approach, and• If the inner product of Zw and Xs is positive, it is a central approach.
[000193] Referring to Figure 7a, according to an embodiment of the invention, a view is shown looking along the geometric axis of drill 5 from the point of view of the drill user and a set of parameters that define the key sensor positions for the exemplary modality. It is advantageous to define a subset of sensor positions and orientations that are critical to the target objective for a particular application and modality in order to simplify various calibration and error compensation methods described elsewhere in this descriptive report. In other embodiments of the invention, different sets of parameters may be fundamental and may be defined differently. For clarity, stem 37, drill 3, navigation unit 1 and the proximal portion of sensor 10 (noted in Figure 7) are not shown in Figure 7a, and only the outer perimeter of field generator 7 is shown. The outer perimeter of the field generator 7 is situated at a distance 14 from the drill axis 5 to allow access to the distal portion chuck 4 to facilitate installation and removal of a drill tip or other tool mounted on the drill. see Figure 8), and to provide the user with a clean view of the drill tip. For example, distance 14 might be twenty-five millimeters. The position of rotated field generator 138 is a dotted outline of the field generator 7 shown rotated about the drill axis 5 relative to the bearing 139. The bearing 139 is set to zero when the geometry axis Yw of the coordinate system of field generator 130 is parallel, and in the opposite direction, to the projection of the geometric axis Zs of sensor coordinate system 134 in the plane XwYw of field generator coordinate system 130; the solid contour of field generator 7 shown is the position at which heading 139 equals zero. Heading 139 is set to positive while the field generator is rotated around drill axis 5 in the direction of arrow 140. Heading 139 is expressed as an angle greater than or equal to zero degrees and less than three hundred and sixty degrees.
[000194] When drill geometry axis 5 is held coaxial to the centerline of hole 38 (for example, using a leveling tool as shown below in Figure 22) and field generator 7 is rotated around the axis drill geometry 5 through various directions 139 from zero to three hundred and sixty degrees, the origin of the sensor coordinate system 134 describes a nominal circle 142 having radius 144, and, in the exemplary embodiment, since the drill axis 5 is nominally parallel to geometry axis Zw of field generator coordinate system 130, nominal circle 142 lies in a plane normal to axis Zw of field generator coordinate system 130. Radius 144 is constant for a combination particular of the rod 37 and the sensor tool 10.
[000195] The exemplary modality shown is designed to be used with a predetermined range of different rods, which have known lengths and lock hole positions along the length, and the sensor tools are provided in a variety of lengths and one or two particular lengths are recommended for use with each type of nail, and the origin of sensor coordinate system 134 is always proximal to hole 38 because of the relationship (shown in Figure 1a and Figure 4) of length 176 to minimum distance 178 therefore radius 144 has a predetermined range. Similarly, referring also to Figure 7, there is a known range of distances 141 which is a function of the length of the drill tip 2 and the bone diameter range is expected to be found. Thus, when the drill axis 5 is aligned with the lock hole 38 and in a position to start drilling, with the field generator 7 in any direction 139, it is critical to maximize measurement accuracy and there is a subassembly of possible positions of sensor 10 relative to field generator 7 defined by three parameters: radius 144, heading 139 and distance 141.
[000196] Figure 8 is a section taken from Figure 7 through the geometry axis of drill 5 with drill 3 and user interface unit 6 deleted for clarity. In the exemplary embodiment, it is advantageous to permanently secure the mandrel assembly 4 to the housing 9 in such a way as to prevent users from attempting to reposition or remove and reinstall the mandrel assembly 4 and thus possibly change the position or orientation of the mandrel assembly. 4 in relation to field generator 7 which would require recalibration of drill coordinate system 132 (shown in Figure 7) and may also affect various error compensation methods described in subsequent parts of this descriptive report. Housing 9 has internal hole 43. Chuck assembly 4 is permanently fixed within hole 43 at a selected rotational position relative to housing 9, with sufficient strength to support the weight and inert loads generated while the user moves drill 3 or picks up and holds unit 1 and drill 3 by gripping a portion of unit 1 such as field generator 7. In the exemplary embodiment, chuck assembly 4 is secured to housing 9 by directing spring pin 22 against the divot. 12 in the mandrel assembly 4. The skilled in the art will recognize that a variety of fastening methods can be used which will sufficiently hold unit 1 in place in the mandrel assembly 4, for example the mandrel assembly 4 can be attached to the inner hole 43 with the use of a suitable adhesive, interference fit, or the like.
[000197] An advantageous feature of unit 1 is that the field generator 7 is situated at an offset from the axis of drill 5, which allows enough space around chuck 4 for the user to operate chuck 4 and install and remove the drill tips, and also provides the user with a more satisfying view of drill tip 2 and the target area. Distance 14 is selected to allow a typical user's index finger to grasp collar portion 36 and pull it back in a proximal direction to release the drill tip. The arm portion 30 of unit 1 connects the field generator mounting portion 32 of unit 1 to housing 9 of unit 1 and has a 67 thickness and width (not shown) selected to allow an arm portion to fit between the fingers. index and middle of the user so that the user can hold the bit while changing the bit tip. For the arm portion 30, a suitable thickness 67 is ten millimeters and the width (not shown) is twenty millimeters. The housing 9 also includes a cover 24 and a pad 46 which are both rigidly attached to the mandrel 4 through the housing 9 and the field generator mounting portion 32. The material of the housing 9, including the arm portion 30, the portion of field generator mounting 32, the cushion 46 and the cover 24, is preferably non-ferrous and of low conductivity so as to minimize the effects on the electromagnetic navigation system, light weight so as not to hinder the user to operates drill 3, but of sufficient stiffness to maintain the position of field generator 7 with respect to drill axis 5 to within one millimeter and one degree under normal handling and inert loads during use. For the exemplary embodiment, the material preferably supports autoclaving or other high-temperature sterilization processes without deformation. Some examples of suitable materials are titanium, PEEK or Ultem™. A wide variety of other suitable materials can be used. The memory device 620 which is a part of the field generator 7 and is connected to the navigation system via a cable 73 is also shown.
[000198] Figure 8a shows an alternative embodiment of the invention in which the navigation unit 1 has an alternative structure that maintains open access to the drill chuck 4 under the drill axis 5 thus allowing the use of drill chucks with attachments below the drill axis, such as a K-wire driver. In this alternative embodiment, two rigid arm portions 81 and 82 connect the housing portion 80 to the field generator mounting portion 83.
[000199] Figure 8b, Figure 8c and Figure 8d show another embodiment of the invention in which the field generator can be removed and replaced in the same location within the navigation unit in relation to the geometric axis of drill 5 and the end state-of-the-art 98 and is housed and isolated within navigation unit 1. This arrangement allows the field generator and reference sensor unit 640 to be separated from navigation unit 1 before cleaning and sterilization unit 1. The unit 640 it can then be subjected to cleaning (but not necessarily sterilized) using different methods that may be more compatible with the field generator, sensor and associated electronics in the 640 unit. The 640 unit can then be , reinstalled in a sterile environment with no contact between the 640 unit and any surface of unit 1 that is exposed after installation of the 640 unit is complete. The 640 unit housing and insulation is designed to prevent direct contact by a user and direct fluid communication with the 640 unit when the 640 unit is installed in housing 9. The modality shown can also be adapted for non-surgical applications where it is It is an advantage to protect unit 640 from the environment, for example from fluids or dust, while unit 1 is in use.
[000200] Figure 8b is an exploded view showing the unit 640 outside the housing 9. In this exemplary mode, the field generator 7 is shown adapted for mounting in housing 9 through chassis 622 and is rigidly fixed to chassis 622 through screws countersinks 624. Sensor interface circuit board 626, accelerometer 62, anchor connector socket 628, and reference sensor 8 are all mounted on chassis 622 to form a rigid field generator unit 640. The reference sensor 8 (visible in Figure 8d) is rigidly mounted, eg via bonding, to chassis 622 at a distance 642 in front of the front face of the field generator 7 as shown, within the measuring range of the field generator 7.
[000201] Figure 8b is a view looking inside housing 9 with unit 640 removed. In this exemplary embodiment, housing 9 is adapted to receive field generator 7 and includes anchorage connector plug 630, seal 632, port 634, spring stop 636, and lock 638. Cable 73 is mounted in housing 9, wired to the 630 plug and connects to the 600 navigation system console (visible in Figure 1).
[000202] In the exemplary embodiment shown, a minimum restriction design is used to position the 640 unit and a precise position in housing 9. When installed, chassis 622 contacts housing 9 at six points as follows: Three surfaces The convex contact surface 648 each makes one point of contact with the flat surface 650, the convex contact surface 652 makes two points of contact with the V-groove 654, and the convex contact surface 656 makes contact with the surface flat 658. When seating force 644 is applied in a direction that creates a housing 9 reaction force toward unit 640 at all six points of contact, unit 240 is held in all six degrees of freedom with respect to housing 9. The seating force 644 is directed approximately through the middle of the group of contact points to produce approximately equal reaction forces at each point. Seating force 644 is designed to be sufficient to maintain contact at all six points while unit 1 is used, for example force 644 must be sufficient to withstand the inert loads on unit 640 created while unit 1 is moved around the user. Seating force 644 is created by resilient stop 636 which is compressed a selected amount against contact surface 646 of unit 240 when door 634 is closed and latch 638 is engaged.
[000203] Reference sensor 8 is wired to circuit board 626. Circuit board 626 converts signals from reference sensor 8 into digital signals which are then sent to the navigation system console via socket 628 , plug 630, and cable 660. Sensor readings from sensor reference 8 can be more reliable when transmitted as digital signals, rather than being sent as original sensor signals, along the length of cable 660 on running conductors next to the power supply conductors for the field generator 7 included in the 660 cable. However, in some embodiments, the wiring from the reference sensor 8 can connect to the docking connector 628 and continue to the 600 console via the 630 and socket outlet. shielded conductors in the 660 cable, thus eliminating the need for the 626 board in the 640 unit. The accelerometer 62 and field generator 7 are wired to the anchorage connector socket 628 and in turn communicate with the navigation system via the plug 630 and the cable 660. The field generator cable 73 (visible in Figure 8b) is wired to the socket 628. The memory device 620 which is a part of the field generator 7 is also is shown and communicates with the navigation system via cable 73.
[000204] An example of a suitable 7 field generator is an Aurora™ Compact Field Generator and an example of a suitable 626 sensor interface circuit board is part number 7000420, both available from Northern Digital Inc, Waterloo , Ontario, Canada. An example of a suitable 642 distance is five millimeters. Chassis 622, screws 624, door 634 and latch 638 can all be produced from a lightweight, rigid, non-ferromagnetic, low electrical conductivity material such as PEEK or titanium. Seal 632 and elastic stop 636 can be produced from a high temperature tolerant elastomer, eg silicone. For another example, the resilient stop 636 may be a spring. The remaining components comprising unit 640 can be selected and designed to minimize the mass of ferromagnetic and conductive materials included.
[000205] In some embodiments, a plurality of reference sensors can be used at various locations in front of the field generator 7 and at various distances approximately equal to or greater than the distance 642. In some embodiments, the accelerometer 62 can be integrated into the circuit board 626. One of ordinary skill in the art will recognize that many alternative mechanical arrangements can be used to confine and seal unit 640 within housing 9 after installation and to apply seating force 644, and that many alternative mechanical arrangements can be used to hold the 640 unit in a precise position within the housing 9. For example, a threaded grip, over the center grip, or a cam mechanism can be used. For another example, unit 644 may alternatively be insulated in a sterile sealable isolation pouch prior to installation in housing 9, in which case the contact pins of socket 628 pierce the isolation pouch upon installation. In some embodiments, for example, where operation in a sterile field is not required or when an isolation bag is used as described above, the seal 632 and/or port 634 may not be necessary and a wide variety of gripping arrangements alternatives can be used to hold the 640 unit in position. One of ordinary skill in the art will recognize that unit 640 is shown as an exemplary arrangement that incorporates an existing and available field generator and that all or part of the components of unit 640 may be integrated into the structure of a bespoke field generator for form a single unit.
[000206] Figure 9 is a sample trace 57 of the drill that travels along a drilling path as a function of time. Referring also to Figure 7, a feature of unit 1 having the drill axis 5 and a tool nose point 98 on the axis 5 in a fixed position relative to the field generator 7 is that the movement of the tip point 98 relative to sensor 10 (and thus any structure in a known position relative to sensor 10) can be noted and analyzed. In various modalities, data can be processed and used to advantage to advise the user about toolpath, tool performance, to optimize toolpath related parameters such as cutting speed and feed rate, to alert the user about possibly unsafe or harmful conditions such as rapid tool sinking, and to initiate or warn of corrective actions such as shutting down a tool motor.
[000207] In some embodiments, this data can be used in conjunction with other parameters annotated such as a tool status (for example, whether the tool motor is on or off), tool power consumption, tool torque, vibration, tool motor speed, tool operating mode (eg clockwise, counterclockwise or oscillating drill rotation), and the like, some of which may be detectable using the reference sensor 8 and sensor 10 and some may additionally require a data monitoring link from the tool to the navigation system. Certain tool situations can be determined using the navigation system by processing data from sensor 10. In modalities that include a reference sensor such as reference sensor 8, certain tool situations can be determined using the system. by processing the reference sensor data as described in more detail in Figure 28, in conjunction with or instead of the sensor 10 data.
[000208] In addition to being able to monitor the length of the drilled hole (as described below), knowledge about the relationship between distance and time can be used in conjunction with other captured information in order to optimize the drilling process. For example, if it is desired to progress at a desired rate (eg to avoid bone necrosis due to excessive heating), the actual cut-off rate can be estimated by applying any of the many known filter designs to the estimation of the derivative of a position signal (eg a finite difference differentiator, a differentiator in combination with a low pass filter, or a design estimator design). The current estimated cut-off rate can then be compared to a desired cut-off rate and a signal provided to the user (eg an on-screen visual indicator with arrows or numbers, an auditory indicator using variations in pitch of sound or noise, or a tactile indicator that uses vibration or pressure to indicate the magnitude of the difference). Similarly, since sag can be detected by a sudden increase in tool speed in the piercing direction, such an event can be used, in certain modalities that may include a control communication link with the tool, to reduce or turn off the power to the drill to prevent inadvertent damage to underlying structures or even generate some other indication (eg, visual, auditory, or tactile) to alert the user to this event. For example, in particular, in a modality as described elsewhere in this description in which the navigation unit 1 is powered from the drill battery, a control connection with the drill can be included.
[000209] In the exemplary mode, the annotated data is time as a function of the distance traveled by unit 1 in relation to sensor 10 along the drill axis 5 while the coaxiality of the drill axis 5 and hole 38 is within limits are predetermined and the drill motor is on, where the drill has an electric motor and the drill motor situation can be determined using data from the reference sensor 8 as described in Figure 28. These conditions indicate that the user drills along the target drill path. Time versus distance data is used to estimate the length of a drilled hole through a bone so that the correct locking screw length can be quickly determined.
[000210] An example of such data is shown in the time as a function of distance 57. While drilling through a femur or other long bone, for example, it has been observed that there may be several characteristic points and regions in the 57th trace that may be recognized by analyzing the location and time data from the drill tip to the sensor, including entry point 59 which indicates where the drill tip enters the bone at the start of drilling and the exit point 61 where the drill tip comes out of the bone which is the estimated depth of perforation 63 that can be reported to the user. Both points have the characteristic of a period of slow advance along the drill path as the bit cuts through the cortical bone before or after the point, followed by a sudden increase in advance speed as the bit tip leaves the cortex, and can therefore be detected automatically by searching the trace 57 for areas that fall within a predetermined range of motion parameters.
[000211] Going through trace 57 in more detail, during the initial target pre-drilling phase (before active drilling begins), there will likely be a positioning phase where the drill tip can advance and retract as well as be adjusted parallel to the bone surface, before settling. When this movement settles the drill tip being static and close to the geometric axis, with the drill angle likely varying and the drill motor probably turned off, trace 57 is flat in region 336. Region 337 of relatively stationary progress along the Target geometric axis, combined with near-aligned drill angle (and, optionally, detection of a motor-on situation), indicates the rate of drilling through the near cortex. After plunging through the adjacent cortex as indicated by a sudden increase in velocity in region 338, there is a region of greater velocity progress through the spongy bone tissue and nail hole in region 339. Progress slows again in region 340 of the rate of drill feed through the cortical bone. Finally, the rate will likely increase again suddenly in region 341 after which the user should stop advancing the drill in the flat region 342. The start of region 337 of stationary slope within a range of expected drill feed rates indicates entry point 59 and, similarly, the end of region 340 indicates exit point 61. Entry point 59 may be recognized after a small amount of progress from region 336 as shown. An individual of ordinary skill in the art will recognize that different applications will produce different traits 57, and that various thresholds, ranges, and estimation factors may need to be determined by experimentation for various materials, tools, cutting tool types, and the like in order to detect or estimate the desired regions and points of the trace 57.
[000212] Figure 9a shows a flowchart of a drill depth estimation and drill path detection method. In step 592, a positioning phase is detected by recognizing the drill point as close to the target geometry axis, but not progressing along it. In step 593, a drilling phase is detected by the start of progress along the target axis within an alignment tolerance zone, optionally coupled to a drill motor on state. In step 594, the rate of progress along the geometric axis is monitored and compared to selected thresholds, and reported to the user in step 595. A rapid increase in rate that exceeds the selected thresholds is detected in step 596 and related alerts and actions can be applied in step 597.
[000213] Another aspect of the invention provides a tool comprising a user interface unit. For example, the tool can comprise a drill and the interface unit can comprise a touch sensitive display. The UI unit can be mounted or mountable directly on the tool and can also be removable from the tool. In other embodiments, the user interface unit is mounted or mountable on a fixture for the tool and may also be removable from the fixture. In other embodiments, the UI unit is adjustable relative to the tool so that the user can move the UI unit to a suitable position when the tool orientation is changed. For example, the user interface unit could be a visual display screen attached via a swivel joint to a drill. For another example, the user interface unit may be a visual display screen attached via a swivel joint to a drill chuck, which in turn attaches to a drill.
[000214] In other embodiments, the UI unit can detect the direction of gravity and adjust the orientation of an image shown on the unit to a predetermined relationship to gravity. In other embodiments, the user interface unit may detect the unit's orientation relative to a reference direction defined by a navigation system and adjust the orientation of an image displayed on the unit in a predetermined relationship to the reference direction. For example, the user interface unit can comprise a visual display screen and an accelerometer, which, in some embodiments, can communicate with a second accelerometer attached to a field generator or a sensor of a navigation system.
[000215] Each feature of a tool comprising a user interface and display described above can be advantageous individually or in combination with some or all of the other features described. Other embodiments within the scope of the invention may include a subset of the advantageous features described above, and described in more detail in exemplary embodiments below.
[000216] Figure 10 shows navigation unit 1 including user interface unit 6 is shown mounted on drill 3. A feature of user interface unit 6 is that it is integrated with unit 1, and in turn, drill 3, when unit 1 is attached to drill 3, so that the display and user interface work, are easily accessible to the drill user during use and the user's attention can remain directed to the work area of unit 1 and/or drill 3 during use. In various embodiments, such integration can be provided by mechanical arrangements such as making unit 6 an integral part of unit 1 or by a bracket, lock, snap-on mechanism, or friction fit. In the exemplary embodiment shown, unit 6 is mounted to unit 1 via a swivel ring 13, pillar 49 and ancillary elements shown in detail in Figure 13 and Figure 14.
[000217] Another feature of the User Interface Unit 6 is that it can be attached and detached as required by the user during use manually and without the use of separate tools. In various embodiments, unit 6 can be detachably integrated with unit 1 with the use of various mechanical arrangements such as manually operated latches, snap-on mechanisms, threaded connections, retaining mechanisms, fasteners or quarter-turn quick-release joints , and the like. In the exemplary embodiment shown, unit 6 is detachably attached to unit 1 via pillar 49, hook 69 and attachments shown in detail in Figure 14.
[000218] Another feature of the user interface unit 6 integrated into the navigation unit 1 is that the user interface unit 6 can be adjustable in various positions and orientations in relation to the rest of the unit 1 and, in turn, the drill 3 so that the user can select a suitable observation and access position of user interface unit 6 while unit 1 and/or drill 3 are moved to different positions and orientations. In various embodiments, the integration of unit 6 can be made adjustable through the use of various mechanical arrangements such as adjustable brackets or arms, linkage mechanisms, sliding fit mechanisms, swivel joints, ball joints, and the like. In the exemplary embodiment shown, unit 6 is adjustable relative to unit 1 via two separate swivel joints incorporating swivel ring 13, pillar 49 and ancillary elements as shown in detail in Figure 13 and Figure 14.
[000219] Another feature of the User Interface Unit 6 is that it remains in its current position during normal use until subsequent adjustment to a new position, without requiring the user to unlock, lock, remove, replace, tighten, loosen, use an additional tool, or take action beyond moving UI unit 6 to the desired position. In various embodiments, such an element may be provided by spring-loaded and/or friction joint arrangements, retaining mechanisms, and the like. In the exemplary embodiment shown, unit 6 maintains the selected position relative to unit 1 through retaining mechanisms including ball plungers 71 and 27 and accompanying elements shown in detail in Figures 14, 15 and 16.
[000220] Another feature of the user interface unit 6 is that it may have predetermined ranges of adaptability relative to unit 1 which prevents the user from moving unit 6 to various disadvantageous positions, for example positions where unit 6 may interfere with the function and performance of the field generator 7 or drill 3. In various embodiments, this element may be provided by various mechanical break or link arrangements. In the exemplary embodiment shown, rotation of unit 6 around a geometric adjustment axis is limited by protrusion 31 and groove 33 shown in detail in Figure 15 and Figure 16.
[000221] For modalities in which unit 6 includes a visual display and unit 6 is integrated with a tool that can be used in various positions relative to a target, it is advantageous to determine the direction of gravity in real time so that the image shown by unit 6 can be selectively oriented with respect to gravity Regardless of tool orientation. Guidance data can be provided by incorporating an accelerometer into unit 6.
[000222] It is advantageous for embodiments in which the orientation of the field generator may change during use (eg when the field generator is integrated with a tool that can be used in multiple positions) to determine the orientation of unit 6 in relation to to the field generator so that the image displayed by unit 6 can be selectively oriented with respect to the field generator or, in turn, with respect to any sensor having a known location in relation to the field generator. Relative orientation data can be provided by sensors that generate a signal indicative of the orientation of the user interface unit relative to the field generator, such as proximity sensors, electrical contacts, optical encoders, and the like. Alternatively, relative orientation data can be provided by incorporating accelerometers in unit 6 and at a fixed location in relation to field generator 7, producing signals indicative of the direction of gravity, and comparing the two directions of gravity in order to determine the relative orientation.
[000223] Now looking at the exemplary mode in more detail, the navigation unit 1 has a geometric axis 5. The user interface unit 6 comprises an electronic touch-sensitive display in a housing, and may additionally include user interface devices such as buttons, switches, touchpads, and the like that can be operated through an isolation bag or surgical dressing. The navigation unit 1 comprises the housing 9, the swivel ring 13 on which the user interface unit 6 is mounted, and the retainer 15. In the embodiment shown, the field generator 7 is included in the surgical navigation unit 1. A person of ordinary skill in the art will recognize that other possible modalities do not include the field generator 7 or other navigation system components, wherein the target information displayed on the user interface unit 6 is obtained by methods that do not require a generator field, such as optical tracking. The user interface unit 6 is shown adjusted to a suitable position for a right-handed user who drills with the drill bit 3 vertically, pointing forward and away from the user's body.
[000224] Referring to Figure 10a, the user interface unit 6 is shown adjusted from the position shown in Figure 10 by approximately one hundred and eighty degrees around the drill axis 5 in the 19 direction and tilted in the 17 direction around the geometric axis 18, in order to obtain an observable position of the viewfinder 6 for a left-handed user who drills with the drill 3 vertically, pointing forward and in the opposite direction to the user's body.
[000225] Referring to Figure 11, according to an embodiment of the invention, the navigation unit 1 is mounted on the drill 3 with the screen surface positioned for drilling with the drill 3 facing a horizontal position and pointing towards the front of the body of user. From the position shown in Figure 10a, the user interface unit 6 has been rotated counterclockwise in direction 19 around geometry axis 5 approximately ninety degrees, and can be adjusted in direction 17 around geometry axis 18 for a suitable viewing angle.
[000226] Referring to Figure 11a, if the user needs to hold the drill 3 in the horizontal orientation opposite to that shown in Figure 11, the user interface unit 6 can be rotated around the geometry axis 18 in the direction 17 to an angle of proper observation.
[000227] Referring to Figures 10, 10a, 11 and 11a, the adaptability of the position of user interface unit 6 in relation to drill 3 allows the user to maintain a clear observation line along the geometric axis of drill 5 in relation to the pierced area in a variety of piercing positions.
[000228] Referring to Figure 12, according to an embodiment of the invention, the user interface unit 6 is mounted on the drill 3 and adjusted to a suitable position for drilling with the drill 3 facing a horizontal position and pointing towards the left side of the user. From the position shown in Figure 11a, the user interface unit 6 has been rotated approximately ninety degrees in the 17 direction, and forty-five degrees in the 19 direction. Referring also to Figure 12a, opposite adjustments can be made in order to obtain a proper position and viewing angle 6 when drill 3 is used in a horizontal position and pointing to the user's right side.
[000229] Referring to Figures 10 to 12a, one skilled in the art will recognize that various degrees of freedom and ranges of adaptability of the user interface unit 6 relative to the navigation unit 1 can be selected depending on the range of drilling positions expected in the particular application and the desired allowable positions of unit 6. For example, in certain embodiments, adaptability in direction 17 or direction 19 may not be required. For another example, it may be advantageous to prevent unit 6 from being positioned in the region directly between field generator 7 and drill 3 due to the clearance required for the operation of drill 3 and/or to limit the distorting effects of the unit's measurement. 6. As another example, it may be advantageous to prevent unit 6 from being rotated to a position where the display screen faces distally towards the end of the drill tip 2. Certain other embodiments may require additional degrees of freedom.
[000230] Referring to Figure 13, according to an embodiment of the invention, an exploded view of the navigation unit 1 is shown illustrating an example of a structure that allows two degrees of freedom between the unit 6 and the arbor 4, one being the rotation around the axis of drill 5 and the other being the rotation around a axis of the unit 6 which is perpendicular and intersects with the axis 5. The housing 9 has an outer cylindrical surface 21. The housing 9 is attached to drill chuck 4 (see Figure 8) which in turn is mounted on drill 3. Swivel ring 13 slides over cylindrical surface 21. Retainer 15 has pins 23 (not shown, see Figure 14) extending radially inward and slides over cylindrical surface 21 so that pins 23 engage slots 25 in housing 9, and, when fully engaged, retainer 15 is secured to housing 9 in a position which pushes the ball plungers. 27 (not shown, see Figure 14) of swivel ring 13 against face 29 of housing 9. Swivel ring 13 can then rotate around cylindrical surface 21 and geometry axis 5. The arrangement allows for quick and easy disassembly of retainer 15 and the swivel ring 13, no tools required, for cleaning and sterilization. Drill 3, field generator 7 and cap 24 (noted in Figure 8) are not shown for clarity. Swivel ring 13 also includes pillar 49 and collar 50, to which user interface unit 6 is detachably attached as described below.
[000231] Referring to Figures 14, 15 and 16, according to an embodiment of the invention, a section through the geometric axis of drill 5 is shown with the navigation unit 1 mounted and the user interface unit 6 in place. Mandrel 4 is fixed within housing 9 as described in Figure 8. Housing 9 also has three proximity sensors 47 (visible in Figure 16) installed flush with face 29 and wiring 48 conducted from proximity sensors 47 up to the navigation system console. Swivel ring 13 includes three ball plungers 27 (one shown, all three visible in Figure 15) and three permanent magnets 28 (visible in Figure 15). The retainer 15 has pins 23 which engage the slots in the housing 9 to lock the retainer 15 in position relative to the housing 9, so that the ball plunger 27 installed in the swivel ring 13 rotates along the face 29 while the swivel ring 13 is rotated by the user around the axis 5. Face 29 has radial grooves 45 spaced at intervals so that the ball plunger 27 engages in a groove 45 at selected intervals of rotation of the ring 13. The removable gasket between the unit of user interface 6 and pillar 49 of swivel ring 13 is also shown. The user interface unit 6 comprises the housing 34, the electronic touch screen 65, the hook 69 which pivots in housing 34 on pin 35 and is spring pulled in a counterclockwise direction, and the ball plunger 71 which engages the divot 41, which is one of a set of twelve circumferentially spaced divots around the outer cylindrical surface of the pillar 49 at thirty degree intervals. To install the user interface unit 6 onto the mounting unit 2, the user slides the user interface unit 6 onto the pillar 49 until the gain 37 engages the shoulder-shaped portion 42 of the pillar 49 with a sound of Audible 'click'. As the UI unit 6 is rotated around the pillar 49, the ball plunger 39 engages a divot 41 and stops with an audible 'click' sound. The user interface unit 6 remains in that position until it is rotated by the user thirty degrees and the ball plunger 39 engages the next divot 41. The collar 50 is a loose fit over the pillar 49 and the circumferential groove 52 on the collar 50 engages ball plunger 56 on post 49 with a loose fit so that collar 50 is free to rotate around post 49 but does not slide off post 49 unless pulled by the user for cleaning and sterilization. Collar 50 allows user interface unit 6 to be confined in a sterile plastic dressing 58 prior to installation over post 49, allowing user interface unit 6 to be used in the sterile field without having to be sterilized. The dressing 58 is produced from a clear thin plastic material which is perforated while the user slides the user interface unit 6 over the pillar 49, and when the user interface unit 6 is in position as shown, the edge of the hole The resulting perforated patch 58 is compacted between housing 34 and collar 50 thus preventing the user from having direct contact with any surface of the user interface unit 6. While the user interface unit 6 is rotated on the pillar 49, the collar 50 is free to rotate with housing 34 thus preventing twisting or tearing of napkin 58. Electronic touch screen 65 is a touch screen unit comprising a battery power supply, a computer and a device. 20 wireless communication to receive and transmit information to the navigation system. A suitable electronic display screen is an Embedded Mobile Device EMX-270 unit from Compulab™ (Haifa, IL, USA). The wireless communication device 20 eliminates the need for a wired connection between the user interface unit 6 and the navigation system console, (or, referring also to Figure 7, the field generator 7 and, then, about the navigation system via cable 73) which is important due to the degrees of freedom between the user interface unit 1, the field generator 7 and the navigation system console situated outside the sterile surgical field.
