CA1325850C - Procedure and an apparatus for the reproducible representation of a surgical operation - Google Patents
Procedure and an apparatus for the reproducible representation of a surgical operationInfo
- Publication number
- CA1325850C CA1325850C CA000567895A CA567895A CA1325850C CA 1325850 C CA1325850 C CA 1325850C CA 000567895 A CA000567895 A CA 000567895A CA 567895 A CA567895 A CA 567895A CA 1325850 C CA1325850 C CA 1325850C
- Authority
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- Canada
- Prior art keywords
- tomogram
- instrument
- positional data
- slices
- reference points
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/02—Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/50—Clinical applications
- A61B6/501—Clinical applications involving diagnosis of head, e.g. neuroimaging, craniography
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/02—Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computerised tomographs
- A61B6/032—Transmission computed tomography [CT]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/12—Devices for detecting or locating foreign bodies
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/46—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with special arrangements for interfacing with the operator or the patient
- A61B6/461—Displaying means of special interest
- A61B6/463—Displaying means of special interest characterised by displaying multiple images or images and diagnostic data on one display
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2059—Mechanical position encoders
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
Abstract
ABSTRACT OF THE DISCLOSURE
A method and apparatus are described for the reproducible representation of a surgical procedure. The position or path of movement of the surgical instrument during the operation on concealed parts of the body is represented in order to document the course and results of a surgical procedure and then stored for subsequent examination. This is achieved in that a stratified image that has at least threemeasurement points on the patient is stored in a computer and reproduced on a display.
In addition, the position of the three measurement points and the position of the surgical instrument can be determined before and during the procedure through a coordinate-measurement system, superimposed with the stratified image on the display, and stored in a memory unit. The method and the apparatus (coordinate-measurement system) are well-suited for reproducing and documenting surgical procedures.
A method and apparatus are described for the reproducible representation of a surgical procedure. The position or path of movement of the surgical instrument during the operation on concealed parts of the body is represented in order to document the course and results of a surgical procedure and then stored for subsequent examination. This is achieved in that a stratified image that has at least threemeasurement points on the patient is stored in a computer and reproduced on a display.
In addition, the position of the three measurement points and the position of the surgical instrument can be determined before and during the procedure through a coordinate-measurement system, superimposed with the stratified image on the display, and stored in a memory unit. The method and the apparatus (coordinate-measurement system) are well-suited for reproducing and documenting surgical procedures.
Description
132~850 The present invention relates to a method and an apparatus for the reproducible optical representation of an operation that is to be performed with a surgical instrument.
In many operations, in particular those performed on the head, problems 5 can occur with regard to orientation during the operation, these problems stemming from individual variations in anatomy. There are many operations in which there is an increased risk solely on account of the problem of comprehensive, precise orientation during the operation.
Continuous information concerning the position of surgical instruments in 10 the particular area of the head, and in particular knowledge about the physical distance to vulnerable structures such as blood vessels, Iymph vessels, nerves, etc., increases the safety of operations. If such information could be recorded or stored, and was thus reproducible, the results could be checked once the operation had been completed. In the event of undeserved failure, unjustified claims for damages could be effectively 15 contested in this manner.
Up to now, conventional X-ray imagery, computer tomography imagery, and/or, in exceptional cases, by fluoroscopy within the site of the operation has been used to permit such orientations during operations performed on the human body.
X-ray imagery shows mainly boney structures. For this reason, it is more 20 usual to use the more highly concentrated information gained from computer-based tomography imagery when planning surgical intervention. The translation of X-ray findings into a surgical procedure takes place through the medium of the operator, who checks the precise position of the surgical instruments visually at the site of the operation. Optionally, the site of the intervention can be measured or fluoroscoped. The latter method entails all
In many operations, in particular those performed on the head, problems 5 can occur with regard to orientation during the operation, these problems stemming from individual variations in anatomy. There are many operations in which there is an increased risk solely on account of the problem of comprehensive, precise orientation during the operation.