[000232] Referring to Figure 15, a section through the mandrel 4 and the housing 9 taken from Figure 14 and looking proximally at the retaining ring 13 is shown. Swivel ring 13 has three ball plungers 27 and three permanent magnets 28 installed at forty-five degree intervals, with magnets attached in place. The swivel ring 13 also has the groove 33 into which the protrusion 31 of the housing 9 fits with a loose fit.
[000233] Referring to Figure 16, a section through mandrel 4 and housing 9 taken from Figure 14 and looking distally on face 29 of housing 9 is shown. Face 29 has radial grooves 45 evenly spaced at forty-five degree intervals around axis 5 (not shown, visible in Figure 14), so that swivel ring 13 (not shown, visible in Figures 13 and 14) interrupts with an audible 'click' at each interval in its trajectory and remains at that position until it is moved by the user to the next forty-five degree interval position. Housing 9 also has protrusion 31 which fits into groove 33 of swivel ring 13 (see Figure 15), and proximity sensors 47 attached in place flush with face 29 and situated at forty-five degree intervals as shown.
[000234] Referring to Figures 15 and 16 together, the groove 33 and the protrusion 31 limit the rotation of the rotating ring 13 to one hundred and eighty degrees, and, in combination with the radial grooves 45, define five possible rotational positions of the ring 13 with respect to a grip portion 9. At every forty-five degree interval in the rotation of the swivel ring 13, at least one of the three magnets 28 is aligned with at least one of the three proximity sensors 47, and in each of the five possible forty-five degree interval positions of swivel ring 13 relative to housing 9, a unique combination of proximity sensors 47 senses the presence of a magnet 28. Referring to Figure 14, via wiring 48 to the In the navigation system console, the unique combination of activated proximity sensors is sent as a signal to the navigation system to indicate the position of the user interface unit 6 in relation to the housing 9, and enabling orientation the image on the touchscreen 65 is rotated as desired.
[000235] Referring to Figure 16a, an embodiment of the invention without proximity sensors 47, magnets 28 and wiring 48 is shown in a cross section through the navigation unit 1, similar to Figure 14. In this embodiment, the sensing screen electronic touch 65 additionally includes the accelerometer unit 60 which senses the direction of gravity relative to the user interface unit 6 and communicates this information to the touch screen 65, and in turn to the navigation system via the wireless communication device 20. The field generator 7 includes a built-in accelerometer 62 which generates a signal indicative of the direction of gravity which is sent to the navigation system via the field generator cable 73. Comparing the direction vectors of gravity of the accelerometers 60 and 62, the relative orientation of the user interface unit 6 to the field generator 7 can be determined and the image shown on the unit 6 can be aligned with respect to a sens. or selected tracked by the navigation system. In another embodiment of the invention, for example, for applications where the orientation of the target sensor is known with respect to gravity or where the alignment of the image shown on unit 6 with respect to gravity is sufficient, the accelerometer 62 is not required, accelerometer 60 is used alone (in place of proximity sensors 47, magnets 28, and wiring 48), and the image on touch screen 65 is aligned to the direction of gravity using the accelerometer signal 60.
[000236] Referring to Figures 17 and 17a, in another embodiment, a plurality of display screens are mounted on the drill at selected locations, eliminating the need for degrees of freedom between the user interface unit 6 and the housing 9. Auxiliary display screen 74 is powered and supplied with signals from touch screen 65 via wiring 75 (but may alternatively be similar to touch screen 65 which has a wireless communication device, internal battery and an accelerometer , and may have a different size or shape). The horizontal drill position shown in Figure 17 is detected by the accelerometer 60 (see Figure 16a), and the auxiliary screen 74 that is visible to the user in the drill setup is activated and the image on screen 74 is adjusted to the proper orientation. and moved in direction 76 in order to optimize visibility. When drill 3 is operated in the position shown in Figure 17a, based on the signals from accelerometer 60 (observed in Figure 16a), the image on screen 74 is rotated one hundred and eighty degrees relative to screen 74 and is also moved in direction 78 in order to optimize visibility for the user.
[000237] Another aspect of the invention provides a user interface that indicates the relationship of a tool with a target and also indicates the tolerance limits of tool alignment with respect to the target. For example, the interface may comprise a display screen showing a drill icon that represents a drill relative to a graph of a target hole, and may also comprise indicators of coaxiality of the drill relative to the hole within specific parameters.
[000238] In some modalities, the user interface can indicate to the user where the tool is in real time in relation to the target. The indication can take many forms depending on the particular target task, for example the task could be to align two planes to be coplanar, to align a tool tip to a point without indicating the tool angle, or to align a tool axis to be coaxial to a target geometry axis as described in the exemplary embodiment. The representation of the tool and the target can also be performed in various ways, for example the target can be shown at a fixed location on the display screen with the representation of the tool moving on the display, or vice versa, or the indication can be a hybrid in which the tool representation moves on the display on translation, but the target moves on the screen on rotation, or vice versa. It has been observed that users achieve targeting success in the exemplary drill alignment mode when a drill icon moves in translation and rotation on the display screen while the target remains in a fixed position on the screen. It was also noted that many users understand the interface satisfactorily when the drill is represented by a graphic icon that resembles a chuck and drill tip.
[000239] In some embodiments, the interface can automatically adjust the field of view and magnification based on detected conditions of alignment. This allows optimization of view parameters without additional user input, such as a requirement to press a zoom in or out command or have a separate selection dialog to specify a target to be zoomed in, and the like. For example, in one modality, the display shows a wide field of view that shows all potential targets and then aligns to that and zooms in on a particular target geometry axis when the user is within selected limits of alignment to the particular target for a minimum continuous period of time in order to allow accurate adjustment of the alignment. Similarly, the modality is completed when the user steps back from a particular target and zooms out to a global view to allow the user to locate and select a different target. Different parameters and thresholds can be applied to zoom in and out.
[000240] In some embodiments, indication of an alignment parameter within tolerance can only be given if other selected parameters are also within tolerance. For example, it has been most satisfactorily observed that the user response to the interface during acceptable angular alignment of a drill axis relative to a target hole geometry is only indicated at times when the drill tip is simultaneously within of an acceptable distance from the target geometry axis. It was also noted that the preferred technique of many users is to align the drill tip within the acceptable tolerance range, establish a pivot point on the material being drilled if possible, and then rotate the drill within the acceptable angular tolerance range.
[000241] In some other embodiments, the tolerance limit for an alignment parameter may depend on at least one other parameter. Targeting results have been observed with many users when the position and angle targeting limits are related to each other rather than being treated separately. For example, if a tool tip point is located a certain distance from a target geometry axis that is within the tolerance for the specified distance, and the angle between the tool axis and the target geometry axis is also within a magnitude Specific angle tolerance, the direction of the angular error can take the tip point closer or farther from the target geometry axis while the tool advances along the tool geometry axis. Therefore, it may be an advantage to restrict the acceptable angle difference to those magnitudes and directions that keep the tip point within its distance tolerance, or to bring the tip point to a target region at a specific point along the target axis while the tool advances. It may also be an advantage to select a region of the target geometry axis where the distance from the tool tip to the target geometry axis is most important, for example when entering a target hole, and project the current tool path to that region in order to calculate the alignment distance parameter instead of calculating the distance to the target geometry axis at the current tool nose point location. This method makes the angular tolerance limit a function of how far the tool tip is from the critical target region; the farther away, the closer the angle needs to be held to aim at the target. For example, the alignment between a drill axis and a target geometry axis can have an angle tolerance magnitude and a distance tolerance from the drill tip to the target geometry axis, where the angle tolerance is reduced for certain directions. depending on the location of the drill tip so that the projected drill axis traverses a selected tolerance zone. In one embodiment, a positional alignment parameter can be the normal distance from a drill bit to a target geometry axis and an angular alignment parameter can be the normal distance from the target geometry axis to the intersection point of the projected drill axis and a selected plane close to the target hole.
[000242] In another embodiment, a positional alignment parameter may be the normal perpendicular distance from the target geometry axis to the intersection point of the projected drill axis and a selected foreground close to the target hole, and an angular alignment parameter can be the normal distance from the target geometry axis to the intersection point of the projected drill axis and a selected background close to the target hole, where the foreground and background define a region of the target axis over which the tolerance to the coaxiality of the drill axis to the target geometry axis is applied.
[000243] Each element of a visual user interface described above can be advantageous individually or in combination with some or all of the other features described. Other embodiments within the scope of the invention may include a subset of the advantageous features described above, and described in more detail in exemplary embodiments below.
[000244] Figure 18 shows user interface unit 6 during bleaching, with the drill approaching alignment with a locking hole. User interface unit 6 indicates to the user where the tool is in real time in relation to the target. Drill icon 392 moves in translation and rotation on screen 390 while target and shank 37 remain in a fixed position on screen 390.
[000245] The drill icon 392 comprises a handle portion 393 that connects two separate indicators of successful alignment within a tolerance zone, one of which is the tip indicator 394 which indicates the position of the end of the drill tip. 2, and the other is the alignment indicator 396 which represents a point on the drill axis 5 closest to the drill 3 and thus indicates the orientation of the drill axis 5.
[000246] Referring also to Figure 7, during bleaching, display screen 390 shows a graphical representation 387 of rod 37 with hole 38 graphically shown by hole graphic 388 comprising the perimeter edge of hole 38 and crosshairs that intersect at the center of hole 38. Figure 18 shows the view enlarged and centered on a target hole, where the navigation system has detected that the drill tip is within a selected distance from the hole geometry axis continuously for at least one selected amount of elapsed time, as described in more detail in Figure 18b. The 394 tip indicator is semi-transparent in its non-activated state, so the 387 stem graphic and 388 orifice graphic are visible through the 394 tip indicator when the 394 tip indicator is in its non-activated state. Similarly, the 396 alignment indicator is also semi-transparent in its non-activated state, so that the 394 tip indicator, the 387 stem graphic and the 388 orifice graphic are visible through the 396 alignment indicator when the alignment 396 is in its unactivated state. The 392 drill icon is semi-transparent so that the 394 tip indicator, the 387 stem graphic and the 388 hole graphic are visible through the 392 drill icon at all times. For example, in the exemplary mode, the tip indicator 394 and alignment indicator 396 are produced in a semi-transparent gray color in their non-enabled states, and turn opaque green in their enabled states. A person of ordinary skill in the art will recognize that many alternative graphics formats can be used and many other differences between activated and non-activated states are possible such as visible and invisible, filled and outlined, blinking and stationary display, changing shapes or pattern fill changing.
[000247] Figure 18a shows user display 6 with display screen 390 during bleaching, with drill within alignment tolerance with lock hole graph 388 of shank graph 387. In this view, the handle portion 393 (see Figure 18) of the 392 drill icon is not visible, and the 394 tip indicator and the 396 alignment indicator and the 398 depth indicator are all shown in their enabled states. Viewfinder 390 includes depth indicator 398 which indicates to the user that the end of the bit tip 2 as represented by the tip indicator 394 is approaching the surface of the shank 37, so the user has an indication of when the bit tip 2 is about to enter lock hole 38. Depth indicator 398 is active and appears on display 390 only when tip indicator 394 is situated within a predetermined range of distances from the plane through the geometric axes Yh and Zh of the coordinate system of lock hole 136 (noted in Figure 7), and also within a minimum normal distance to the geometry axis Xh of the lock hole coordinate system 136. Since the purpose is only to indicate the user approximately when to expect the tip the drill bit enters the target hole, the 398 depth gauge can be a qualitative gauge and as such has three fill bar style graph segments that are are shown as progressively filled to qualitatively represent the approach of drill tip 2 to shank 37. Alternatively, depth gauge 398 can be a side view showing a real-time representation of the drill tip approaching the target hole. An individual of ordinary skill in the art will recognize that the 398 depth indicator can be deployed in many different ways using different graphics, sound, text, quantitative information, or a combination of these indicators, and that the 398 depth indicator can be active all the time, or activated by different or additional parameters such as the drill motor detected as being on (referring to Figures 27 and 32).
[000248] Figure 18b shows a flowchart of a method for controlling the field of view and magnification parameters of the user interface display. At step 530, targeting mode is active, which can occur when targets are set and the navigation system is tracking the tool against the targets. Initially, an overview showing all targets is shown in step 532, and a drill tip distance parameter for each target is calculated, eg the normal distance for each target hole geometry axis. The minimum of these distances is found and compared to a selected Dclose threshold in step 534, and if the tool is within Dclose with respect to any target, the state of a Tclose timer is checked in step 536. If Tclose is not already operating , it is started from zero in step 538 and the system goes back to step 532 remaining in an overview. If the Tclose timer is already running, meaning the tool has been close to a particular target at some point, the value of that elapsed time close to the target is checked against a threshold selected Tzoomin in step 540. When Tclose exceeds the zoom threshold, the Tclose timer is stopped in step 552 and the system changes the display to a zoomed view centered on the target the tool is close to for the selected continuous amount of Tzoomin time in step 542. Once zoomed in on a particular target, the system checks whether the tool-to-target distance exceeds a threshold selected by Dfar in step 544, and if the tool was moved away, the Tfar timer is checked in step 546 and, if not running, started at zero in step 548. If the Tfar timer is checked is already running, meaning the tool has been moved in the opposite direction to the current target at some point, the value of the elapsed time away from the target is checked against sets a selected threshold Tzoomout in step 550. Once Tfar exceeds the offset threshold, the Tfar timer is stopped in step 554 and the system returns to the global view in step 532.
[000249] A person of ordinary skill in the art will recognize that other parameters, for example speed and acceleration of the tool towards or away from a target, may be used in place of or in addition to time and distance. For example, a characteristic tool movement such as a shaking movement or a rapid tilt in a particular direction can be defined, detected and used to change view parameters.
[000250] Referring to Figure 19, according to an embodiment of the invention, a cross section through a bone and implant with a drill tip that approximates alignment with a locking hole in the implant is shown to illustrate an exemplary method of determination when the tool has achieved an acceptable alignment with the target according to selected limits. An example of this method is described in detail as follows: Drill tip 2 has a tip 402 and is shown traversing the skin and underlying soft tissue 400 with tip 402 in contact with bone 401. Drill axis 5 coincides with the longitudinal centerline of drill tip 2. Drill tip 2 rotates around drill axis 5 during drilling. Lock hole 38 in rod 37 has hole geometry axis 404 that is colinear to axis Xh of lock hole coordinate system 136 (shown in Figure 7). Drill axis 5 is shown at alignment angle 406 relative to the direction of hole geometry axis 404. Plane 408 traverses geometry axes Yh and Zh of locking hole coordinate system 136 (shown in Figure 7) and it is therefore perpendicular to hole geometry axis 404 and also traverses the longitudinal axis of shank 37. Drill axis 5 intersects with plane 408 at intersection point 410. Angle 406 is calculated as the acute angle between the Drill axis 5 and a vector perpendicular to the plane 408 traversing the intersection point 410. During targeting, the position of the drill bit 402 and the position and orientation of the drill axis 5 with respect to the hole coordinate system 136 it is constantly monitored, for example, at a rate of twenty to forty hertz, as described in the previous figures. Therefore, during bleaching, the distance 412 from the drill bit 402 perpendicular to the geometric axis of hole 404 is calculated, any time the angle 406 is not equal to ninety degrees, the intersection point 410 and the distance 414 from the intersection point 410 perpendicular to the axis of orifice 404 is calculated. Referring also to Figure 18 and Figure 18a, to indicate to the user when the positioning and alignment of a drill tip 2 to the bore axis 404 is within a predetermined limit, the tip indicator 394 is switched to its state activated whenever the 412 distance is within a preselected limit, for example, one millimeter. Then, to indicate that the angular alignment is proper, the 396 alignment indicator is switched to its activated state whenever the 394 tip indicator is in its activated state and, simultaneously, the distance 414 is within a preselected limit. . It is noted that the location of the plane 408 along the geometric axis of hole 404 can be selected to be a different point from the origin of the hole coordinate system 136, for example, the plane 408 can be located close to the surface of the shank 37 that is closest to drill tip 402. Projecting drill axis 5 to a point near or within hole 38 while also monitoring the distance from drill tip 402 to hole geometry axis 404 creates an interaction between the position boundaries and orientations that ensure that the user not only has the drill tip 402 within an acceptable distance from the hole axis 404, but also has the drill tip 2 oriented so that to the current position of the drill bit. drill 402, the tip of drill 2 is oriented on a path that passes within a preselected tolerance zone with respect to the center of hole 38. This method has the effect of reducing the permissible angular error while Therefore, the distance from the plane 408 to the drill bit 402 is increased.
[000251] Figure 19a shows a flowchart of an exemplary targeting method and user interface described in Figure 19. Referring also to Figure 19, in step 560, the targeting mode is active, which can occur when the targets are defined and the navigation system tracks the tool in relation to the targets. In step 562, a distance parameter Dtip is calculated as the perpendicular distance 412 from drill tip 402 to drill axis 5. In step 564, if distance 412 is less than a selected maximum Dtipmax, the systems turn on an indicator of position as tip indicator 394 in step 566. If the distance parameter is outside the selected limit, the tip indicator 394 and angle indicator 396 are turned off in step 576, if they are active from a sample of previous measurement. In step 568, a Dhole angular alignment parameter is calculated as the perpendicular distance 414 from the intersection point of the drill axis 5 and the selected plane 408. In step 570, the distance 414 is compared to a Dholemax threshold and if the distance 414 is greater than Dholemax, the angle indicator 396 is turned off in step 578 if it is still active from a previous measurement sample. If distance 414 is less than Dholemax, the state of tip indicator 394 is checked in step 572, and if tip indicator 394 is still active, angle indicator 396 is turned on, and acceptable alignment is indicated by the indicator of tip 394 and angle indicator 396 as simultaneously activated.
[000252] Referring to Figure 20, according to an alternative embodiment of the invention, a cross section through a bone and implant with a drill tip approaching alignment with a locking hole in the implant is shown to illustrate an alternative method of determination when the tool has achieved an acceptable alignment to the target within the selected limits. In some applications, it may be advantageous to define a target geometry axis segment to which alignment tolerances apply, and potentially specify different tolerance limits at each end of the segment. For example, a allowable angular tolerance for a shaft through a hole may be greater for a small hole than for a large hole for a given radial clearance between the shaft and the hole. For another example, in the case of a countersink screw, it may be desired to specify a tight positional tolerance at the point on the target axis in the plane with the countersink edge of the hole, so that the countersink aligns satisfactorily, while it can be Allowed the positional tolerance at the other end of the hole to be greater. An example of this method is described in detail as follows: Stem 37, locking hole 38, skin and soft tissue 400, bone 401, hole axis 404 and plane 408 are shown and are defined in Figure 14. The alternative targeting method shown differs from the exemplary embodiment described in Figure 19 in that the proximal plane 450 is defined perpendicular to the hole geometry axis 404 at a selected distance 452 along the hole geometry axis 404 of the plane 408, and the Distal plane 454 is defined perpendicular to hole geometry axis 404 at a selected distance 456 along hole geometry axis 404 of plane 408, and proximal plane 450 is closer to drill tip 2 than distal plane 454. Bleaching, the position and orientation of drill axis 5 relative to hole coordinate system 136 (shown in Figure 7) is constantly monitored as described above. Therefore, during targeting at any time the drill axis 5 is not perpendicular to the hole axis 404, the proximal intersection point 458 between the drill axis 5 and the proximal plane 450 is defined and the proximal distance 460 is calculated as the perpendicular distance from point 458 to geometry axis 404. Similarly, distal intersection point 462 between drill axis 5 and distal plane 454 is defined and distal distance 464 is calculated as perpendicular distance from point 462 to geometry axis 404. Referring also to Figures 18 and 18a, to indicate to the user when the position and alignment of drill tip 2 to hole geometry axis 404 is within the predetermined limit, tip indicator 394 is switched. to its on state whenever the proximal distance 460 is within a preselected range. Then, to indicate that the angular alignment is proper, the 396 alignment indicator is switched to its activated state whenever the 394 tip indicator is in its activated state and, simultaneously, the distal distance 464 is within a pre-limit. selected. This method of targeting ensures that the drilled hole geometry rests within a cylindrical or trunk-shaped tolerance zone around the hole geometry axis 404, over only a selected segment of the axis 404 as defined by the distance 452 and by distance 456. For example, for a cylindrical screw handle that has a diameter one millimeter smaller than the diameter of hole 38, the threshold for distance 460 and distance 464 can be selected to be less than half a millimeter, and the distance of proximal plane 452 and distal plane distance 456 can be selected to be equal to the radius of nail 37, as shown in the Figure, thus ensuring that if the screw is installed coaxial to the drill axis 5, the screw handle does not will foul hole 38 (assuming the angles are small). Alternatively, different limits can be applied at distance 460 and distance 464, for example, to accommodate a tapered screw handle while maximizing tolerance limits.
[000253] Figure 20a shows a flowchart of an exemplary targeting method and user interface described in Figure 20. Referring also to Figure 20, in step 560, the targeting mode is active, which can occur when the targets are defined and the navigation system tracks the tool in relation to the targets. In step 582, a distance parameter D1 is calculated as the perpendicular distance from hole geometry axis 404 to the intersection point of drill axis 5 and a selected proximal plane 450. In step 584, if distance D1 is less than one D1max maximum selected, systems turn on a position indicator like the 394 tip indicator in step 566. If the D1 distance parameter is outside the selected limit, the 394 tip indicator and 396 angle indicator are turned off in step 576, if they are active from a previous measurement sample. In step 586, an angular alignment parameter D2 is calculated as the perpendicular distance from hole geometry axis 404 to the intersection point of drill axis 5 and selected distal plane 454. In step 588, D2 is compared to a threshold D2max and, if D2 is greater than D2max, the angle indicator 396 is turned off in step 578 if it is still active from a previous measurement sample. D2 is within the selected limit D2max, the state of the 394 tip indicator is checked in step 590, and if the 394 tip indicator is still active, the 396 angle indicator is activated, and acceptable alignment is indicated by the tip indicator 394 and the angle indicator 396 as simultaneously activated.
[000254] Another aspect of the invention provides leveling apparatus configured to temporarily align a tool and the field generator to selected target elements, thus allowing the invention to be used without prior knowledge of the relationship between a sensor and the target elements of interest. For example, some modalities do not require a database of target component dimensions and may infer targeting information from grading data.
[000255] Target elements can be measured directly in a variety of different ways, for example by scanning the surfaces or edges of the target or by temporarily aligning the tool to the target and recording the tool's ideal target position. Flatness measurements can also have selected degrees of freedom, for example, when flattening a hole as drilled, it can be sufficient to measure just the hole centerline and despite the orientation around or location along the line center, for example, if it is only important that the tool navigated to align with the hole.
[000256] In other cases, it may be useful to additionally level a point on the centerline (eg to measure the tool proximity to the hole) and/or a rotational position around the centerline (eg to be able of inferring the location of other elements in relation to the hole in a single level measurement).
[000257] With particular relevance to electromagnetic navigation systems, leveling is advantageously performed with all components that can affect the navigation measurements present and in place as they are used during targeting, and in the relative positions that will be most important during bleaching. The leveling apparatus can alternatively approximate the effects of any components that may not be present during levelling.
[000258] In some embodiments, the leveling apparatus is a leveling tool that can be mounted directly on the tool, for example, the leveling tool can slide over a bit tip portion of the tool, and be produced from materials selected that do not affect the navigation system.
[000259] In some embodiments, the leveling device is a leveling tool that temporarily replaces part of the tool and approximates the effect of the replaced part in the navigation system. For example, the leveling tool can replace a bit tip and have similar material, shape and mass to the bit tip.
[000260] In some embodiments, the leveling apparatus is an element or adaptation of the tool. For example, the tool may include a shoulder-shaped portion adapted to fit the target element to be registered and incorporated into the tool structure. For another example, a drill tip may include a series of shoulder-shaped parts adapted to fit a selected range of target elements.
[000261] Each element of a leveling apparatus described above may be advantageous individually or in combination with some or all of the other elements described. Other embodiments within the scope of the invention may include a subset of the advantageous elements described above and in exemplary embodiments.
[000262] With respect to Figure 21, according to an embodiment of the invention, an exploded view of the apparatus similar to Figure 7 is shown and further illustrates an example of a leveling tool included to allow direct measurement of target holes in relation to the sensor 10. The navigation unit 1 has the cushion 46 and the chuck 4, the drill tip 2 that rotates around the geometric axis of the drill 5, the drill 3 coupled to the navigation unit 1, the shank IM 37 which has a hole of distal locking 38, sensor 10, cannulated screw 173 and insertion tool 39 are shown, and also includes leveling tool 110 for temporarily aligning drill axis 5 with hole 38 for the purpose of measuring or recording directly the relative position of the sensor tool 10 with respect to the hole 38. The leveling tool 110 has the structural part 112 and the nose portion 114 and the longitudinal axis 111.
[000263] With reference to Figure 22, the components of Figure 21 are shown assembled with the leveling tool 110 inserted into the distal locking hole 38 of the rod 37, in position to calibrate the system with respect to the hole 38. The IM rod 37 , the insertion tool 39, the cannulated screw 173 and the sensor 10 are mounted (as described above in Figure 7) so that the sensor 10 is held in a predetermined fixed location relative to a target location of the object being drilled, in that In one embodiment, the locking hole 38. The leveling tool 110 slides into the bit tip 2 and abuts against the bit pad 46. The structural portion 112 of the leveling tool 110 engages the bit tip 2 with a sliding fit close (also referring to Figure 24), causing the longitudinal axis 111 of the leveling tool 110 to coincide with the drill axis 5. The nose portion 114 engages the locking hole 38 with an interference snap fit. Thus, when mounted for hole leveling as shown, the locking hole 38 and the drill tip 2 are coaxial and their geometric axes coincide with the drill axis 5 which is fixed relative to the navigation unit 1, and sensor 10 is fixed in all degrees of freedom except rotation about the geometric axis of drill 5 with respect to navigation unit 1. Distance 141 from unit 1 to sensor 10 as defined above in Figure 7 is shown.
[000264] Referring to Figure 23, a section through the leveling tool 110 taken from Figure 21 is shown. The leveling tool 110 comprises the structural portion 112 and the nose portion 114 connected by threads 115 so that the nose portion 114 can be replaced with an alternative nose portion having a different diameter or shape. The longitudinal axis 111 is common to the nose portion 114 and the structural portion 112. The structural portion 112 has the hole 116 along the axis 111. The hole 116 has the diameter 118 selected to be a close sliding fit over the handle of the bit tip 2 (see Figure 21) so that the leveling tool 110 can be slid over and out of the bit tip 2 manually with a friction fit, and the flexion of the bit tip 2 and the Clearance between the bit tip 2 and the leveling tool 110 is minimized when the leveling tool 110 is installed over the bit tip 2 as shown in Figure 24. Also referring to Figure 24, the leveling tool 110 has the length 113 a selected amount greater than the length of drill tip 2 extending distally from drill pad 46 so that, when mounted to calibrate a locking hole (as shown in Figure 22), the tip di The drill tip 2 is positioned in approximately the same position with respect to sensor 10 as it will be during surgery as the drill tip 2 enters the bone and approaches hole 38. The materials used for the leveling tool 110 are ideally not ferromagnetic and, preferably, of low electrical conductivity, to minimize the effects on the electromagnetic navigation system. The structural part 112 can be produced from a rigid material and the nose portion 114 can be produced from a material with a sufficient modulus and elastic range to provide a suitable press fit in a hole having a selected range of diameter. For example, structural part 112 can be produced from round acetal bar that has an outside diameter of 2.54 cm (one inch), and nose portion 114 can be produced from 300 series stainless steel. other materials may be suitable for both parties, eg titanium, high modulus sterilizable plastics like PEEK or Ultem™.
[000265] With reference to Figure 23a, a section through the nose portion 114 of the leveling tool 110 is shown. Referring to Figures 23 23a together, tip portion 114 has hole 121 along axis 5 and four slots 123 extending radially outward axis 111, thus forming four flexible segments 120 all having the same section. transverse and shape defined by hole diameter 122 and slit width 124 and all being evenly distributed around axis 111. Hole diameter 122 and slit width 124 are selected along with the material properties of the selected material to the tip portion 114 so that the flexible segments 120 flex within the elastic band of their material so that the free diameter 128 can be compacted to the fixed tip diameter 126 without rupture or permanent deformation. Since the flexible segments 120 compress radially inward evenly when the nose portion 114 is in a cylindrical hole that has a diameter less than the free diameter 128, the nose portion 114 is centered within any cylindrical hole within a predetermined diameter range between the fixed tip diameter 126 and the free diameter 128. Furthermore, the flexible segments 120 are designed to flex within a subrange of the elastic range of the material so that the leveling tool 110 can be inserted and removed manually with a snap fit, further providing resistance to forces that tend to make geometry axis 111 non-collinear to the cylindrical axis of bore 38 (noted in Figure 21). A suitable non-collinearity limit is a degree when subjected to a moment in any plane that traverses the geometric axis 111 of up to 5 N-m. For example, for a locking hole that has a tolerance range of 5.1mm to 5.2mm and a tip portion 114 produced from 303 stainless steel, suitable values for hole diameter 122, for width slit 124, for fixed tip diameter 126 and for free diameter 128 are 2.8, 1.0, 4.9 and 5.3 millimeters, respectively. One skilled in the art will recognize that the apparatus shown in Figures 23 and 23a can be adapted to various shapes such as a slotted orifice by suitable detail design of slots 124 and flexible segments 120.
[000266] Referring to Figure 24, a section through the leveling tool 110 taken from Figure 22 is shown, with the leveling tool 110 installed. Referring also to Figure 23, longitudinal axis 111 coincides with drill axis 5 when leveling tool 110 is installed over drill tip 2. Countersink 117 has diameter 119, depth 125 and angle 127 selected to fit over boss 85 of drill pad 46, where boss 85 has length 87 and diameter 119 and angle 127 shared with countersink 117. Length 87 is less than depth 125. 117 thus together provide a positive stop defining the position of the leveling tool 110 along the geometric axis 5 and the coaxiality of the axis 111 with the geometric axis 5.
[000267] Referring to Figure 24a, a section through a first additional exemplary embodiment of a leveling apparatus is shown similar to Figure 24, but the leveling tool 110 is not used and, instead, the pad 46 includes protrusion 85 adapted as shown with diameter 90 chosen to engage the target element. Drill tip 2 and drill axis 5 are also shown.
[000268] Referring to Figure 24b, a section through a second additional exemplary embodiment of a leveling apparatus is shown, similar to Figure 24, but the leveling tool 110 is not used and instead the tip of the Drill 2 has shoulder-like portions 92 and 94 adapted to fit target elements having diameters 90 and 96. Pad 46 and drill axis 5 are also shown.
[000269] Referring to Figure 24c, a section through a third additional exemplary embodiment of a leveling apparatus is shown similar to Figure 24, but the leveling tool 110 is not used and instead the drill tip 2 is removed and replaced by the leveling tool 100 which has a series of shoulder shaped parts 102, 104 and 106 which have diameters selected to fit three different target elements. In this modality, the design and material of the leveling tool 100 are selected to have similar effects on electromagnetic position tracking as the tip of drill 2. Referring also to Figure 22, in this modality, the diameter of the target element can be determined from three possible diameters by recording the distance 141 along the geometric axis of the drill 5 from the navigation unit 1 to a sensor fixed in relation to the target element.
[000270] Referring to Figures 24d and 24e, a fourth additional exemplary embodiment of a leveling apparatus is shown which is suitable for a target hole having a revolved section portion that performs a complete revolution around the hole axis at each end of the hole, for example, a sharp edge or a beveled edge of minimum depth. This modality has the advantage of being adaptable to a wider range of target hole diameters than the previous examples. In the exemplary embodiment shown in Figures 24d and 24e, the locking hole 38 has a ninety degree countersink that has a minimum depth at both ends of the hole. Lock leveling tool 250 slides over drill tip 2 and additionally includes tapered surface 251, threaded surface 252 and cylindrical surface 257, and lock nut 253 has tapered surface 254 and threaded hole 255 In use, leveling tool 250 is passed through hole 38 and lock nut 253 is threaded into leveling tool 250 and tightened to create a seating force along direction 256 that compresses tapered surfaces 251 and 254 against each other. countersink edges of hole 38, thus making the geometric axis 5 coaxial with hole 38. In this embodiment, the cylindrical surface 257 of the leveling tool 250 need only be smaller than the diameter of the hole 38 and, therefore, the locking leveling tool 250 can be used with a range of hole diameters, and the user does not have to operate an interference fit as described in some other exemplified modalities. now. One skilled in the art will recognize that a variety of mechanical arrangements can be used in place of the threaded connection between locknut 253 and leveling tool 250; any mechanism that can keep the tapered surfaces 251 and 254 coaxial and that can apply a seating force that acts to compress the tapered surfaces 251 and 254 toward each other along a common geometric axis 5 can be used.
[000271] Referring to Figures 24f, 24g and 24h, a fifth additional exemplary embodiment of a leveling apparatus is shown, in which an additional degree of freedom is controlled. In addition to the temporarily clamping drill axis 5 coaxial to the hole 38 as in the previously described embodiments, the leveling tool 470 can additionally fix the rotational position of the navigation unit 1 with respect to the shank 37 around the geometric axis 5, thus providing defining a plane through the longitudinal centerline of rod 40 and the geometric axis of hole 38 with respect to sensor coordinate system 134 (noted in Figure 7) as additional leveling information. This additional restriction can be achieved in a variety of ways depending on the specific shape of rod 37 and orifice 38, for example, referring also to Figure 1a, if every rod 37 in an IM 164 rod set has some common geometric element, the Exemplary leveling tools described above can be easily adapted to constrain the rod in rotation around the geometric axis 5. For example, if the common geometric element has at least two holes in group 189, the leveling tool could have a variety of elements structural features added to engage the second hole and also be adapted as shown in Figure 24h to have a fixed rotational position relative to the navigation unit 1. In the exemplary embodiment shown, rod 37 has a constant cross section with a cylindrical outer envelope within. a selected diameter range in the area of hole 38. The centerline of hole 38 is perpendicular and the it traverses the centerline of shank 40, and hole 38 has a countersink at each end. Leveling tool 470 includes structural portion 471 having multifaceted surface 476. Threaded collar 488 engages gripper portion 478 and rests on shoulder shaped portion 473 so that, when tightened, gripper portion 478 is drawn toward the surface 476 in the direction 486 and creates a seating force that holds the rod 37 against a surface 476. The surface 476 has at least two plane facets at angle 490 symmetrical about a plane through the geometric axis 5 and of the centerline of rod 40, therefore, when rod 37 is seated against surface 476 by a seating force in the direction 486, rod 37 is held in line contact with surface 476 in two lines, both parallel to the centerline. of shank 40 and which pass through the contact points 492 and 494, thus restricting the shank 37 in rotation about the axis 5 with respect to the leveling tool 470. The grip portion 478 has the conical surface 480 which has an axis of revolution coincident with axis 5 and which engages in hole 38, therefore, when rod 37 is compacted between surface 476 and surface 480 by a seating force in the direction 486, hole 38 is restricted to be coaxial to axis 5. Plunger 472 has conical surface 474 which has a geometric axis of revolution coincident with axis 5 and spring 482 which pushes plunger 472 against rod 37, thus restricting rotation of rod 37 around centerline 40. Plunger 472 is prevented from sliding out of frame portion 471 by an adjustment screw 498 which engages slot 499 in plunger 472. Claw portion 478 is prevented from sliding out and rotating in to frame part 471 by set screw 489 which engages slot 491 in frame part 471. Threaded collar 488 is prevented from sliding off frame 471 by snap ring 496. one of the line contacts passing through point 492 and point 494 can be held and tapered surfaces 474 and 480 remain seated on the edges of hole 38, rod 37 is restrained in all six degrees of freedom with respect to frame 471 The person skilled in the art will recognize that there may be other mechanical arrangements that can be used to apply the restrictions described above, and that various adaptations can be made to accommodate variations in the shape of the rod 37 and hole 38, for example, for sections non-cylindrical cross sections of shank 37, surface 476 can be modified to have asymmetrical facets, non-planar facets, or a specific shape to match the shank. Similarly, surface 476 can be replaced by a variety of mechanical retaining arrangements. Referring to Figure 24h, frame 471 has the V493 shaped groove, and pad 46 is adapted to include convex boss 495. Groove 493 engages boss 495 and restricts rotation of leveling tool frame part 471 around geometry axis 5 with respect to unit 1 when the user inserts unit 1 and drill tip 2 into leveling tool 470.
[000272] Referring to the exemplary leveling tools described above, an individual of ordinary skill in the art will recognize that the target element to be registered may have other shapes such as a recess, groove, tapered hole, or non-cylindrical hole, with corresponding adaptation of the leveling tool shape, and that a variety of mechanical arrangements can be used to temporarily align the leveling tool to the element such as retaining, bolting, the use of an expansion shaft or collet, and the like.
[000273] Referring to Figure 25, a plot of measurement error versus typical field generator heading 139 is shown (referring also to Figures 7 and 7a) around the geometric axis of drill 5 at selected distances 141, with the navigation unit 1 and the drill tip 2 mounted on a typical drill 3. When ferromagnetic and/or conductive metals are in or near the measurement volume of the navigation system, the magnetic fields generated by the navigation system can be distorted, causing measurements to become inaccurate. These effects can be exaggerated with field generators like Field Generator 7 that are small and light enough to mount directly on a handheld tool; smaller, lighter field generators generally have smaller drive coils and generate weaker magnetic fields. Large masses of ferromagnetic and/or conductive materials, such as those found in a typical electric drill like Drill 3, can distort measurements even if they are placed close to, but not necessarily within, the measurement volume of the navigation system. For example, placing a steel plate of sufficient mass behind unit 1 will distort the measurement field enough to cause large errors across the measurement volume in front of unit 1. It has been observed that when drill 3 is positioned soon behind the 7 field generator included in unit 1, measurement errors increase as the measured sensor is placed closer to unit 1, as illustrated in Figure 25. Therefore, to integrate tools such as bit 3 and bit tip 2 to the field generator 7 and maintaining sufficiently precise navigation for the application, detection and compensation for magnetic field distortion due to the presence of tools is advantageous. In Figure 25, the horizontal axis of the plot is heading 139. The vertical axis of the plot shows the deviation in millimeters from the origin of the sensor coordinate system 134 from the nominal circle 142 as the field generator 7 is rotated around the Drill geometry axis 5. Curve 146 shows errors when the nominal circle 142 described by sensor 10 rests on a plane that intersects the axis Zw of the field generator coordinate system 130 at a distance 141 of one hundred and thirty mm. Similarly, curves 148, 150 and 152 are generated at distance values 141 of one hundred and ten, one hundred and eighty millimeters, respectively. Figure 25 illustrates that the measurement error varies with the bearing 139 of the field generator 7 around the drill axis 5 when the drill axis 5 is aligned with the hole axis 38, and the measurement error increases as sensor 10 is placed closest to field generator 7 and drill 3.
[000274] Another aspect of the invention provides a leveling method for measuring a target element position relative to a sensor. In one embodiment, the method comprises the steps of temporarily attaching a field generator and tool assembly to the target element of the target component at a known position at selected degrees of freedom, recording the position of the sensor relative to the field generator, calculating the relative position of the element to the sensor and store the relative position of the element to the sensor in the navigation system's memory. For example, in one embodiment, the target element can be a hole, the tool and field generator can be a drill, the drill axis and the hole axis can be kept coaxial during leveling, and the hole can be defined as a target geometry axis expressed in the sensor coordinate system and representing a target geometry axis that is calculated from an average of a selected number of position measurements.
[000275] The method can further comprise a step of producing a look-up table of orifice locations at numerous different locations of the sensor in relation to the tool and the field generator set. For example, in another embodiment, the grade measurement can be performed as described above, with grade data annotated as the user rotates the tool and field generator assembly around the common hole and tool geometry axis. The target location in relation to the sensor can then be stored for a selection of different rotational positions, and the proper location referred to during targeting when the tool and field generator set is in a similar position. In another embodiment, the target position look-up table can be interpolated and/or a continuous function of target position versus field generator position can be created.
[000276] Each element of a leveling method described above can be advantageous individually or in combination with some or all of the other elements described. Other embodiments within the scope of the invention may include a subset of the advantageous elements described above and in exemplary embodiments.
[000277] Referring to Figure 26, according to an exemplary embodiment of the invention, a flowchart of the leveling method and intraoperative operation of the navigation system is shown, in which the factory calibration has been performed and the lookup table 143 is stored in system memory. The illustrated exemplary method generally includes the steps of leveling target elements and determining the current measured location of a sensor and applying a predetermined correction to the measured location to estimate a more accurate location. The method can also advantageously include defining a subset of key sensor locations and determining corrective functions or maps for those locations only.
[000278] Referring also to Figures 7a and 22, measurement errors as shown in Figure 25 which are a function of radius 144, heading 139 and distance 141 are measured at manufacturing and the lookup table 143 of values of The correction is stored in a memory device embedded in the field generator 7. Lookup table 143 includes the corrections for translations and rotations in the Tws transform from the field generator coordinate system 130 to the sensor coordinate system 134 that is measured. by the navigation system during targeting. For example, the navigation unit 1 with drill tip 2 is attached to drill 3 and mounted on a coordinate measuring machine, which can be programmed to move a shank 37 and sensor 10 through a series of nominal circles 142 (which have known limits of accuracy and precision), in planes perpendicular to the geometric axis Zw of the field generator coordinate system 130 and which have a radius range 144, a distance range 141, and a number of bearings 139. A suitable range of radii 144 are ten to ninety millimeters in twenty millimeter increments, a suitable range of distances 141 is eighty to one hundred and forty millimeters in twenty millimeter increments, and a suitable number of bearings 139 is thirty-six, evenly distributed in ten degree increments. In this way, the lookup table 143 is generated from seven hundred and twenty pairs of nominal Tws(nom) and measured transforms (Tws(measure)), and contains seven hundred and twenty corrective transforms Twscorr so that, for each set of parameters i of radius 144, bearing 139 and distance 141: Tws(nom)(i) = Tws(measure)(i)* T(corr)(i)
[000279] To start the leveling procedure, the system is assembled as shown in Figure 22 including the drill tip 2 installed in the navigation unit 1 and the leveling tool 110 is slid over the drill tip 2 and pushed proximally until it is contiguous with the cushion 46, and the selected rod 37 is mounted on the insertion tool 39 by tightening the cannulated screw 22. In step 200, the user powers the system and, in step 202, the Twd transform of the system from field generator coordinate 130 to drill coordinate system 132 (see Figure 7) is retrieved from system memory. In step 203, the user selects the right limb or the left limb, and the forward or backward approach so that the correct image orientation can be determined. In step 204, the user enters the selected rod being used by selecting it from a pre-programmed list, or a skip command to bypass the specific rod selection and use a generic rod graph. If the user selects a shank from the list in step 204, the system advances to step 208 in which the user is advised on the most satisfactory length sensing tool 10 to use. In certain cases, there may additionally be length sensor tools recommended for use with the selected rod and indicated in step 208. The sensors can be additionally color coded and step 208 can have graphic and color reporting messages in addition to or in the text place. Step 208 also begins a sensor detection routine 210 in which the navigation system checks to determine if a sensor is plugged in. If the system does not detect a sensor, the process reverts to step 208 and cycles through step 208 and step 210 constantly until a sensor is detected.
[000280] When a suitable sensor is detected, the system advances to step 212 which prompts the user to begin the lock hole calibration. In the exemplary modality, the criterion for a suitable sensor is a functioning sensor that returns complete position and orientation data. In another embodiment, the sensor tool 10 has sensor identification information stored in a memory device that is read by the navigation system, and the system advances to step 212 only if the sensor is one of the recommended types shown in step 208. Referring again to step 204, if the user chose to skip specifying the particular rod being used, then the system skips step 208 alerting the user which sensor to use and proceeds directly to step 210.
[000281] In step 212, the user selects 'Start Leveling' when the system is assembled as shown in Figure 22, which starts the lock hole geometry axis measurement process from step 214. In step 214 (referring also to to Figures 7 and 7a), the lock hole coordinate system 136 is defined relative to the sensor coordinate frame 134 by calculating the constant transform Tsh for the current lock hole as follows, with the drill axis 5 held coincident with the geometric axis of the lock hole 38. The field generator for the sensor transform Tws(measurement) is annotated from the navigation system, and heading 139, distance 141 and radius 144 are calculated. Tws(measure) is then corrected to Tws(corrected) using lookup table 143 by retrieving the corrective transform T(corr) that corresponds to heading 139, radius 144, and distance 141 at the current position: Tws (corrected) = Tws(measure)* T(corr)
[000282] Then Tsw, the inverse of Tws(corrected), is calculated. The Tsd transform from sensor coordinate frame 134 to drill coordinate system 132 is then calculated as: Tsd = Tsw*Twd, where Twd is the constant field generator for the drill transform retrieved in step 206. geometry axis Zd of drill coordinate system 132, which is collinear to drill axis 5, can then be expressed as a lineage in the coordinates of sensor coordinate frame 134 using the Tsd transform. The lock hole coordinate system 136 for the current lock hole can then be defined relative to the sensor coordinate frame 134 as described above in the detailed description of Figure 7 and expressed as the Tsh transform. Accuracy is increased by recording numerous Tws(corrected) samples, calculating Tsh for each sample, and averaging the resulting group of Tsh transforms. An adequate number of Tws(corrected) samples is thirty. The resulting transform Tsh(i) is stored as a constant for the current orifice i.
[000283] After leveling a hole, the system regresses to step 212 and when at least one hole has been calibrated, the user can select 'Done' to advance the system to step 216 where it is determined whether the user has selected a specific rod being used in step 204, or chose to skip rod selection. If a specific rod type was selected in step 204, the system advances to step 218 and retrieves the selected rod's graph template from memory. If only one locking hole was calibrated in step 212, the specific stem graph template is aligned with the calibrated hole and rotated around the hole geometry axis so that the longitudinal centerline of stem 40 (noted in Figure 7) coincides with the projection of the sensor geometry axis Zs onto the plane through the geometry axes Yh and Zh, with the distal tip of the rod at a positive Zs value. If the specific rod graph template has more than one lock hole, the hole that was calibrated is determined by comparing the distance along Zs from the origin of sensor coordinate frame 134 to the origin of the hole coordinate system 136 (noted in Figure 7) to the expected values for the specific shank and recommended sensor tool lengths from step 208. If more than one lock hole was calibrated in step 212, the system fits the graph template to the geometric axes of calibrated hole so that the divergence between the calibrated hole geometry axes and graph template hole geometry axes is minimized, and the maximum divergence between the calibrated holes is reported as two divergence parameters:• The angular difference between an axis calibrated hole geometry and the corresponding graph template hole geometry axis, e• The distance between the intersection points of an axis g calibrated hole geometry and the corresponding graphic template hole geometric axis with a plane passing through the longitudinal centerline of the graphic template stem.
[000284] The person skilled in the art will recognize that other fitting algorithms such as least squares or other methods for fitting selected points or vectors in the lock hole frames to the model frames can alternatively be used.
[000285] The system proceeds to step 222 to determine if the calibrated holes match the nominal hole positions on the graphic template for the selected shank. If the divergence parameters are greater than the predetermined limits, the system returns the user to step 212 to recalibrate the holes. If all calibrated orifice geometry axes are coincident with the corresponding nominal geometry axes in the graphic model within the predetermined limits of the divergence parameters, the system proceeds to step 224 to extract the target view and instruct the user to check the leveling through the confirmation that the target graphic shows good alignment with the correct holes. If the user accepts the leveling, the system proceeds to step 226 where the navigation system switches from leveling mode to bleaching mode and constantly starts reading Tws. If the leveling is not correct, the user rejects the leveling and goes back to step 212. If the user selected the wrong rod configuration in step 203 or the rod type in step 204, he can turn the system on and off again to return to step 203.
[000286] Referring again to step 216, if the user has elected not to select a specific rod in step 204, then the system proceeds to step 220 where a generic rod graph template is extracted showing the calibrated holes in their calibrated positions, a typical rod shape around these holes with a distal tip at a typical +Zs location. In step 220, if a single hole were calibrated, the graph is aligned so that the longitudinal geometric axis of the generic rod graph template is coincident with the sensor projection Zs axis onto the plane through the Yh and Zh geometric axes, with the distal end of the rod at a positive value along the Zs geometry axis of sensor coordinate systems 134 (noted in Figure 7). If two or more holes are calibrated, the longitudinal axis of the generic rod graph template is aligned with the least squares best fit line to the Zh axis group of the 136 hole coordinate systems of all calibrated holes (observed in Figure 7). The system can then proceed to step 224 and the leveling can be confirmed as described above.
[000287] In step 226 the parameter set of the current sensor position, heading 139, radius 144 and distance 141, is calculated and the corresponding correction transform T(corr) is retrieved from lookup table 143. A value corrected Tws for current reading is calculated by: Tws(corrected) = Tws(measured)* T(correct) and the system proceeds to step 228 to update the targeting display to final alignment using the corrected value.
[000288] Referring to Figure 26a, according to an alternative embodiment of the invention, a flowchart of an alternative method of intraoperative calibration of the navigation system that generates a correction value lookup table and registers a target element intraoperatively is shown. The alternative method illustrated generally includes the steps of recording a target element, recording a correction map for a subset of critical sensor locations, determining correction functions, determining a sensor's current measured location, and applying a correction if available for location measured to estimate a more accurate location. Referring also to Figure 7, Figure 7a and Figure 22, the alternative method is identical to that shown in Figure 26 except that step 214 of Figure 26 is replaced by the alternative orifice axis measurement steps 230, 234, 236, 238, and 240 and the resulting lookup tables 242 and 243 are used in step 246 to compensate for measurement distortions related to the position of field generator 7 around drill axis 5 during targeting.
[000289] In contrast to the Tws recording transform with navigation unit 1 a randomly selected bearing 139 around the drill axis 5 as described in step 214 of Figure 26, the user is instead instructed to start rotate the navigation unit 1 around the drill axis 5 through a range of bearings 139 in the positive direction 140 or in the negative direction opposite direction 140, with the drill axis 5 kept coincident with the axis of the hole of locking 38 by the leveling tool 110. The user can rotate all the way around the drill axis 5 in each direction or back and forth. In step 230, the position of sensor 10 relative to field generator 7 (expressed as transform Tws) is measured, sensor to orifice transform Tsh is calculated (as described above for Figure 26), corresponding heading 139 is calculated, and the Tsh and corresponding angle are stored in lookup table 242. Also in step 230, continuous measurement of Tws and heading calculation 139 starts and the difference between the current measured heading 139 and the last noted value of heading 139 in the table of query 242 is calculated. In step 234, the difference between the current measured bearing 139 and the last bearing noted in look-up table 242 is compared to a predetermined angular movement limit. If the difference exceeds the threshold, the current measured pair of Tws and heading 139 is noted and stored in lookup table 242. In step 236, the number of entries in lookup table 242 is compared to a predetermined minimum number of readings. In step 238 the bearings 139 in lookup table 242 are sorted in numerical order and the maximum difference between the consecutive ordered bearings in lookup table 242 is compared to a maximum angular span. Recording continues until both the minimum number of reads in lookup table 242 and the maximum allowable angular span between adjacent bearings have been reached. A suitable angular movement limit is 3.5 degrees, a suitable number of readings is two hundred, and a suitable maximum angular span is two degrees.
[000290] In step 240, the complete lookup table 242 is interpolated by fitting a quadratic polynomial to position data and quaternions to data in the lookup table segments neighboring the point of interest, to create a smooth transition between the transforms. Tsh on adjacent field generator headings 139. Alternatively, in step 240, a smooth function can be determined by curve fitting the Tsh values noted in steps 230 to 240, the resulting function that produces the corrected Tsh values as a heading function 139. The system returns to step 212 giving the user the option to calibrate a second lock hole and generate a corresponding lookup table 243 for that hole and then until all desired holes are calibrated and each one have an associated lookup table. After at least one hole is calibrated, in step 212, the user can proceed to steps 216 to 224 which are as described in Figure 26.
[000291] In step 246, during tracking to target a lock hole, the position of the sensor 10 relative to the field generator 7 measured by the navigation system and expressed as the Tws transform, and the current field generator heading 139 is calculated and the currently calibrated hole closest to drill axis 5 is determined. The lookup table that matches the nearest calibrated hole is retrieved, the bearing in the lookup table closest to the current bearing is found, and the corresponding Tsh transform is retrieved from the lookup table and used to generate the relative position display across the system of the lock hole coordinates 136 and the drill coordinate system 132 in step 248, thus correcting tracking errors that are a function of heading 139. The definition of the drill axis 5 for the Twd transform of the generator coordinate system field 130 can then be verified using the data from the hole leveling procedure described above, by fitting a plane through the annotated data points of the origin of the sensor coordinate system 134 as it rotates around the geometric axis of drill 5 with respect to the field generator coordinate system 130, of fitting a circle to the data points and comparing the normal plane that and passes through the center of the circle to the geometry axis Zd of the drill coordinate system 132. The Twd transform can also be optimized by finding the geometry axis Zd of the drill coordinate system 132 relative to the sensor coordinate system 134 at each of the data points annotated during the rotation of the field generator 7 around the drill axis 5 in steps 230 to 240 above (using the current Twd and the Tws transform annotated at each data point), producing a group of geometry axes and modifying Twd until the variation in that group of geometry axes is minimized. For example, an optimization method such as a Nelder-Mead simplex method can be used to minimize the range of angles found between each geometry axis Zd and the mean axis of the group.
[000292] Another aspect of the invention provides methods and apparatus for monitoring measurement conditions that affect field generators integrated into the tools. In one embodiment, the field generator and tool assembly may include a reference sensor in a fixed position relative to the field generator, and the location of the reference sensor is constantly monitored by the navigation system and the nominally constant position reading The reference sensor can be analyzed for unusual variations that may indicate measurement distortion, interference, signal noise and the like.
[000293] In some modalities, the reference sensor can self-calibrate upon initialization of the navigation system, during use and/or upon a command issued by the user. To calibrate the reference sensor, the system can weight multiple reference sensor readings at a time when unusual interference or distortion conditions are unlikely to be present. For example, reference sensor calibration can automatically be performed during the leveling step described above. For another example, the user may be instructed to operate a calibration reference sensor with no known interference conditions present.
[000294] In some embodiments, the location of the reference sensor can be compared with previous values stored in system memory to indicate an error or possible system change in the characteristics of the tool assembly and field generator. For example, upon system initialization, the last known calibrated location of the reference sensor can be retrieved from memory and compared to the current value and if the difference is greater than a selected threshold, the user can be instructed to check the conditions that cause interference or distortion, operate a reference sensor calibration routine or perform a service procedure.
[000295] In some embodiments, reference sensor data can also be used to help determine certain situations of a tool, such as engine on or off, and certain tool usage conditions, such as engine speed range and engaged or not engaged with the target. For example, the tool can have an electric motor and the sensor reference data can be searched for characteristic variation corresponding to the motor that operates or does not operate.
[000296] An example of a method of using the reference sensor data to monitor measurement conditions and modify the navigation system function accordingly can comprise the steps of comparing selected parameters of offset in sensor position and/or orientation values for predetermined threshold values and then activating the heating functions, modifying selected characteristics of the navigation system and/or modifying the filtering and processing of navigation data which includes displaying navigation information to the user when the selected parameters or combinations of parameters fall within a range of predetermined values or exceed threshold values. Parameters can include position and orientation of the reference sensor or its time derivatives, or any other function thereof. Warm-up functions can be visual warning in the user interface, navigation suspension, an alarm and the like. Navigation system characteristics can include filtering parameters for smooth navigation data, eg application of selected filters when an electric motor in the tool is operating.