Continuous information concerning the position of surgical instruments in 10 the particular area of the head, and in particular knowledge about the physical distance to vulnerable structures such as blood vessels, Iymph vessels, nerves, etc., increases the safety of operations. If such information could be recorded or stored, and was thus reproducible, the results could be checked once the operation had been completed. In the event of undeserved failure, unjustified claims for damages could be effectively 15 contested in this manner.
Up to now, conventional X-ray imagery, computer tomography imagery, and/or, in exceptional cases, by fluoroscopy within the site of the operation has been used to permit such orientations during operations performed on the human body.
X-ray imagery shows mainly boney structures. For this reason, it is more 20 usual to use the more highly concentrated information gained from computer-based tomography imagery when planning surgical intervention. The translation of X-ray findings into a surgical procedure takes place through the medium of the operator, who checks the precise position of the surgical instruments visually at the site of the operation. Optionally, the site of the intervention can be measured or fluoroscoped. The latter method entails all
2 5 the disadvantages of conventional X-ray techniques and elevated radiation doses for both the patient and the operator. An additional, serious disadvantage is that during lateral intrasite fluoroscopy, when using the image obtained thereby, the physical relationships in the area of the body where the operation is to be performed can only be shown superimposed. It requires extensive experience to arrive at conclusions concerning the
3 O actual spatial conditions that even come close to being precise.
However, continuous, reliable information concerning the position of the surgicai instrument in relation to the site of the disease is not possible using the above means.
~`
- 1 - '`~
l 3 ~ a Today, as an alternative to conventional methods, there is the possibility of resorting to computer-based positional information.
In the field of neurosurgery, stereotaxic procedures are performed with the help of a localizing frame and an instrument holder.
Equipment for this purpose is described, for example, in DE-OS 32 05 085, US-PS 4,465,069, EP-A-O 207 452, EP-A-O 018 166, and DE-OS 32 05 915. A V-shapedframe is described in US-PS 4,583,538, al~hough this is intended not for the field of neurosurgery, but for thoracic surgery.
Stereotaxic surgery is a branch of neurosurgery and applies to a class of operations in which probes, for example, canula, needles, clamps, or electrodes are to be applied at locations of the brain or other concealed anatomical objectives that are not visible from outside. The stereotaxic framework thus serves as a type of ~guidance system" that is used in human neurosurgery in order to guide an instrument to a special point within the brain through a small opening in the skull, using radiographic or other means to render reference points visible. The instrument is to be guided as accurately as possible to a precisely predetermined point. Thus, if the frame or apparatus is attached to the skull, then the probe can be advanced to a given topographic point within the skull.
The precise point is then computed from the established distance and the direction between the perceived reference point and the desired target relative to the coordinate 2 o system of the stereotaxic apparatus. Then, at the desired point, a sample is removed, a local lesion is repaired or radioactive material implanted by linear advancement of the instrument, which is precisely oriented by the instrument holder that is secured in the frame.
Such methods have been developed in order to achieve extensive automation or, tor example, to use a laser coagulator. Point lesions can be repaired according to a plan derived for computer-based tomography imagery. This know procedure and apparatus require the use of a frame that is fixed to the head. Thus, it must also be borne in mind that precise positioning of the frame can only be achieved in that at least three screws are installed securely in the bones of the skull.
Neurosurgery, v. 65, October, 1986, pp. 445 et seq. describes a non-contact, i.e., frameless, measurement to arrive at computer-supported positionalinformation about an instrument. In this procedure, the exact position of a surgical microscope is determined from three acoustic signal generators, by means of transducers ~32~0 and a total of four receivers. Then, in addition, the previously stored computertomography images can be projected onto the plane of focus of the surgical microscope in order to provide appropriate assistance during the operation.
But this system, too, is principally a stereotaxic surgical system that is 5 point-based, in which the point of work is approached linearly--as described in the reference--and that, in addition, in essence can be used only in the area of the cranium and not in the bony areas of the skull. This may also be based on the fact that the degree of precision that can be achieved--under 2 mm--is inadequate. In addition, in no known procedures is there any possibility of--or there is no provision for--providing graphic 10 documentation of the course and results of surgical intervention for use in a subsequent examination.