[000297] Each element of a method and apparatus for monitoring the measurement conditions described above may be advantageous individually or in combination with some or all of the other elements described. Other embodiments within the scope of the invention may include a subset of the advantageous features described above, and described in more detail in exemplary embodiments below.
[000298] Referring to Figure 27, according to an embodiment of the invention and also referring to Figure 7, a plot of readings of the reference sensor 8 is shown when a ferromagnetic tool is passed into and out of the range of measurement of the field generator, creating a distorted field and causing measurement error. Vertical geometric axis 260 is the Zw component of the Twr transform of field generator coordinate system 130 to reference sensor coordinate system 137 in millimeters. The horizontal axis 262 is number of Twr readings and the plot shown includes thirty seconds of continuous consecutive Twr readings at a rate of forty hertz, the plot therefore shows about one thousand to two hundred readings. Curve 264 is the Zw component of Twr when a ferromagnetic tool is passed in and out of the measurement range seven times during the thirty second recording, producing distortion peaks 266.
[000299] Referring to Figure 28, according to an embodiment of the invention and also referring to Figure 7, a plot is shown of reference sensor readings 8 when the electric motor of the fixed drill 3 is started and stopped, creating external magnetic fields that affect navigation system measurements. It has been observed that drills like Drill 3 can produce magnetic field distortions when the drill motor is rotating, which in turn causes frequency signal noise that affects electromagnetic navigation systems. Signal noise can cause the bleach display to become unstable and show unreal movement of the graphic 392 drill icon shown (Figures 18 and 18a) when the drill motor of drill 3 is operating. This choppy display behavior makes it difficult for the user to maintain and check alignment upon punching. In Figure 28, vertical axis 270 is the Zw component of the Twr transform of field generator coordinate system 130 to reference sensor coordinate system 137. Horizontal axis 272 is number of Twr readings and the plot shown includes thirty seconds of continuous consecutive Twr readings at a rate of forty hertz, the plot therefore shows about one thousand to two hundred readings. Curve 274 is the Zw component of Twr when drill motor 3 is started and stopped eight times during the thirty second recording, producing measurement distortions 276 during the time the drill motor is operating.
[000300] Another aspect of the invention provides methods and apparatus for filtering measurement data from field generators integrated with tools, which may include detecting, deleting, correcting or estimating data that is altered by interference or measurement errors. In one embodiment, the method may comprise the steps of reading current sensor position and motion data, calculating selected characteristics of the data for a selected period of time, comparing characteristics with predetermined threshold values, deleting current data if the characteristics exceed selected thresholds and monitor the frequency of deleted position and orientation readings for a selected period of time preceding the current reading and if that frequency exceeds a selected threshold, display the user with a warning and optionally display an estimate of the current position and the orientation calculated from the previous data.
[000301] In another embodiment, a reference sensor at a fixed location relative to the field generator is used to provide a correlated measurement of interference noise and used to remove interference noise in other sensors. Noise cancellation can be performed with a linear adaptive noise cancellation technique, or any other cancellation method that uses a noise reference source as input. For example, a Kalman filter can be applied to sensor readings. One of ordinary skill in the art will recognize that any other adaptive method that uses input signal statistics to adjust its filter behavior, such as recurrent Bayesian estimation methods, can also be applied.
[000302] Each element of a method and an apparatus for filtering measurement data from field generators integrated with the tools described above can be advantageous individually or in combination with some or all of the other elements described. Other embodiments within the scope of the invention may include a subset of the advantageous features described above, and described in more detail in exemplary embodiments below.
[000303] Referring to Figure 29, according to an embodiment of the invention, a plot of orientation errors versus field generator heading is shown. Referring also to Figure 7 and Figure 7a, the plot shows data taken from a complete rotation of navigation unit 1 and drill 3 around the geometry axis of drill 5, with drill motor 3 turned off, and no substantial magnetic interference gift. Vertical geometry axis 290 is the angular error in degrees of the traced transform Tws from field generator coordinate frame 130 to sensor coordinate frame 134. Horizontal geometry axis 292 is heading 139 of navigation unit 1 and drill 3 around the drill axis 5. Curve 294 is the angular error in varus-valgus, which is defined as the rotation about the geometry axis Yh of the lock hole coordinate system 136. Curve 296 is the error angular in the version, which is defined as rotation about the longitudinal centerline 40 of the rod 37. Curve 294 shows a generally smooth error function in the range of plus or minus half a degree that is within the normal capabilities of typical electromagnetic tracking that has a field generator small enough to be mounted on a hand tool and a sensor element small enough for the exemplary application. Curve 296 shows a smooth pattern of errors of up to two degrees in the version, which is expected due to the fact that the version error is the rotation around the Zs axis of the sensor coordinate system 134, which is typically two a four times less accurate than the rotation measurements around the remaining two Xs and Ys axes. This is a typical characteristic of electromagnetic tracking systems and is due to the physical arrangement of the sensing coils within the sensor 10 which are restricted to fitting within a small radius around the axis Zs in order to make the sensor 10 to be small enough to fit within the cannulation of stem 37 along longitudinal centerline 40. However, results outside the 298 limits of version error that have magnitudes of up to four degrees error have been observed and cause notable inconsistencies in accuracy tracking in various directions 139 and can substantially lead to misalignment of drill axis 5 with locking hole 38 when the bleaching display indicates correct alignment.
[000304] Referring to Figure 30, according to an embodiment of the invention, a flowchart of the filtering method for smoothing and correcting sensor position and orientation data during navigation is shown. The method generally includes the use of motion and location data from the tracked sensor, optionally in combination with the reference sensor data, to determine signal processing parameters to inform the user of measurement conditions.
[000305] Referring also to Figure 7, at step 300, the current reading of data is received from the navigation system. Typical navigation systems return parameters along with spatial position data that indicate whether the data is present and whether this is valid or likely to be unreliable. In step 302, the parameters provided by the navigation system are evaluated and if the current reading is useful, the system proceeds to step 304 where the data from the reference sensor is evaluated. If in step 302 it is determined that the current reading is missing or invalid, the system indexes a missing sample counter by one and compares missing data counter with a pre-selected threshold in step 316. Alternatively, the threshold for missing data in step 316 can be a percentage of missing readings for a selected period of time or a selected period of time since the last useful reading. If the missing data limit is reached, the system moves to step 318 and an unreadable data state or warning is activated. Step 318 will most commonly be activated by sensor 10 that is out of range, however, other conditions may be detectable from parameters provided by the navigation system and this information is passed to step 318 to activate a more specific warning (for example , unplugged sensor, unplugged field generator and unrecognized sensor type).
[000306] If in step 302 the reading is successful, the transforms Tws from the field generator coordinate system 130 to the sensor coordinate system 134 and Twr from the field generator coordinate system 130 to the coordinate system of reference sensor 137 are received and in step 304 the current transform Twr(i) is compared with the constant Twr stored in the system memory. If the actual Twr(i) differs from the stored constant Twr by more than a predetermined threshold, some form of interference or tracking distortion is indicated and the system moves to interference evaluation and classification step 320.
[000307] Referring also to Figure 27 and Figure 28, distortion 266 due to interference and 276 ferromagnetic object distortion due to drill motor interference are distinguishable from each other and from the referenced sensor location tracked during the movements of normal targets as shown in curve 284. Therefore, by monitoring the reference sensor 8 continuously during targeting a warning message can be activated when distortions similar to distortion 266 with parameters above predetermined limits are detected. Suitable parameters for detecting magnetic object interference are a three millimeter threshold for position and a 0.01 threshold for orientation expressed as quaternions. Similarly, activation of the drill motor in drill 3 can be detected by monitoring for distortions similar to distortion 276 with parameters above predetermined limits and signal processing parameters like noise filtration can be changed accordingly. Similarly, cyclic interference from neighboring equipment also typically has distinct patterns of variation in Twr(i). Interference can also create distinct variations in Tws(i) that can also be used to detect and classify the type of interference. Interference can also create distinct variations in Tws(i) that can also be used to detect and classify the type of interference. In step 320 the type of interference is identified and classified into classes 322, 324 or 326.
[000308] Depending on the type of interference detected, filtering and data smoothing parameters can be selected in step 328 to make the data usable or if the data is inaccurate (as in the case of a constant field distortion due to an object which is too close to the field generator 7 or sensor 10), the filtering cannot make the data usable, so the system proceeds to step 330 where a warning is activated. If in step 304, the current Twr(i) matches the constant Twr stored within the predetermined limit, the system proceeds to step 306 to determine in which region of the measurement range the sensor 10 is.
[000309] Typically, navigation systems have poorer response, accuracy and precision in the far range which can lead to higher measurement noise levels and, in turn, an errored or jumpy targeting display. In the exemplary mode, the measurement range of the field generator 7 is divided into two ranges, near range and far range. The near range is defined as the sensor 10 that is within the cylindrical volume around the geometric axis Zw of the field generator coordinate system 130 that extends from Zw of negative five millimeters to negative one hundred and eighty millimeters and with a radius of one hundred and ten millimeters. The far range is defined as the sensor 10 that is within the cylindrical volume around the geometric axis Zw of the field generator coordinate system 130 that extends from Zw of negative five millimeters to negative two hundred and seventy-five millimeters and with a radius of two hundred millimeters, but excluding the close range volume defined above. If the current Tws(i) reading is in the far range, the system proceeds to step 332 and applies filtration parameters to the far range. In the sample mode, a moving average filter is used with preset weighting over ten samples while in the near range, increasing to twenty samples while in the far range. At step 308, a predefined low pass filter or filter parameters determined in the preceding steps are applied to the Tws. In step 310, the current filtered Tws(i) are compared to the previous values and it is determined whether the Tws(i) is an out-of-bounds result 298 (as shown in Figure 29).
[000310] In the exemplary mode, results outside the 298 limits are detected by comparing the change of Tws in relation to a selected period of time with a limit. If the change is substantially greater than normally noted during targeting, a result outside the 298 limits is indicated. A suitable time period is fifty milliseconds and a suitable change threshold is ten millimeters for translation and 0.25 for orientation expressed as quaternions, with both thresholds applied to the sum of the absolute values. If a result out of bounds 298 is detected, the system proceeds to step 334 and the current reading is discarded, the missing reading counter is indexed, and the system returns to step 316. If determined in step 310 that the Tws (i) is not an out-of-bounds result, the system proceeds to step 312, where the whitening display is updated using filtered data, and then to step 314 where the next data sample is retrieved of the navigation system.
[000311] Figures 31 to 38 show various examples of embodiments of an aspect of the invention that provides apparatus and method for locking a bone fragment to the anIM rod in such a way that it maintains, temporarily or permanently, an open passageway through the cannulation along the longitudinal axis of the rod.
[000312] Referring to Figure 31, according to the exemplary embodiment of the invention, the sensor tool 10 having the shaft portion 156 and the tip portion 154 fits inside the IM rod 37 that is implanted in femur 354. insertion tool 39 is temporarily screwed to stem 37 during insertion and positioning of stem 37 into femur 354. Insertion tool 39 also has a guide hole for aligning the proximal locking of drill tip 344 with the locking hole proximal 346. The tip of the proximal locking drill 344 passes through the proximal locking hole 346 of the stem 37 and extends upward to the femoral head 348 over the guidewire 374 to prepare a hole for a permanent locking element (not shown ) to be installed at a later stage in the procedure. The tip portion 154 contains a sensor element as described above in Figure 1a to Figure 6 and is used as described above to locate the distal locking hole 38 of the stem 37, in particular for guiding a drill in drilling through the femur 354 at line with distal locking hole 38 for installation of distal locking screw 352.
[000313] With respect to Figure 32, according to the exemplary embodiment of the invention, the tip of the distal locking drill 344 is shown with the cannulation 376, hole provided with slot 356 with width 366 and length 368 and marking 358 aligned with the slotted hole 356. The marking 358 is the same size and shape as the slotted hole 356, located at a selected distance 370 along the drill tip 344 to be visible outside the patient's body when the drill tip 344 is passed to the maximum desired depth in femur 354 (see Figure 31) and is duplicated on the opposite side of drill tip 344 so that the user can observe the orientation of the slotted hole 356 at one hundred and eighty degree intervals in rotation of drill tip 344. One of ordinary skill in the art will recognize that marking 358 may alternatively be any suitable that indicates the rotational orientation of the slotted hole 356 (by and e.g., an arrow, hole, groove or slot) located in a known rotational orientation fixed about the longitudinal geometric axis of the drill tip 344 relative to the slotted hole 356 and that a single marking 358 may be used.
[000314] Referring to Figure 31, Figure 32 and Figure 33, the 360 diameter of the drill tip 344 is selected to suit the permanent locking element that will be installed through the proximal locking hole 346, the width of the provided hole slit 366 is selected to be similar to the cannulation diameter of shank 372 and large enough for the nose portion 154 of sensor tool 10 to pass through and the length of slit hole 368 is selected to span the range of distances between. stem 37 and femoral head 348 found among patients of different sizes. A suitable diameter 360 for the bit tip 344 is eleven millimeters, a suitable width 366 of the slotted hole 356 is six millimeters and a suitable length 368 of the slotted hole 356 is twenty millimeters. The 376 cannulation has a selected diameter to slide over the 374 guidewire. Examples of suitable diameters are 3.2mm for the 374 guidewire and 3.4mm for the 376 cannulation. One of ordinary skill in the art will recognize that slotted hole 356 may alternatively be a variety of shapes, for example an oval, elliptical or a cylindrical hole may be used. One of ordinary skill in the art will also recognize that depending on the size and flexibility of the sensor tool 10, the slotted hole 356 could be offset from the centerline of the shank 37, need not be symmetrical about the centerline of the shank 37 , and could be in the form of a notch or indentation rather than a fenestration.
[000315] Referring to Figure 32a, according to the exemplary embodiment of the invention, a side view of the tip of the distal locking drill 344 is shown with the cannulation 376 and with the markings 358 visible.
[000316] Referring to Figure 3, according to the exemplary embodiment of the invention, a cross section taken in a frontal plane through the midline of the femur 354 is shown, in the area of the proximal femur only. The shaft portion 156 of the sensor tool 10 has shaft diameter 160, suitable diameters being in the range of three to four millimeters, and the shank 37 has a cannulation along its geometric axis with diameter 372, typically in the range of four to four millimeters. five millimeters. Drill Bit 344 is shown being drilled to the proper depth in femoral head 348 as determined by the surgeon over guidewire 374 and guidewire 374 was pulled out laterally sufficiently to clear the cannulation diameter 372 on the stem. 37, and could optionally be withdrawn completely. The slotted hole 356 in drill 344 is approximately aligned with the cannulation on shank 37 by visually aligning markings 358 with the patient's limbs such that the tip portion 154 (see Figure 31) and the shaft portion 156 of sensor tool 10 can pass through slotted hole 356 as sensor tool 10 is installed on rod 37.
[000317] Referring to Figure 31, Figure 32, and Figure 33, an exemplary method of using an aspect of the invention is as follows: The IM rod 37 is inserted into the femur 354 with the insertion tool 39 attached. The fragments of femur 354 are positioned and the position of nail 37 on femur 354 is defined and the tip of drill 344 is passed through proximal locking hole 346 and into femoral head 348 over guidewire 374 to the proper depth. Drill tip 344 is then rotated to a position where markings 358 are in positions proximal and distal to femur 354. Guidewire 374 is then drawn out of the femur with drill tip 344 left. in place to keep the proximal fragments of femur 354 in place. Sensor tool 10 is then inserted into rod 37 to facilitate installation of distal locking screw 352. When distal locking is complete, sensor tool 10 is removed, guidewire 374 can be reinserted if desired, the tip of drill 344 is removed and the permanent proximal locking element (not shown) is installed through the proximal locking hole 346 and into the femoral head 348.
[000318] Referring to Figures 31 to 33, the person skilled in the art will recognize that other modalities are possible in which, in place of the drill tip 344, a temporary pillar or guidewire having a hole provided with a slit similar to the hole slit 356 can be used (an exemplary alternative embodiment is shown in Figures 34, 35 and 36 below). One skilled in the art will also recognize that a slotted hole similar to slotted hole 356 can be placed directly into the permanent locking element.
[000319] Referring to Figure 34, according to an alternative embodiment of the invention, a top view of the temporary locking pillar 420 is shown. One end of the abutment 420 is screwed into the femoral head during use, with the threads 422 engaging the fragment of the femoral head. The outer diameter 424 in this area can be, for example, 5.4 millimeters. The abutment 420 is cannulated along its entire length, where the cannulation has a diameter 426 selected to be suitable for sliding over a guidewire (see Figure 36). The slotted hole 428 has a width 430 approximately equal to or greater than the cannulation diameter 372 of the IM rod 37 (see Figure 33) and has a length 432. The length 432 is chosen to allow a range of distances along the length. from the axis of the pillar 420 from the centerline of the shaft 37 to the femoral head 348 to the tip of the pillar 420 so that the centerline of the shaft 37 rests within length 432 when the pillar 420 is installed. To accommodate the range of femoral neck lengths found in the patient population, a set of posts 420 with different lengths of slotted hole 432 and lengths as a whole 434 can be provided. Indicator hole 436 is aligned with slotted hole 428, and also has a suitable diameter for insertion of a wrench or a stick to allow easier turning of the post 420, for insertion and removal. For example, a suitable diameter for indicator hole 436 is 4.4 millimeters.
[000320] Referring to Figure 35, a front view of the alternative embodiment of the invention shown in Figure 34 is shown. The alternative modality temporary locking post 420 is shown. Abutment 420 has a longitudinal geometric axis 438. Slit hole 428 is oriented at angle 440 which is chosen to correspond to the typical femoral neck of the axis angles. A suitable value for angle 440 is one hundred and thirty degrees. Indicator hole 436 is also shown.
[000321] Referring to Figure 36, according to the alternative embodiment of the invention shown in Figure 34, a cross section taken in a frontal plane through the midline of the femur 354 is shown, in the area of the proximal femur only. Guidewire 442 which has 444 threads at one end is shown inserted into femoral head 348 with threads 444 engaged in cortical bone near the outer surface of femoral head 348. Abutment 420 is shown in position over guidewire 442 with the threads 422 that engage the femoral head 348 lateral to the threads of the guidewire 444. The slotted hole 428 in the post 420 is approximately aligned with the cannulation on the stem 37 by visually aligning the indicator hole 436 with the patient's limb, so that the guidewire 442 can be temporarily withdrawn losing stabilization of the femoral head 348 and then the sensor tool 10 see also Figure 31) can pass through the slotted hole 428 as the sensor tool 10 is installed in the 446 direction on the stem 37 cannulation. After distal locking is complete and the sensor tool 10 is removed, the guidewire 442 can be reinserted and screwed back into the femoral head 348, the abutment 420 removed and the permanent locking element installed over the guidewire 442.
[000322] In relation to Figures 31 and 34 to 36, the method of using the alternative embodiments of the invention is similar to the exemplary embodiment, except that only the lateral cortex of the femur 354 is perforated using a tip of the drill and abutment 420 is used at the tip location of drill 344. This method can be used when it is preferred not to drill through the femoral neck and into the femoral head 348 and instead use the guidewire 442 only to stabilize the 348 femoral head and guide the installation of the permanent locking element.
[000323] Referring to Figure 37, Figure 37a and Figure 38, a second alternative embodiment of the invention is shown for applications in which the locking hole diameter is similar to the cannulation diameter, in which the drill tip used to drill the locking hole is too small to accommodate a slotted hole as shown in the exemplary embodiment. Figure 37 shows the abutment 504 with an outer portion 506 and a plunger 508. The outer diameter 502 is selected to be a sliding fit in drill hole 522 (see Figure 38) made into the bone for a locking screw. Expansion tip portion 510 has two slots 500 that divide expansion tip portion 510 into four quadrants.
[000324] Figure 37a is a section through abutment 504 showing plunger 508 which is a sliding fit within outer portion 506. Abutment 504 can be produced from, for example, stainless steel, titanium or a plastic which can be autoclaved with a high modulus such as PEEK or any other material that provides sufficient resistance to deflection and shear.
[000325] Figure 38 is a sectional view through bone 512 with the IM nail 514 deployed and the post 504 shown engaged only in a cortex of the bone 512 and a wall of the nail 514. The nail 514 has a 520 diameter cannulation which is similar to the lock hole diameter 518. The diameter of the lock hole drill 522 is slightly smaller than the diameter of the lock hole 518. In use, the lock hole drill (not shown) is passed through fabrics moles 516, a cortex of bone 512, shank 514 and the opposite cortex of bone 512. Post 504 is slid through the resulting drill hole far enough to engage a wall of shank 514 and plunger 508 is pushed down relative to to outer portion 506, expanding nose portion 510 (see Figures 37 and 37a) outward to an interference fit width with locking hole 518. Sensor tool shaft portion 156 can be passed through the cannulation in the rod 514 to post drilling and before or after installation of abutment 504. Abutment 504 thereby holds stem 514 in place relative to bone 512 while sensor tool 10 (see Figure 31) is in use. When the sensor tool 10 no longer needs to be removed, the post 504 is removed and the permanent locking element (such as a locking screw, not shown) is installed through the bone 512 and rod 514.
[000326] Some embodiments of the invention comprise kits consisting of one or more of the tools and devices described in the present invention. For example, a kit can comprise one or more sensor tools as described in the present invention and one or more implants or other components with which the sensor tools can be used. Such a kit may additionally comprise one or more insertion tools attachable to implants or other components. Sensor tools and insertion tools can be configured with elements that allow the sensor tools to be releasably coupled to the insertion tools. Such a kit may also comprise a leveling tool for leveling a tool with an implant or other component. Another example of a kit comprises a tool and one or more of a tool attachable field generator, a tool attachable display and a tool attachable navigation unit. In some embodiments, the kit comprises multiple different tools and the field generator and tools are configured to allow the field generator to be coupled to any of the different tools. The navigation unit can comprise a field generator and a display (which can be fixed or removable from the navigation unit). Such a kit may also comprise a leveling tool for leveling a tool with an implant or other component. Such a kit may also comprise one or more tool members such as one or more drill bits, saws, pins, mill cutters or the like.
[000327] All publications, patents and patent applications are hereby incorporated by reference to the same point as if each publication or patent application were specifically and individually indicated to be incorporated by reference. term interpretation
[000328] Unless the context clearly requires otherwise, throughout the description and embodiments: • "understands", "understands" and the like are to be interpreted in an inclusive sense, as opposed to an exclusive or comprehensive sense; that is, in the sense of "including, but not limited to."• "connected," "coupled," or any variant thereof, means any connection or coupling, direct or indirect, between two or more elements; the coupling or connection between the elements may be physical, logical, or a combination thereof.• "in the present invention," "above," "below" and words of importance when used to describe this descriptive report shall refer to this report descriptive as a whole and not to the positions in any specific portions of this descriptive report.• "or" in reference to a list of two or more items, encompasses all of the following interpretations of the word: any of the items in the list all the items in the list and any combination of the items on the list.• the singular forms "a", "a" and "the" also include the meaning of any suitable plural forms.
[000329] Words that indicate directions such as "vertical", "cross", "horizontal", "up", "down", "forward", "backward", "outward", "vertical", "cross", "left", "right", "front", "rear", "top", "bottom", "below", "above", "under", and the like, used in this description and any accompanying embodiments (where present) depend on the specific orientation of the apparatus described and illustrated. The subject described in the present invention may consider several alternative orientations. Accordingly, these directional terms are not strictly defined and should not be interpreted strictly.
[000330] The data processing elements of embodiments of the invention may be implemented using specifically designed hardware, configurable hardware, configured programmable data processors by providing software (which may optionally comprise 'firmware') capable of execute on data processors, special purpose computers or data processors that are specifically programmed, configured or constructed to perform one or more steps in a method as explained in detail in the present invention and/or combinations of two or more thereof. Examples of specifically designed hardware are: logic circuits, application-specific integrated circuits ("ASICs"), large-scale integrated circuits ("LSIs"), very large-scale integrated circuits ("VLSIs"), and the like. Examples of configurable hardware are: one or more programmable logic devices such as programmable array logic ("PALs"), programmable logic arrays ("PLAs"), and field-programmable gate arrays ("FPGAs"). Examples of programmable data processors are: microprocessors, digital signal processors ("DSPs"), embedded processors, graphics processors, math coprocessors, general purpose computers, server computers, cloud computers, terminal computers, computer workstations. computer and the like. For example, one or more data processors in a control circuit for a device can implement the methods as described in the present invention by executing software instructions in program memory accessible to the processors. Any of the methods as described above can be implemented in any of these ways. A system in accordance with certain embodiments of the invention may be configured to perform one or more of the methods described in the present invention. Where a system is configured to perform more than one function or method as described in the present invention, different methods or functions may be implemented using the same or different hardware. For example, a computer processor can serve to provide computation for a position sensing system and also to coordinate and/or implement one or more methods as described in the present invention. In other modalities, different methods and/or different functions can be implemented using different hardware.
[000331] Processing can be centralized or distributed. Where processing is distributed, information including software and/or data may be held centrally or distributed. Such information can be exchanged between different functional units through a communications network, such as a Local Area Network (LAN), Wide Area Network (WAN) or Internet, wired or wireless data links, electromagnetic signals or other data communication channel.
[000332] The software and other modules may reside on servers, workstations, personal computers, tablet-type computers, database servers and other devices suitable for the purposes described in the present invention.
[000333] Some embodiments of the invention may also be provided in the form of a product program. The product program may comprise any non-transient medium that carries a set of computer readable instructions which, when executed by a data processor, cause the data processor to execute a method of the invention. The product programs according to the invention can be in any one of a wide variety of forms. The product program may comprise, for example, non-transient media such as magnetic data storage media including floppy disks, hard disk drives, optical data storage media including CD ROMs, DVDs, electronic data storage media including ROMs, flash RAM , EPROMs, pre-programmed or hardwired chips (eg, semiconductor EEPROM chips), nanotechnology memory, or the like. Computer-readable signals in the product program can optionally be compressed or encrypted.
[000334] Where a component (eg, a coupling, sensor, field generator, display, tool, software module, processor, assembly, device, circuit, etc.) is referenced above, unless otherwise indicated, the reference to the component (including a reference to "means") shall be construed to include as equivalents of that component any component that performs the function of the described component (that is, that is functionally equivalent), including components that are not structurally equivalent to the disclosed structure which performs the function in the illustrated exemplary embodiments of the invention.
[000335] Specific examples of systems, methods and apparatus have been described in the present invention for illustrative purposes. These are just examples. The technology provided in the present invention can be applied to systems in addition to the system examples described above. Many changes, modifications, additions, omissions and permutations are possible within the practice of this invention. This invention includes variations on the described modalities that would be evident to the one skilled in the art approach, including variations obtained by: replacing resources, elements and/or acts by equivalent resources, elements and/or acts; mixing and matching of resources, elements and/or acts of different modalities; combination of resources, elements and/or acts of the modalities as described in the present invention with resources, elements and/or acts of other technology; and/or omission of the combination of resources, elements and/or acts of the described modalities.
[000336] Another example of application of the apparatus as described in the present invention is a display mounted on the tool. Such a display can be used with grinding tools to monitor the cutting process, on saws to control the alignment and/or depth of cut, on awls to control acetabular cup placement, on pin insertion guides to control insertion of Kirschner wires and the like.
[000337] The described methods can be varied. For example, although processes or blocks are presented in a certain order, alternative examples may run routines with steps or employ systems with blocks, in a different order, and some processes or blocks may be deleted, moved, added, subdivided, combined and /or modified to provide alternatives or subcombinations. Each of these processes or blocks can be deployed in a variety of different ways. Furthermore, although processes or blocks are sometimes shown as running in series, those processes or blocks can instead run in parallel or can run at different times. Furthermore, although elements are sometimes shown as running sequentially, they may instead run simultaneously or in different sequences.
[000338] While numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain modifications, permutations, additions and subcombinations thereof. It is intended, therefore, that the following annexed embodiments and embodiments introduced in the future be interpreted to include all such modifications, permutations, additions and subcombinations which are within their true spirit and scope.

权利要求:
Claims (16)
[0001]
1. Hand tool characterized by the fact that it comprises: a hand-held body; a tool member (2) coupled to the body; a field generator (7) coupled to the body, and the field generator (7) emits a field for detection by a sensor (10) of a position capturing system, the field allowing determination of the position of the sensor (10) in relation to the field generator (7); and a correction unit (616) which corrects a position of the sensor (10) based at least in part on the determined position of the sensor (10) with respect to a geometric axis of the tool member (2) and a fixed point on the tool member. tool (2) with which the field generator (7) has a known spatial relationship; characterized by the fact that the field generator (7) is coupled to the body by an adjustable coupling (13) that allows the field generator (7) is moved with respect to the body, and wherein the tool member (2) has a geometric axis of rotation (5) and the coupling (13) allows rotation of the field generator (7) around the geometric axis of rotation (5) of the tool member (2), wherein the tool comprises a plurality of mounting couplings that are angularly spaced around the geometric axis of rotation (5), and the field generator (7) is attachable to separable mode to each of the plurality of mounting couplings.
[0002]
2. Hand tool according to claim 1, characterized in that the field generator (7) is movable between two or more different positions in relation to the body, each of the different positions being equidistant from the axis rotation geometry (5) and each of the different positions is equidistant from a point on the tool member (2) on the rotation geometric axis (5).
[0003]
3. Hand tool according to claim 1 or 2, characterized in that the coupling (13) maintains a fixed radial spacing from the field generator (7) to the geometric axis of rotation (5) of the tool member ( two).
[0004]
4. Hand tool according to any one of claims 1 to 3, characterized in that the mounting locations are on a circle centered on the geometric axis of rotation (5).
[0005]
5. Hand tool according to any one of claims 1 to 4, characterized in that it further comprises a navigation unit (1) which is detachably coupled to the body, and the field generator (7) is supported in the navigation unit (1), the navigation unit (1) comprises a pad (46), and the tool member (2) traverses the pad (46).
[0006]
6. Hand tool according to any one of claims 1 to 4, characterized in that it further comprises a navigation unit (1) which is detachably coupled to the body, and the field generator (7) is supported in the navigation unit (1), the navigation unit (1) comprises a rotating rod coupled to be rotated by the motor, and the tool member (2) is coupled to the rotating rod.
[0007]
7. Hand tool according to any one of claims 1 to 4, characterized in that it further comprises a navigation unit (1) which is detachably coupled to the body, and the field generator (7) is supported in the navigation unit (1), the navigation unit (1) comprises a drill chuck (4) and the body comprises a fixable drill motor for driving the drill chuck (4).
[0008]
8. Hand tool according to any one of claims 1 to 7, characterized in that it further comprises a display (6) that displays guidance information from a navigation system (1), in which the display (6 ) is coupled to the body by means of a coupling (13) that changes the orientation of the visor (6) in relation to the body, the visor coupling (6) preferably allowing a pivotal movement in relation to a geometric axis of the tool.
[0009]
9. Hand tool according to claim 8, characterized in that it further comprises an inclinometer coupled to the display (6), the inclinometer providing an output signal that indicates an inclination of the display (6).
[0010]
10. Hand tool according to claim 9, characterized in that the inclinometer comprises an accelerometer (60), and preferably an orientation of the content displayed on the display (60) is controlled based on the output signal to from the inclinometer.
[0011]
11. Hand tool, according to any one of claims 1 to 10, characterized in that it further comprises an encoder that provides an output signal indicative of an angular position of the display (6) in relation to the body, preferably , an orientation of the content displayed on the display (6) is controlled based on the output signal from the encoder.
[0012]
12. Hand tool according to any one of claims 1 to 11, characterized in that it further comprises a reference sensor (8) that receives the field emitted by the field generator (7) and to emit a signal indicative of a position of the reference sensor (8) in relation to the field generator (7), wherein the reference sensor (8) is affixed to or housed within a housing (9) of the field generator (7), wherein the tool preferably comprises a plurality of reference sensors (8) affixed to the tool or housed within a housing (9) of the field generator (7).
[0013]
13. Hand tool according to claim 1, characterized in that it further comprises a leveling tool (110) having a member (114) that projects along a geometric leveling axis (111) in which the The leveling tool (110) is temporarily coupled to the tool member (2) so that the leveling geometric axis (111) is held in a predetermined spatial relationship with respect to a geometric axis of the tool member (2).
[0014]
14. Hand tool according to claim 13, characterized in that the member (114) of the leveling tool (110) is temporarily coupled to a target feature of a component so that the geometric axis of leveling (111) is maintained in the first predetermined spatial relationship with respect to a geometry axis of the target feature.
[0015]
15. Hand tool according to claim 13 or 14, characterized in that the member (114) of the leveling tool (110) comprises a nose portion that is compressible to fit tightly to the target resources of a plurality of different sizes, or wherein the leveling tool member (110) comprises at least one resiliently elastic element.
[0016]
16. Hand tool according to claim 13 or 15, characterized in that the member (114) of the leveling tool (110) is coaxial to the tool member (2) when the leveling tool (110) is coupled to the tool member (2).