Thus, it is the task of the present invention to create a procedure and an apparatus which, for the first time ever, permit a reproducible representation of previously made visual records together with a progressive representation of the position of a freely-15 manipulated surgical instrument in a three- dimensional model of the part of the body on the display.
According to a first aspect of the present invention there is provided a method for the reproducible optical representation of an operation carried out with a surgical instrument using stratified imagery of the body part in question, that has been 20 stored in a memory of a data-processing system and can be called up on a display, comprising the following steps:
a) establishing at least three measurement points on the part of the body;
b) preparing and storing in the memory a stratified image of the body part in question, which shows the measurement points;
c) determining the position of the measurement points in space by a coordinate-measurement system and storing the measurement data so obtained in the memory;
d) establishing a relationship between imagery data about the measurement points contained in the stratified imagery and the data about the 3 0 measurement points provided by the coordinate- measurement system;
132~0 e) determining the position of the surgical instrument in space continuously by the coordinate-measurement system, and passing the positional data to the data- processing system;
f) superimposing the image information from the stratified images the 5 positional data relative to the surgical instrument, and g) producing superimposed images on the output device, in particular a CRT display, in which the contents of the imagery of the stratified images and the positions of the surgical instrument are superimposed, one on top of the other.
A further aspect of the invention provides an apparatus for the reproducible 10 optical representation of an operation carried out with a surgical instrument using stratified imagery of the body part in question, comprising:
a data-processing system to store stratified-image information and call this up on a display;
and a freely movable guidance system for a scanner or surgical instrument, 15 said guidance system comprising a three-dimensional coordinate-measurement system that detects the position of measurement points on the body part and the continuous spatial position of the scanner or surgical instrument, said measurement system being connected to the data-processing system to superimpose the measurement point andinstrument adjustment data on the one hand, and the stratified-image information on the 2 o other.
Considerable advantages vis-a-vis the prior art have been achieved by the present invention. For the first time, it has become possible to represent the site of an operation and its surroundings constantly on a display system in the form of sections that can be selected as desired by the operator, with the position of the surgical instrument 25 being shown simultaneously and continuously, so-called superimposed images resulting therefrom.
Since the position is computed constantly from the coordinates of the instrument holder or the associated coordinate measuring system, respectively, this means the renewed radiography during the operation is rendered unnecessary. This3 o means that received doses of X-rays are reduced compared to the case with the prior art (intraoperative fluoroscopy). However, other stratified imagery processes, such as
However, continuous, reliable information concerning the position of the surgicai instrument in relation to the site of the disease is not possible using the above means.
~`
- 1 - '`~
l 3 ~ a Today, as an alternative to conventional methods, there is the possibility of resorting to computer-based positional information.
In the field of neurosurgery, stereotaxic procedures are performed with the help of a localizing frame and an instrument holder.
Equipment for this purpose is described, for example, in DE-OS 32 05 085, US-PS 4,465,069, EP-A-O 207 452, EP-A-O 018 166, and DE-OS 32 05 915. A V-shapedframe is described in US-PS 4,583,538, al~hough this is intended not for the field of neurosurgery, but for thoracic surgery.
Stereotaxic surgery is a branch of neurosurgery and applies to a class of operations in which probes, for example, canula, needles, clamps, or electrodes are to be applied at locations of the brain or other concealed anatomical objectives that are not visible from outside. The stereotaxic framework thus serves as a type of ~guidance system" that is used in human neurosurgery in order to guide an instrument to a special point within the brain through a small opening in the skull, using radiographic or other means to render reference points visible. The instrument is to be guided as accurately as possible to a precisely predetermined point. Thus, if the frame or apparatus is attached to the skull, then the probe can be advanced to a given topographic point within the skull.
The precise point is then computed from the established distance and the direction between the perceived reference point and the desired target relative to the coordinate 2 o system of the stereotaxic apparatus. Then, at the desired point, a sample is removed, a local lesion is repaired or radioactive material implanted by linear advancement of the instrument, which is precisely oriented by the instrument holder that is secured in the frame.