类似技术:

---

公开号 | 公开日 | 专利标题

---

BR112013021042B1|2021-08-17|MANUAL TOOL

---

JP2017074399A|2017-04-20|Devices for targeting

---

TWI636766B|2018-10-01|Drilling control system and drilling control method

---

TWI548388B|2016-09-11|A handheld robot for orthopedic surgery and a control method thereof

---

US9724165B2|2017-08-08|System and method for verifying calibration of a surgical device

---

JP2007508050A|2007-04-05|Modular guidance portal

---

US8945130B2|2015-02-03|Tool attachment for medical applications

---

JP2021118881A|2021-08-12|Active robotic pin placement in total knee arthroplasty

---

US20150209056A1|2015-07-30|Method and apparatus for alerting a user to sensed lateral forces upon a guide-sleeve in a robot surgical system

---

JP2005536319A|2005-12-02|Surgery positioning block and tool guide

---

CN110114019A|2019-08-09|For cutting the surgery system of anatomical structure according at least one objective plane

---

US20210315478A1|2021-10-14|Smart drill, jig, and method of orthopedic surgery

---

JP2007105392A|2007-04-26|Guide instrument set for surgery

---

CN105324087B|2019-09-20|Operation device

---

GB2473305A|2011-03-09|Moving arm targeting apparatus with separate position-determining guide

---

US20140330277A1|2014-11-06|Surgical targeting guide

---

US10939889B2|2021-03-09|Optical shape sensing for fluoroscopic surgical navigation

---

EP3827760A1|2021-06-02|System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices

---

US20210161542A1|2021-06-03|Orthopedic drill attachment for alignment and penetration measurement

---

US20200297358A1|2020-09-24|System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices

---

US20210121186A1|2021-04-29|Drill Guide Assembly And Method

同族专利:

---

公开号 | 公开日

---

KR20140009359A|2014-01-22|

---

KR101964579B1|2019-04-03|

---

EP2676101A1|2013-12-25|

---

CN103492833B|2016-12-28|

---

CA2827589A1|2012-08-23|

---

WO2012109760A1|2012-08-23|

---

US9554812B2|2017-01-31|

---

EP2676101B1|2021-04-14|

---

BR112013021042A2|2016-10-18|

---

CA2827589C|2019-07-09|

---

US20140148808A1|2014-05-29|

---

JP2014512876A|2014-05-29|

---

EP2676101A4|2018-04-04|

---

JP6138699B2|2017-05-31|

---

CN103492833A|2014-01-01|

引用文献:

---

公开号 | 申请日 | 公开日 | 申请人 | 专利标题

---

---

EP0961589A4|1997-01-28|2008-12-03|William R Krause|Targeting device for relative positioning of a plurality of devices|

---

US6503249B1|1998-01-27|2003-01-07|William R. Krause|Targeting device for an implant|

---

US6774624B2|2002-03-27|2004-08-10|Ge Medical Systems Global Technology Company, Llc|Magnetic tracking system|

---

US7060075B2|2002-07-18|2006-06-13|Biosense, Inc.|Distal targeting of locking screws in intramedullary nails|

---

CN1298297C|2004-12-31|2007-02-07|周志海|Medical magnetic position finder|

---

CA2826925C|2005-02-22|2017-01-24|Mako Surgical Corp.|Haptic guidance system and method|

---

US8548559B2|2005-06-17|2013-10-01|Orthosoft, Inc.|Method and apparatus for computer-assisted femoral head resurfacing|

---

US9031637B2|2009-04-27|2015-05-12|Smith & Nephew, Inc.|Targeting an orthopaedic implant landmark|

---

KR101644842B1|2008-09-08|2016-08-12|후지필름 가부시키가이샤|Endoscope system, method of using the same, assisting tool and adapter|

---

CN101507657B|2009-03-20|2011-01-26|高延征|Medical magnetic navigation spotter|

---

WO2010129141A2|2009-04-27|2010-11-11|Smith & Nephew, Inc.|System and method for identifying a landmark|

---

WO2012007054A1|2010-07-16|2012-01-19|Stryker Trauma Gmbh|Surgical targeting system and method|US9060770B2|2003-05-20|2015-06-23|Ethicon Endo-Surgery, Inc.|Robotically-driven surgical instrument with E-beam driver|

---

US20070084897A1|2003-05-20|2007-04-19|Shelton Frederick E Iv|Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism|

---

US8215531B2|2004-07-28|2012-07-10|Ethicon Endo-Surgery, Inc.|Surgical stapling instrument having a medical substance dispenser|

---

US7669746B2|2005-08-31|2010-03-02|Ethicon Endo-Surgery, Inc.|Staple cartridges for forming staples having differing formed staple heights|

---

US11246590B2|2005-08-31|2022-02-15|Cilag Gmbh International|Staple cartridge including staple drivers having different unfired heights|

---

US10159482B2|2005-08-31|2018-12-25|Ethicon Llc|Fastener cartridge assembly comprising a fixed anvil and different staple heights|

---

US9237891B2|2005-08-31|2016-01-19|Ethicon Endo-Surgery, Inc.|Robotically-controlled surgical stapling devices that produce formed staples having different lengths|

---

US7934630B2|2005-08-31|2011-05-03|Ethicon Endo-Surgery, Inc.|Staple cartridges for forming staples having differing formed staple heights|

---

US20070106317A1|2005-11-09|2007-05-10|Shelton Frederick E Iv|Hydraulically and electrically actuated articulation joints for surgical instruments|

---

US8186555B2|2006-01-31|2012-05-29|Ethicon Endo-Surgery, Inc.|Motor-driven surgical cutting and fastening instrument with mechanical closure system|

---

US20110295295A1|2006-01-31|2011-12-01|Ethicon Endo-Surgery, Inc.|Robotically-controlled surgical instrument having recording capabilities|

---

US8820603B2|2006-01-31|2014-09-02|Ethicon Endo-Surgery, Inc.|Accessing data stored in a memory of a surgical instrument|

---

US8708213B2|2006-01-31|2014-04-29|Ethicon Endo-Surgery, Inc.|Surgical instrument having a feedback system|

---

US7753904B2|2006-01-31|2010-07-13|Ethicon Endo-Surgery, Inc.|Endoscopic surgical instrument with a handle that can articulate with respect to the shaft|

---

US7845537B2|2006-01-31|2010-12-07|Ethicon Endo-Surgery, Inc.|Surgical instrument having recording capabilities|

---

US11207064B2|2011-05-27|2021-12-28|Cilag Gmbh International|Automated end effector component reloading system for use with a robotic system|

---

US20120292367A1|2006-01-31|2012-11-22|Ethicon Endo-Surgery, Inc.|Robotically-controlled end effector|

---

US11224427B2|2006-01-31|2022-01-18|Cilag Gmbh International|Surgical stapling system including a console and retraction assembly|

---

US20070225562A1|2006-03-23|2007-09-27|Ethicon Endo-Surgery, Inc.|Articulating endoscopic accessory channel|

---

US8992422B2|2006-03-23|2015-03-31|Ethicon Endo-Surgery, Inc.|Robotically-controlled endoscopic accessory channel|

---

US8322455B2|2006-06-27|2012-12-04|Ethicon Endo-Surgery, Inc.|Manually driven surgical cutting and fastening instrument|

---

US8360297B2|2006-09-29|2013-01-29|Ethicon Endo-Surgery, Inc.|Surgical cutting and stapling instrument with self adjusting anvil|

---

US10568652B2|2006-09-29|2020-02-25|Ethicon Llc|Surgical staples having attached drivers of different heights and stapling instruments for deploying the same|

---

US8684253B2|2007-01-10|2014-04-01|Ethicon Endo-Surgery, Inc.|Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor|

---

US8652120B2|2007-01-10|2014-02-18|Ethicon Endo-Surgery, Inc.|Surgical instrument with wireless communication between control unit and sensor transponders|

---

US8540128B2|2007-01-11|2013-09-24|Ethicon Endo-Surgery, Inc.|Surgical stapling device with a curved end effector|

---

US11039836B2|2007-01-11|2021-06-22|Cilag Gmbh International|Staple cartridge for use with a surgical stapling instrument|

---

US7735703B2|2007-03-15|2010-06-15|Ethicon Endo-Surgery, Inc.|Re-loadable surgical stapling instrument|

---

US8893946B2|2007-03-28|2014-11-25|Ethicon Endo-Surgery, Inc.|Laparoscopic tissue thickness and clamp load measuring devices|

---

US8931682B2|2007-06-04|2015-01-13|Ethicon Endo-Surgery, Inc.|Robotically-controlled shaft based rotary drive systems for surgical instruments|

---

US7753245B2|2007-06-22|2010-07-13|Ethicon Endo-Surgery, Inc.|Surgical stapling instruments|

---

JP5410110B2|2008-02-14|2014-02-05|エシコン・エンド−サージェリィ・インコーポレイテッド|Surgical cutting / fixing instrument with RF electrode|

---

US8573465B2|2008-02-14|2013-11-05|Ethicon Endo-Surgery, Inc.|Robotically-controlled surgical end effector system with rotary actuated closure systems|

---

US9179912B2|2008-02-14|2015-11-10|Ethicon Endo-Surgery, Inc.|Robotically-controlled motorized surgical cutting and fastening instrument|

---

US7866527B2|2008-02-14|2011-01-11|Ethicon Endo-Surgery, Inc.|Surgical stapling apparatus with interlockable firing system|

---

US8636736B2|2008-02-14|2014-01-28|Ethicon Endo-Surgery, Inc.|Motorized surgical cutting and fastening instrument|

---

US8758391B2|2008-02-14|2014-06-24|Ethicon Endo-Surgery, Inc.|Interchangeable tools for surgical instruments|

---

US7819298B2|2008-02-14|2010-10-26|Ethicon Endo-Surgery, Inc.|Surgical stapling apparatus with control features operable with one hand|

---

US9585657B2|2008-02-15|2017-03-07|Ethicon Endo-Surgery, Llc|Actuator for releasing a layer of material from a surgical end effector|

---

US8210411B2|2008-09-23|2012-07-03|Ethicon Endo-Surgery, Inc.|Motor-driven surgical cutting instrument|

---

US9005230B2|2008-09-23|2015-04-14|Ethicon Endo-Surgery, Inc.|Motorized surgical instrument|

---

US9386983B2|2008-09-23|2016-07-12|Ethicon Endo-Surgery, Llc|Robotically-controlled motorized surgical instrument|

---

US8608045B2|2008-10-10|2013-12-17|Ethicon Endo-Sugery, Inc.|Powered surgical cutting and stapling apparatus with manually retractable firing system|

---

US8517239B2|2009-02-05|2013-08-27|Ethicon Endo-Surgery, Inc.|Surgical stapling instrument comprising a magnetic element driver|

---

US20110024477A1|2009-02-06|2011-02-03|Hall Steven G|Driven Surgical Stapler Improvements|

---

US8444036B2|2009-02-06|2013-05-21|Ethicon Endo-Surgery, Inc.|Motor driven surgical fastener device with mechanisms for adjusting a tissue gap within the end effector|

---

US8220688B2|2009-12-24|2012-07-17|Ethicon Endo-Surgery, Inc.|Motor-driven surgical cutting instrument with electric actuator directional control assembly|

---

US8672837B2|2010-06-24|2014-03-18|Hansen Medical, Inc.|Methods and devices for controlling a shapeable medical device|

---

US9232941B2|2010-09-30|2016-01-12|Ethicon Endo-Surgery, Inc.|Tissue thickness compensator comprising a reservoir|

---

JP6305979B2|2012-03-28|2018-04-04|エシコン・エンド−サージェリィ・インコーポレイテッドＥｔｈｉｃｏｎ Ｅｎｄｏ−Ｓｕｒｇｅｒｙ，Ｉｎｃ．|Tissue thickness compensator with multiple layers|

---

US9861361B2|2010-09-30|2018-01-09|Ethicon Llc|Releasable tissue thickness compensator and fastener cartridge having the same|

---

US8777004B2|2010-09-30|2014-07-15|Ethicon Endo-Surgery, Inc.|Compressible staple cartridge comprising alignment members|

---

US10945731B2|2010-09-30|2021-03-16|Ethicon Llc|Tissue thickness compensator comprising controlled release and expansion|

---

US9320523B2|2012-03-28|2016-04-26|Ethicon Endo-Surgery, Llc|Tissue thickness compensator comprising tissue ingrowth features|

---

JP6224070B2|2012-03-28|2017-11-01|エシコン・エンド−サージェリィ・インコーポレイテッドＥｔｈｉｃｏｎ Ｅｎｄｏ−Ｓｕｒｇｅｒｙ，Ｉｎｃ．|Retainer assembly including tissue thickness compensator|

---

JP5902180B2|2010-09-30|2016-04-13|エシコン・エンド−サージェリィ・インコーポレイテッドＥｔｈｉｃｏｎ Ｅｎｄｏ−Ｓｕｒｇｅｒｙ，Ｉｎｃ．|Fastening system including retention matrix and alignment matrix|

---

US9220501B2|2010-09-30|2015-12-29|Ethicon Endo-Surgery, Inc.|Tissue thickness compensators|

---

US9204880B2|2012-03-28|2015-12-08|Ethicon Endo-Surgery, Inc.|Tissue thickness compensator comprising capsules defining a low pressure environment|

---

BR112013027794B1|2011-04-29|2020-12-15|Ethicon Endo-Surgery, Inc|CLAMP CARTRIDGE SET|

---

US10123798B2|2010-09-30|2018-11-13|Ethicon Llc|Tissue thickness compensator comprising controlled release and expansion|

---

US9839420B2|2010-09-30|2017-12-12|Ethicon Llc|Tissue thickness compensator comprising at least one medicament|

---

US9364233B2|2010-09-30|2016-06-14|Ethicon Endo-Surgery, Llc|Tissue thickness compensators for circular surgical staplers|

---

US9629814B2|2010-09-30|2017-04-25|Ethicon Endo-Surgery, Llc|Tissue thickness compensator configured to redistribute compressive forces|

---

US8695866B2|2010-10-01|2014-04-15|Ethicon Endo-Surgery, Inc.|Surgical instrument having a power control circuit|

---

US9026242B2|2011-05-19|2015-05-05|Taktia Llc|Automatically guided tools|

---

US9072535B2|2011-05-27|2015-07-07|Ethicon Endo-Surgery, Inc.|Surgical stapling instruments with rotatable staple deployment arrangements|

---

US9610092B2|2011-08-29|2017-04-04|Microsoft Orthopedics Holdings Inc.|Precision hip replacement method|

---

EP2750620B1|2011-09-02|2017-04-26|Stryker Corporation|Surgical instrument including a cutting accessory extending from a housing and actuators that establish the position of the cutting accessory relative to the housing|

---

US9044230B2|2012-02-13|2015-06-02|Ethicon Endo-Surgery, Inc.|Surgical cutting and fastening instrument with apparatus for determining cartridge and firing motion status|

---

MX350846B|2012-03-28|2017-09-22|Ethicon Endo Surgery Inc|Tissue thickness compensator comprising capsules defining a low pressure environment.|

---

IN2012DE01345A|2012-05-02|2015-08-07|Stryker Global Technology Ct|

---

EP2672057B1|2012-06-07|2017-08-16|Sandvik Mining and Construction Oy|Dynamic working area|

---

US9101358B2|2012-06-15|2015-08-11|Ethicon Endo-Surgery, Inc.|Articulatable surgical instrument comprising a firing drive|

---

US20140005718A1|2012-06-28|2014-01-02|Ethicon Endo-Surgery, Inc.|Multi-functional powered surgical device with external dissection features|

---

US11197671B2|2012-06-28|2021-12-14|Cilag Gmbh International|Stapling assembly comprising a lockout|

---

US9289256B2|2012-06-28|2016-03-22|Ethicon Endo-Surgery, Llc|Surgical end effectors having angled tissue-contacting surfaces|

---

US9364230B2|2012-06-28|2016-06-14|Ethicon Endo-Surgery, Llc|Surgical stapling instruments with rotary joint assemblies|

---

US20140001231A1|2012-06-28|2014-01-02|Ethicon Endo-Surgery, Inc.|Firing system lockout arrangements for surgical instruments|

---

RU2636861C2|2012-06-28|2017-11-28|Этикон Эндо-Серджери, Инк.|Blocking of empty cassette with clips|

---

US20140031664A1|2012-07-30|2014-01-30|Mako Surgical Corp.|Radiographic imaging device|

---

US9664492B2|2012-12-27|2017-05-30|General Electric Company|Methods and apparatus for defining a probe configuration using a probe configuration tool|

---

US8981961B2|2013-01-21|2015-03-17|International Business Machines Corporation|Validation of mechanical connections|

---

RU2672520C2|2013-03-01|2018-11-15|Этикон Эндо-Серджери, Инк.|Hingedly turnable surgical instruments with conducting ways for signal transfer|

---

RU2669463C2|2013-03-01|2018-10-11|Этикон Эндо-Серджери, Инк.|Surgical instrument with soft stop|

---

US9057600B2|2013-03-13|2015-06-16|Hansen Medical, Inc.|Reducing incremental measurement sensor error|

---

US9687230B2|2013-03-14|2017-06-27|Ethicon Llc|Articulatable surgical instrument comprising a firing drive|

---

US9629629B2|2013-03-14|2017-04-25|Ethicon Endo-Surgey, LLC|Control systems for surgical instruments|

---

US9014851B2|2013-03-15|2015-04-21|Hansen Medical, Inc.|Systems and methods for tracking robotically controlled medical instruments|

---

US9854991B2|2013-03-15|2018-01-02|Medtronic Navigation, Inc.|Integrated navigation array|

---

US10271810B2|2013-04-02|2019-04-30|St. Jude Medical International Holding S.à r. l.|Enhanced compensation of motion in a moving organ using processed reference sensor data|

---

US10136887B2|2013-04-16|2018-11-27|Ethicon Llc|Drive system decoupling arrangement for a surgical instrument|

---

US11020016B2|2013-05-30|2021-06-01|Auris Health, Inc.|System and method for displaying anatomy and devices on a movable display|

---

WO2014198796A1|2013-06-11|2014-12-18|Minmaxmedical|System for positioning a surgical device|

---

JP2015019791A|2013-07-18|2015-02-02|国立大学法人鳥取大学|Fat sucking tube and fat sucking apparatus|

---

US10531814B2|2013-07-25|2020-01-14|Medtronic Navigation, Inc.|Method and apparatus for moving a reference device|

---

US20150053746A1|2013-08-23|2015-02-26|Ethicon Endo-Surgery, Inc.|Torque optimization for surgical instruments|

---

MX369362B|2013-08-23|2019-11-06|Ethicon Endo Surgery Llc|Firing member retraction devices for powered surgical instruments.|

---

DE102013217328A1|2013-08-30|2015-03-05|Fiagon Gmbh|Method and device for navigating active surgical instruments|

---

US20150216541A1|2014-02-03|2015-08-06|Arthrex, Inc.|Pointing device and drilling tool|

---

US9962161B2|2014-02-12|2018-05-08|Ethicon Llc|Deliverable surgical instrument|

---

CN106232029B|2014-02-24|2019-04-12|伊西康内外科有限责任公司|Fastening system including firing member locking piece|

---

US9775608B2|2014-02-24|2017-10-03|Ethicon Llc|Fastening system comprising a firing member lockout|

---

US11259799B2|2014-03-26|2022-03-01|Cilag Gmbh International|Interface systems for use with surgical instruments|

---

US10013049B2|2014-03-26|2018-07-03|Ethicon Llc|Power management through sleep options of segmented circuit and wake up control|

---

US20150272580A1|2014-03-26|2015-10-01|Ethicon Endo-Surgery, Inc.|Verification of number of battery exchanges/procedure count|

---

US10004497B2|2014-03-26|2018-06-26|Ethicon Llc|Interface systems for use with surgical instruments|

---

JP6612256B2|2014-04-16|2019-11-27|エシコンエルエルシー|Fastener cartridge with non-uniform fastener|

---

US10561422B2|2014-04-16|2020-02-18|Ethicon Llc|Fastener cartridge comprising deployable tissue engaging members|

---

CN106232021B|2014-04-17|2019-12-20|皇家飞利浦有限公司|Method and system for detecting fast moving surgical devices|

---

CA2946724A1|2014-04-23|2015-10-29|Abbott Medical Optics Inc.|Medical device data filtering for real time display|

---

US10045781B2|2014-06-13|2018-08-14|Ethicon Llc|Closure lockout systems for surgical instruments|

---

US20160030062A1|2014-07-29|2016-02-04|Rich Technologies, LLC|Hole locating system|

---

US20160030054A1|2014-07-29|2016-02-04|Rich Technologies, LLC|Hole locating system|

---

US20170164958A1|2014-07-29|2017-06-15|David B. Rich|Surgical viewing system|

---

BR112017004361A2|2014-09-05|2017-12-05|Ethicon Llc|medical overcurrent modular power supply|

---

US9757128B2|2014-09-05|2017-09-12|Ethicon Llc|Multiple sensors with one sensor affecting a second sensor's output or interpretation|

---

BR112017005981A2|2014-09-26|2017-12-19|Ethicon Llc|surgical staplers and ancillary materials|

---

US9801627B2|2014-09-26|2017-10-31|Ethicon Llc|Fastener cartridge for creating a flexible staple line|

---

US10076325B2|2014-10-13|2018-09-18|Ethicon Llc|Surgical stapling apparatus comprising a tissue stop|

---

US9924944B2|2014-10-16|2018-03-27|Ethicon Llc|Staple cartridge comprising an adjunct material|

---

US10517594B2|2014-10-29|2019-12-31|Ethicon Llc|Cartridge assemblies for surgical staplers|

---

US11141153B2|2014-10-29|2021-10-12|Cilag Gmbh International|Staple cartridges comprising driver arrangements|

---

US9844376B2|2014-11-06|2017-12-19|Ethicon Llc|Staple cartridge comprising a releasable adjunct material|

---

US10350008B2|2014-12-02|2019-07-16|X-Nav Technologies, LLC|Visual guidance display for surgical procedure|

---

US10736636B2|2014-12-10|2020-08-11|Ethicon Llc|Articulatable surgical instrument system|

---

US9987000B2|2014-12-18|2018-06-05|Ethicon Llc|Surgical instrument assembly comprising a flexible articulation system|

---

US10085748B2|2014-12-18|2018-10-02|Ethicon Llc|Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors|

---

US9844374B2|2014-12-18|2017-12-19|Ethicon Llc|Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member|

---

US10117649B2|2014-12-18|2018-11-06|Ethicon Llc|Surgical instrument assembly comprising a lockable articulation system|

---

US9968355B2|2014-12-18|2018-05-15|Ethicon Llc|Surgical instruments with articulatable end effectors and improved firing beam support arrangements|

---

US10188385B2|2014-12-18|2019-01-29|Ethicon Llc|Surgical instrument system comprising lockable systems|

---

US9844375B2|2014-12-18|2017-12-19|Ethicon Llc|Drive arrangements for articulatable surgical instruments|

---

CN105784603B|2014-12-19|2018-11-09|北大方正集团有限公司|Fixture detection device|

---

EP3242773B1|2015-01-09|2019-05-22|Titan Medical Inc.|Autonomous correction of alignment error in a master-slave robotic system|

---

US11026750B2|2015-01-23|2021-06-08|Queen's University At Kingston|Real-time surgical navigation|

---

US10111658B2|2015-02-12|2018-10-30|Covidien Lp|Display screens for medical devices|

---

US10226250B2|2015-02-27|2019-03-12|Ethicon Llc|Modular stapling assembly|

---

US10180463B2|2015-02-27|2019-01-15|Ethicon Llc|Surgical apparatus configured to assess whether a performance parameter of the surgical apparatus is within an acceptable performance band|

---

US11154301B2|2015-02-27|2021-10-26|Cilag Gmbh International|Modular stapling assembly|

---

US10321907B2|2015-02-27|2019-06-18|Ethicon Llc|System for monitoring whether a surgical instrument needs to be serviced|

---

US10045776B2|2015-03-06|2018-08-14|Ethicon Llc|Control techniques and sub-processor contained within modular shaft with select control processing from handle|

---

US10441279B2|2015-03-06|2019-10-15|Ethicon Llc|Multiple level thresholds to modify operation of powered surgical instruments|

---

US10617412B2|2015-03-06|2020-04-14|Ethicon Llc|System for detecting the mis-insertion of a staple cartridge into a surgical stapler|

---

US10548504B2|2015-03-06|2020-02-04|Ethicon Llc|Overlaid multi sensor radio frequencyelectrode system to measure tissue compression|

---

US10245033B2|2015-03-06|2019-04-02|Ethicon Llc|Surgical instrument comprising a lockable battery housing|

---

US10687806B2|2015-03-06|2020-06-23|Ethicon Llc|Adaptive tissue compression techniques to adjust closure rates for multiple tissue types|

---

US9901342B2|2015-03-06|2018-02-27|Ethicon Endo-Surgery, Llc|Signal and power communication system positioned on a rotatable shaft|

---

US9808246B2|2015-03-06|2017-11-07|Ethicon Endo-Surgery, Llc|Method of operating a powered surgical instrument|

---

US9924961B2|2015-03-06|2018-03-27|Ethicon Endo-Surgery, Llc|Interactive feedback system for powered surgical instruments|

---

US9993248B2|2015-03-06|2018-06-12|Ethicon Endo-Surgery, Llc|Smart sensors with local signal processing|

---

GB201504854D0|2015-03-23|2015-05-06|Depuy Ireland|A attachment mechanism for a surgical instrument component|

---

US10390825B2|2015-03-31|2019-08-27|Ethicon Llc|Surgical instrument with progressive rotary drive systems|

---

CN107427330B|2015-04-10|2020-10-16|马科外科公司|System and method for controlling a surgical tool during autonomous movement of the surgical tool|

---

WO2016172038A1|2015-04-19|2016-10-27|Schlumberger Technology Corporation|Wellsite report system|

---

JP6582549B2|2015-05-25|2019-10-02|ソニー株式会社|Vibration detection module, vibration detection device, vibration detection method, and surgical system|

---

WO2016199153A1|2015-06-10|2016-12-15|OrthoDrill Medical Ltd.|Sensor technologies with alignment to body movements|

---

FR3037269B1|2015-06-12|2017-07-14|Robocath|MOVEMENT TRANSMISSION CHAIN BETWEEN ACTUATORS AND A DRIVE MEMBER BASE OF A MOBILE ELEMENT|

---

US10178992B2|2015-06-18|2019-01-15|Ethicon Llc|Push/pull articulation drive systems for articulatable surgical instruments|

---

US10799226B2|2015-07-15|2020-10-13|Warsaw Orthopedic, Inc.|Surgical adaptor and method|

---

US11058425B2|2015-08-17|2021-07-13|Ethicon Llc|Implantable layers for a surgical instrument|

---

US10028744B2|2015-08-26|2018-07-24|Ethicon Llc|Staple cartridge assembly including staple guides|

---

KR20180048848A|2015-09-03|2018-05-10|스트리커 코포레이션|A power drill having an integral depth gauge including a probe sliding across the drill bit|

---

WO2017049163A1|2015-09-18|2017-03-23|Auris Surgical Robotics, Inc.|Navigation of tubular networks|

---

US10238386B2|2015-09-23|2019-03-26|Ethicon Llc|Surgical stapler having motor control based on an electrical parameter related to a motor current|

---

US10085751B2|2015-09-23|2018-10-02|Ethicon Llc|Surgical stapler having temperature-based motor control|

---

US10363036B2|2015-09-23|2019-07-30|Ethicon Llc|Surgical stapler having force-based motor control|

---

US10327769B2|2015-09-23|2019-06-25|Ethicon Llc|Surgical stapler having motor control based on a drive system component|

---

US10105139B2|2015-09-23|2018-10-23|Ethicon Llc|Surgical stapler having downstream current-based motor control|

---

US10076326B2|2015-09-23|2018-09-18|Ethicon Llc|Surgical stapler having current mirror-based motor control|

---

US10299878B2|2015-09-25|2019-05-28|Ethicon Llc|Implantable adjunct systems for determining adjunct skew|

---

US10980539B2|2015-09-30|2021-04-20|Ethicon Llc|Implantable adjunct comprising bonded layers|

---

US10561420B2|2015-09-30|2020-02-18|Ethicon Llc|Tubular absorbable constructs|

---

US10285699B2|2015-09-30|2019-05-14|Ethicon Llc|Compressible adjunct|

---

EP3355780A1|2015-10-02|2018-08-08|Koninklijke Philips N.V.|Hub for device navigation with optical shape sensed guidewire|

---

CN108135531B|2015-10-02|2021-06-29|皇家飞利浦有限公司|Liner for placement of devices with optical shape sensing guide wire|

---

WO2017083989A1|2015-11-16|2017-05-26|Ao Technology Ag|Surgical power drill including a measuring unit suitable for bone screw length determination|

---

US10339831B2|2015-11-20|2019-07-02|United Arab Emirates University|Smart drill guide device for muscle training of hand drilling operations|

---

CN108348294A|2015-11-24|2018-07-31|思想外科有限公司|Configuration is followed closely for the active robot in total knee arthroplasty|

---

US10743941B2|2015-11-24|2020-08-18|Vanderbilt University|Method and system for trackerless image guided soft tissue surgery and applications of same|

---

US10143526B2|2015-11-30|2018-12-04|Auris Health, Inc.|Robot-assisted driving systems and methods|

---

US11172895B2|2015-12-07|2021-11-16|Covidien Lp|Visualization, navigation, and planning with electromagnetic navigation bronchoscopy and cone beam computed tomography integrated|

---

JP6952696B2|2015-12-16|2021-10-20|キヤノン ユーエスエイ，インコーポレイテッドＣａｎｏｎ Ｕ．Ｓ．Ａ．，Ｉｎｃ|Medical guidance device|

---

CN105459116B|2015-12-23|2018-06-01|北京控制工程研究所|A kind of teleoperation of robot device and method based on magnetometer|

---

EP3397183A1|2015-12-29|2018-11-07|Koninklijke Philips N.V.|Registration system for medical navigation and method of operation thereof|

---

US10335241B2|2015-12-30|2019-07-02|DePuy Synthes Products, Inc.|Method and apparatus for intraoperative measurements of anatomical orientation|

---

US9554411B1|2015-12-30|2017-01-24|DePuy Synthes Products, Inc.|Systems and methods for wirelessly powering or communicating with sterile-packed devices|

---

US10292704B2|2015-12-30|2019-05-21|Ethicon Llc|Mechanisms for compensating for battery pack failure in powered surgical instruments|

---

US10368865B2|2015-12-30|2019-08-06|Ethicon Llc|Mechanisms for compensating for drivetrain failure in powered surgical instruments|

---

US10265068B2|2015-12-30|2019-04-23|Ethicon Llc|Surgical instruments with separable motors and motor control circuits|

---

US20170202626A1|2016-01-15|2017-07-20|7D Surgical Inc.|Systems and methods for displaying guidance images with spatial annotations during a guided medical procedure|

---

US10413291B2|2016-02-09|2019-09-17|Ethicon Llc|Surgical instrument articulation mechanism with slotted secondary constraint|

---

US11213293B2|2016-02-09|2022-01-04|Cilag Gmbh International|Articulatable surgical instruments with single articulation link arrangements|

---

US11224426B2|2016-02-12|2022-01-18|Cilag Gmbh International|Mechanisms for compensating for drivetrain failure in powered surgical instruments|

---

US10258331B2|2016-02-12|2019-04-16|Ethicon Llc|Mechanisms for compensating for drivetrain failure in powered surgical instruments|

---

US10448948B2|2016-02-12|2019-10-22|Ethicon Llc|Mechanisms for compensating for drivetrain failure in powered surgical instruments|

---

US11064904B2|2016-02-29|2021-07-20|Extremity Development Company, Llc|Smart drill, jig, and method of orthopedic surgery|

---

US10413366B2|2016-03-16|2019-09-17|Synaptive MedicalInc.|Trajectory guidance alignment system and methods|

---

US11026701B1|2016-03-25|2021-06-08|Dartmouth-Hitchcock Clinic|System and method for forming a cavity in soft tissue and bone|

---

US10376263B2|2016-04-01|2019-08-13|Ethicon Llc|Anvil modification members for surgical staplers|

---

US10617413B2|2016-04-01|2020-04-14|Ethicon Llc|Closure system arrangements for surgical cutting and stapling devices with separate and distinct firing shafts|

---

US10456137B2|2016-04-15|2019-10-29|Ethicon Llc|Staple formation detection mechanisms|

---

US10828028B2|2016-04-15|2020-11-10|Ethicon Llc|Surgical instrument with multiple program responses during a firing motion|

---

US10426467B2|2016-04-15|2019-10-01|Ethicon Llc|Surgical instrument with detection sensors|

---

US11179150B2|2016-04-15|2021-11-23|Cilag Gmbh International|Systems and methods for controlling a surgical stapling and cutting instrument|

---

US10335145B2|2016-04-15|2019-07-02|Ethicon Llc|Modular surgical instrument with configurable operating mode|

---

US10405859B2|2016-04-15|2019-09-10|Ethicon Llc|Surgical instrument with adjustable stop/start control during a firing motion|

---

US10492783B2|2016-04-15|2019-12-03|Ethicon, Llc|Surgical instrument with improved stop/start control during a firing motion|

---

US10357247B2|2016-04-15|2019-07-23|Ethicon Llc|Surgical instrument with multiple program responses during a firing motion|

---

US10368867B2|2016-04-18|2019-08-06|Ethicon Llc|Surgical instrument comprising a lockout|

---

CN109475375B|2016-06-07|2022-02-15|普罗德克斯有限公司|Torque limiting screwdriver device, system and method|

---

KR101800125B1|2016-06-08|2017-11-21|재단법인대구경북과학기술원|An apparatus fixing the bones and a system incorporating the same|

---

US10905402B2|2016-07-27|2021-02-02|Canon Medical Systems Corporation|Diagnostic guidance systems and methods|

---

US10820835B2|2016-09-12|2020-11-03|Medos International Sarl|Systems and methods for anatomical alignment|

---

US10517505B2|2016-10-28|2019-12-31|Covidien Lp|Systems, methods, and computer-readable media for optimizing an electromagnetic navigation system|

---

AU2017379816B2|2016-12-20|2020-02-20|Verb Surgical Inc.|Sterile adapter control system and communication interface for use in a robotic surgical system|

---

US11191539B2|2016-12-21|2021-12-07|Cilag Gmbh International|Shaft assembly comprising a manually-operable retraction system for use with a motorized surgical instrument system|

---

JP2020501779A|2016-12-21|2020-01-23|エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ|Surgical stapling system|

---

US10779823B2|2016-12-21|2020-09-22|Ethicon Llc|Firing member pin angle|

---

US11134942B2|2016-12-21|2021-10-05|Cilag Gmbh International|Surgical stapling instruments and staple-forming anvils|

---

US20180168618A1|2016-12-21|2018-06-21|Ethicon Endo-Surgery, Llc|Surgical stapling systems|

---

US10426471B2|2016-12-21|2019-10-01|Ethicon Llc|Surgical instrument with multiple failure response modes|

---

US10675026B2|2016-12-21|2020-06-09|Ethicon Llc|Methods of stapling tissue|

---

US11160551B2|2016-12-21|2021-11-02|Cilag Gmbh International|Articulatable surgical stapling instruments|

---

US10736629B2|2016-12-21|2020-08-11|Ethicon Llc|Surgical tool assemblies with clutching arrangements for shifting between closure systems with closure stroke reduction features and articulation and firing systems|

---

US10888322B2|2016-12-21|2021-01-12|Ethicon Llc|Surgical instrument comprising a cutting member|

---

US20180168625A1|2016-12-21|2018-06-21|Ethicon Endo-Surgery, Llc|Surgical stapling instruments with smart staple cartridges|

---

US20180168633A1|2016-12-21|2018-06-21|Ethicon Endo-Surgery, Llc|Surgical stapling instruments and staple-forming anvils|

---

US11179155B2|2016-12-21|2021-11-23|Cilag Gmbh International|Anvil arrangements for surgical staplers|

---

US20180168598A1|2016-12-21|2018-06-21|Ethicon Endo-Surgery, Llc|Staple forming pocket arrangements comprising zoned forming surface grooves|

---

US20180168608A1|2016-12-21|2018-06-21|Ethicon Endo-Surgery, Llc|Surgical instrument system comprising an end effector lockout and a firing assembly lockout|

---

EP3578121A4|2017-01-31|2020-12-02|Transell Co., Ltd.|Puncturing instrument and puncturing device|

---

US11089975B2|2017-03-31|2021-08-17|DePuy Synthes Products, Inc.|Systems, devices and methods for enhancing operative accuracy using inertial measurement units|

---

US10709311B2|2017-05-11|2020-07-14|Montane Medical Corporation|Video laryngoscope with monitor stabilization|

---

US20180353227A1|2017-06-07|2018-12-13|Clarkson University|Adjustable length orthopedic device|

---

US10390891B2|2017-06-13|2019-08-27|Biosense WebsterLtd.|Hologram lens for positioning an orthopedic implant|

---

US10307170B2|2017-06-20|2019-06-04|Ethicon Llc|Method for closed loop control of motor velocity of a surgical stapling and cutting instrument|

---

US10779820B2|2017-06-20|2020-09-22|Ethicon Llc|Systems and methods for controlling motor speed according to user input for a surgical instrument|

---

US10813639B2|2017-06-20|2020-10-27|Ethicon Llc|Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on system conditions|

---

US10390841B2|2017-06-20|2019-08-27|Ethicon Llc|Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation|

---

US10327767B2|2017-06-20|2019-06-25|Ethicon Llc|Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation|

---

US10624633B2|2017-06-20|2020-04-21|Ethicon Llc|Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument|

---

US10646220B2|2017-06-20|2020-05-12|Ethicon Llc|Systems and methods for controlling displacement member velocity for a surgical instrument|

---

US10368864B2|2017-06-20|2019-08-06|Ethicon Llc|Systems and methods for controlling displaying motor velocity for a surgical instrument|

---

US11090046B2|2017-06-20|2021-08-17|Cilag Gmbh International|Systems and methods for controlling displacement member motion of a surgical stapling and cutting instrument|

---

USD890784S1|2017-06-20|2020-07-21|Ethicon Llc|Display panel with changeable graphical user interface|

---

US10980537B2|2017-06-20|2021-04-20|Ethicon Llc|Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified number of shaft rotations|

---

US10881396B2|2017-06-20|2021-01-05|Ethicon Llc|Surgical instrument with variable duration trigger arrangement|

---

US10888321B2|2017-06-20|2021-01-12|Ethicon Llc|Systems and methods for controlling velocity of a displacement member of a surgical stapling and cutting instrument|

---

US11071554B2|2017-06-20|2021-07-27|Cilag Gmbh International|Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on magnitude of velocity error measurements|

---

US10881399B2|2017-06-20|2021-01-05|Ethicon Llc|Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument|

---

USD879808S1|2017-06-20|2020-03-31|Ethicon Llc|Display panel with graphical user interface|

---

USD879809S1|2017-06-20|2020-03-31|Ethicon Llc|Display panel with changeable graphical user interface|

---

US11266405B2|2017-06-27|2022-03-08|Cilag Gmbh International|Surgical anvil manufacturing methods|

---

US11141154B2|2017-06-27|2021-10-12|Cilag Gmbh International|Surgical end effectors and anvils|

---

US10856869B2|2017-06-27|2020-12-08|Ethicon Llc|Surgical anvil arrangements|

---

US10772629B2|2017-06-27|2020-09-15|Ethicon Llc|Surgical anvil arrangements|

---

US10993716B2|2017-06-27|2021-05-04|Ethicon Llc|Surgical anvil arrangements|

---

US20190000474A1|2017-06-28|2019-01-03|Ethicon Llc|Surgical instrument comprising selectively actuatable rotatable couplers|

---

CN110913788A|2017-06-28|2020-03-24|奥瑞斯健康公司|Electromagnetic distortion detection|

---

US10716614B2|2017-06-28|2020-07-21|Ethicon Llc|Surgical shaft assemblies with slip ring assemblies with increased contact pressure|

---

US10639037B2|2017-06-28|2020-05-05|Ethicon Llc|Surgical instrument with axially movable closure member|

---

USD906355S1|2017-06-28|2020-12-29|Ethicon Llc|Display screen or portion thereof with a graphical user interface for a surgical instrument|

---

US11246592B2|2017-06-28|2022-02-15|Cilag Gmbh International|Surgical instrument comprising an articulation system lockable to a frame|

---

US11259805B2|2017-06-28|2022-03-01|Cilag Gmbh International|Surgical instrument comprising firing member supports|

---

US10765427B2|2017-06-28|2020-09-08|Ethicon Llc|Method for articulating a surgical instrument|

---

USD851762S1|2017-06-28|2019-06-18|Ethicon Llc|Anvil|

---

US10211586B2|2017-06-28|2019-02-19|Ethicon Llc|Surgical shaft assemblies with watertight housings|

---

US10903685B2|2017-06-28|2021-01-26|Ethicon Llc|Surgical shaft assemblies with slip ring assemblies forming capacitive channels|

---

USD854151S1|2017-06-28|2019-07-16|Ethicon Llc|Surgical instrument shaft|

---

USD869655S1|2017-06-28|2019-12-10|Ethicon Llc|Surgical fastener cartridge|

---

US10258418B2|2017-06-29|2019-04-16|Ethicon Llc|System for controlling articulation forces|

---

US11007022B2|2017-06-29|2021-05-18|Ethicon Llc|Closed loop velocity control techniques based on sensed tissue parameters for robotic surgical instrument|

---

US10932772B2|2017-06-29|2021-03-02|Ethicon Llc|Methods for closed loop velocity control for robotic surgical instrument|

---

US10398434B2|2017-06-29|2019-09-03|Ethicon Llc|Closed loop velocity control of closure member for robotic surgical instrument|

---

US10898183B2|2017-06-29|2021-01-26|Ethicon Llc|Robotic surgical instrument with closed loop feedback techniques for advancement of closure member during firing|

---

CN111587092A|2017-08-15|2020-08-25|奥斯托菲克斯集团有限公司|Electromagnetic intramedullary nail screw positioning system|

---

US10588644B2|2017-08-31|2020-03-17|DePuy Synthes Products, Inc.|Guide attachment for power tools|

---

US11166766B2|2017-09-21|2021-11-09|DePuy Synthes Products, Inc.|Surgical instrument mounted display system|

---

USD907647S1|2017-09-29|2021-01-12|Ethicon Llc|Display screen or portion thereof with animated graphical user interface|

---

US10729501B2|2017-09-29|2020-08-04|Ethicon Llc|Systems and methods for language selection of a surgical instrument|

---

US10765429B2|2017-09-29|2020-09-08|Ethicon Llc|Systems and methods for providing alerts according to the operational state of a surgical instrument|

---

US10743872B2|2017-09-29|2020-08-18|Ethicon Llc|System and methods for controlling a display of a surgical instrument|

---

USD907648S1|2017-09-29|2021-01-12|Ethicon Llc|Display screen or portion thereof with animated graphical user interface|

---

US10796471B2|2017-09-29|2020-10-06|Ethicon Llc|Systems and methods of displaying a knife position for a surgical instrument|

---

USD917500S1|2017-09-29|2021-04-27|Ethicon Llc|Display screen or portion thereof with graphical user interface|

---

US11058493B2|2017-10-13|2021-07-13|Auris Health, Inc.|Robotic system configured for navigation path tracing|

---

US10555778B2|2017-10-13|2020-02-11|Auris Health, Inc.|Image-based branch detection and mapping for navigation|

---

US11090075B2|2017-10-30|2021-08-17|Cilag Gmbh International|Articulation features for surgical end effector|

---

US11134944B2|2017-10-30|2021-10-05|Cilag Gmbh International|Surgical stapler knife motion controls|

---

US10842490B2|2017-10-31|2020-11-24|Ethicon Llc|Cartridge body design with force reduction based on firing completion|

---

US10779903B2|2017-10-31|2020-09-22|Ethicon Llc|Positive shaft rotation lock activated by jaw closure|

---

US10828033B2|2017-12-15|2020-11-10|Ethicon Llc|Handheld electromechanical surgical instruments with improved motor control arrangements for positioning components of an adapter coupled thereto|

---

US10966718B2|2017-12-15|2021-04-06|Ethicon Llc|Dynamic clamping assemblies with improved wear characteristics for use in connection with electromechanical surgical instruments|

---

US10743875B2|2017-12-15|2020-08-18|Ethicon Llc|Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member|

---

US10779826B2|2017-12-15|2020-09-22|Ethicon Llc|Methods of operating surgical end effectors|

---

US10687813B2|2017-12-15|2020-06-23|Ethicon Llc|Adapters with firing stroke sensing arrangements for use in connection with electromechanical surgical instruments|

---

US10869666B2|2017-12-15|2020-12-22|Ethicon Llc|Adapters with control systems for controlling multiple motors of an electromechanical surgical instrument|

---

US10779825B2|2017-12-15|2020-09-22|Ethicon Llc|Adapters with end effector position sensing and control arrangements for use in connection with electromechanical surgical instruments|

---

US11071543B2|2017-12-15|2021-07-27|Cilag Gmbh International|Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges|

---

US11006955B2|2017-12-15|2021-05-18|Ethicon Llc|End effectors with positive jaw opening features for use with adapters for electromechanical surgical instruments|

---

US10743874B2|2017-12-15|2020-08-18|Ethicon Llc|Sealed adapters for use with electromechanical surgical instruments|

---

US11197670B2|2017-12-15|2021-12-14|Cilag Gmbh International|Surgical end effectors with pivotal jaws configured to touch at their respective distal ends when fully closed|

---

US11033267B2|2017-12-15|2021-06-15|Ethicon Llc|Systems and methods of controlling a clamping member firing rate of a surgical instrument|

---

EP3684283A4|2017-12-18|2021-07-14|Auris Health, Inc.|Methods and systems for instrument tracking and navigation within luminal networks|

---

USD910847S1|2017-12-19|2021-02-16|Ethicon Llc|Surgical instrument assembly|

---

US11020112B2|2017-12-19|2021-06-01|Ethicon Llc|Surgical tools configured for interchangeable use with different controller interfaces|

---

US11045270B2|2017-12-19|2021-06-29|Cilag Gmbh International|Robotic attachment comprising exterior drive actuator|

---

US10729509B2|2017-12-19|2020-08-04|Ethicon Llc|Surgical instrument comprising closure and firing locking mechanism|

---

US10835330B2|2017-12-19|2020-11-17|Ethicon Llc|Method for determining the position of a rotatable jaw of a surgical instrument attachment assembly|

---

US10716565B2|2017-12-19|2020-07-21|Ethicon Llc|Surgical instruments with dual articulation drivers|

---

US10743868B2|2017-12-21|2020-08-18|Ethicon Llc|Surgical instrument comprising a pivotable distal head|

---

US11076853B2|2017-12-21|2021-08-03|Cilag Gmbh International|Systems and methods of displaying a knife position during transection for a surgical instrument|

---

US11129680B2|2017-12-21|2021-09-28|Cilag Gmbh International|Surgical instrument comprising a projector|

---

US10754353B2|2018-02-19|2020-08-25|Deere & Company|Implement detection and control system|

---

US10674924B2|2018-02-22|2020-06-09|Seoul National University Hospital|Mapping cavernous nerves during surgery|

---

JP2021519154A|2018-03-28|2021-08-10|オーリス ヘルス インコーポレイテッド|Systems and methods for indicating the estimated position of the instrument|

---

CN110891469A|2018-03-28|2020-03-17|奥瑞斯健康公司|System and method for registration of positioning sensors|

---

CN110831486A|2018-05-30|2020-02-21|奥瑞斯健康公司|System and method for location sensor based branch prediction|

---

KR20210018858A|2018-05-31|2021-02-18|아우리스 헬스, 인코포레이티드|Route-based navigation of coronary networks|

---

EP3801348A1|2018-05-31|2021-04-14|Auris Health, Inc.|Image-based airway analysis and mapping|

---

US11094221B2|2018-06-21|2021-08-17|University Of Utah Research Foundation|Visual guidance system and method for posing a physical object in three dimensional space|

---

US10849711B2|2018-07-11|2020-12-01|DePuy Synthes Products, Inc.|Surgical instrument mounted display system|

---

US11045192B2|2018-08-20|2021-06-29|Cilag Gmbh International|Fabricating techniques for surgical stapler anvils|

---

US11253256B2|2018-08-20|2022-02-22|Cilag Gmbh International|Articulatable motor powered surgical instruments with dedicated articulation motor arrangements|

---

US10856870B2|2018-08-20|2020-12-08|Ethicon Llc|Switching arrangements for motor powered articulatable surgical instruments|

---

USD914878S1|2018-08-20|2021-03-30|Ethicon Llc|Surgical instrument anvil|

---

US10912559B2|2018-08-20|2021-02-09|Ethicon Llc|Reinforced deformable anvil tip for surgical stapler anvil|

---

US11083458B2|2018-08-20|2021-08-10|Cilag Gmbh International|Powered surgical instruments with clutching arrangements to convert linear drive motions to rotary drive motions|

---

US10779821B2|2018-08-20|2020-09-22|Ethicon Llc|Surgical stapler anvils with tissue stop features configured to avoid tissue pinch|

---

US11039834B2|2018-08-20|2021-06-22|Cilag Gmbh International|Surgical stapler anvils with staple directing protrusions and tissue stability features|

---

WO2020041211A1|2018-08-20|2020-02-27|Pro-Dex, Inc.|Torque-limiting devices, systems, and methods|

---

US11207065B2|2018-08-20|2021-12-28|Cilag Gmbh International|Method for fabricating surgical stapler anvils|

---

US10842492B2|2018-08-20|2020-11-24|Ethicon Llc|Powered articulatable surgical instruments with clutching and locking arrangements for linking an articulation drive system to a firing drive system|

---

US11019241B1|2018-09-11|2021-05-25|Apple Inc.|Camera lens control during magnetic interference|

---

CN113226201A|2018-11-02|2021-08-06|史赛克公司|Calibration and adjustment determination for surgical handpiece systems|

---

CN111283676B|2018-12-07|2021-09-21|中达电子有限公司|Tool coordinate system calibration method and calibration device of three-axis mechanical arm|

---

USD893027S1|2018-12-21|2020-08-11|Stryker Corporation|Measurement head for surgical tool|

---

CN109870713B|2019-01-08|2021-03-26|武汉众智鸿图科技有限公司|GPS track curve generation method and device|

---

CN109938825B|2019-01-31|2021-11-23|上海长海医院|Method for implanting pedicle screws|

---

US11147551B2|2019-03-25|2021-10-19|Cilag Gmbh International|Firing drive arrangements for surgical systems|

---

US11172929B2|2019-03-25|2021-11-16|Cilag Gmbh International|Articulation drive arrangements for surgical systems|

---

US11147553B2|2019-03-25|2021-10-19|Cilag Gmbh International|Firing drive arrangements for surgical systems|

---

AU2020258375A1|2019-04-15|2021-11-11|Circinus Medical Technology Llc|Attachment apparatus to secure a medical alignment device to align a tool|

---

US11253254B2|2019-04-30|2022-02-22|Cilag Gmbh International|Shaft rotation actuator on a surgical instrument|

---

US11219455B2|2019-06-28|2022-01-11|Cilag Gmbh International|Surgical instrument including a lockout key|

---

US11051807B2|2019-06-28|2021-07-06|Cilag Gmbh International|Packaging assembly including a particulate trap|

---

US11224497B2|2019-06-28|2022-01-18|Cilag Gmbh International|Surgical systems with multiple RFID tags|

---

US11259803B2|2019-06-28|2022-03-01|Cilag Gmbh International|Surgical stapling system having an information encryption protocol|

---

US11241235B2|2019-06-28|2022-02-08|Cilag Gmbh International|Method of using multiple RFID chips with a surgical assembly|

---

US11246678B2|2019-06-28|2022-02-15|Cilag Gmbh International|Surgical stapling system having a frangible RFID tag|

---

US11147633B2|2019-08-30|2021-10-19|Auris Health, Inc.|Instrument image reliability systems and methods|

---

WO2021038469A1|2019-08-30|2021-03-04|Auris Health, Inc.|Systems and methods for weight-based registration of location sensors|

---

US11234698B2|2019-12-19|2022-02-01|Cilag Gmbh International|Stapling system comprising a clamp lockout and a firing lockout|

---

CN111494010A|2020-04-28|2020-08-07|绍兴梅奥心磁医疗科技有限公司|Magnetic navigation system|

---

US20210378753A1|2020-06-05|2021-12-09|Stryker European Operations Limited|Technique For Providing User Guidance In Surgical Navigation|

---

CN112362032A|2020-09-14|2021-02-12|成都飞机工业（集团）有限责任公司|Part axis extraction method based on photogrammetry technology|

---

CN112294419B|2020-10-30|2021-08-13|车军双|Bone nail taking device convenient to position|

法律状态:
2018-03-27| B15K| Others concerning applications: alteration of classification|Ipc: A61B 17/17 (2006.01), A61B 17/15 (2006.01), A61B 1 |

---

2018-12-18| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|

---

2019-10-08| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

---

2020-09-15| B07A| Application suspended after technical examination (opinion) [chapter 7.1 patent gazette]|

---

2021-02-09| B06A| Patent application procedure suspended [chapter 6.1 patent gazette]|

---

2021-06-08| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

---

2021-08-17| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 17/02/2012, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

---

申请号 | 申请日 | 专利标题

---

US201161444558P| true| 2011-02-18|2011-02-18|

---

US201161444600P| true| 2011-02-18|2011-02-18|

---

US201161444535P| true| 2011-02-18|2011-02-18|

---

US61/444,600|2011-02-18|

---

US61/444,558|2011-02-18|

---

US61/444,535|2011-02-18|

---

US201161476709P| true| 2011-04-18|2011-04-18|

---

US61/476,709|2011-04-18|

---

US201161553499P| true| 2011-10-31|2011-10-31|

---

US61/553,499|2011-10-31|

---

PCT/CA2012/050098|WO2012109760A1|2011-02-18|2012-02-17|Tool with integrated navigation and guidance system and related apparatus and methods|

---