Such methods have been developed in order to achieve extensive automation or, tor example, to use a laser coagulator. Point lesions can be repaired according to a plan derived for computer-based tomography imagery. This know procedure and apparatus require the use of a frame that is fixed to the head. Thus, it must also be borne in mind that precise positioning of the frame can only be achieved in that at least three screws are installed securely in the bones of the skull.
Neurosurgery, v. 65, October, 1986, pp. 445 et seq. describes a non-contact, i.e., frameless, measurement to arrive at computer-supported positionalinformation about an instrument. In this procedure, the exact position of a surgical microscope is determined from three acoustic signal generators, by means of transducers ~32~0 and a total of four receivers. Then, in addition, the previously stored computertomography images can be projected onto the plane of focus of the surgical microscope in order to provide appropriate assistance during the operation.
But this system, too, is principally a stereotaxic surgical system that is 5 point-based, in which the point of work is approached linearly--as described in the reference--and that, in addition, in essence can be used only in the area of the cranium and not in the bony areas of the skull. This may also be based on the fact that the degree of precision that can be achieved--under 2 mm--is inadequate. In addition, in no known procedures is there any possibility of--or there is no provision for--providing graphic 10 documentation of the course and results of surgical intervention for use in a subsequent examination.
Thus, it is the task of the present invention to create a procedure and an apparatus which, for the first time ever, permit a reproducible representation of previously made visual records together with a progressive representation of the position of a freely-15 manipulated surgical instrument in a three- dimensional model of the part of the body on the display.
According to a first aspect of the present invention there is provided a method for the reproducible optical representation of an operation carried out with a surgical instrument using stratified imagery of the body part in question, that has been 20 stored in a memory of a data-processing system and can be called up on a display, comprising the following steps:
a) establishing at least three measurement points on the part of the body;
b) preparing and storing in the memory a stratified image of the body part in question, which shows the measurement points;
c) determining the position of the measurement points in space by a coordinate-measurement system and storing the measurement data so obtained in the memory;
d) establishing a relationship between imagery data about the measurement points contained in the stratified imagery and the data about the 3 0 measurement points provided by the coordinate- measurement system;
132~0 e) determining the position of the surgical instrument in space continuously by the coordinate-measurement system, and passing the positional data to the data- processing system;
f) superimposing the image information from the stratified images the 5 positional data relative to the surgical instrument, and g) producing superimposed images on the output device, in particular a CRT display, in which the contents of the imagery of the stratified images and the positions of the surgical instrument are superimposed, one on top of the other.
A further aspect of the invention provides an apparatus for the reproducible 10 optical representation of an operation carried out with a surgical instrument using stratified imagery of the body part in question, comprising:
a data-processing system to store stratified-image information and call this up on a display;
and a freely movable guidance system for a scanner or surgical instrument, 15 said guidance system comprising a three-dimensional coordinate-measurement system that detects the position of measurement points on the body part and the continuous spatial position of the scanner or surgical instrument, said measurement system being connected to the data-processing system to superimpose the measurement point andinstrument adjustment data on the one hand, and the stratified-image information on the 2 o other.
Considerable advantages vis-a-vis the prior art have been achieved by the present invention. For the first time, it has become possible to represent the site of an operation and its surroundings constantly on a display system in the form of sections that can be selected as desired by the operator, with the position of the surgical instrument 25 being shown simultaneously and continuously, so-called superimposed images resulting therefrom.
Since the position is computed constantly from the coordinates of the instrument holder or the associated coordinate measuring system, respectively, this means the renewed radiography during the operation is rendered unnecessary. This3 o means that received doses of X-rays are reduced compared to the case with the prior art (intraoperative fluoroscopy). However, other stratified imagery processes, such as
- 4 -1~2~
nuclear spin tomography, can also be used. The procedure or the device according to thepresent invention can be used particularly advantageously in the facial area of the skull (but not there alone).
Documentation of the reproducible image representation can be effected in
nuclear spin tomography, can also be used. The procedure or the device according to thepresent invention can be used particularly advantageously in the facial area of the skull (but not there alone).
Documentation of the reproducible image representation can be effected in
5 that continuous photographic imagery can be prepared from the superimposed images that are displayed on the output device. In another embodiment, the imagery data from the superimposed images is stored in the main memory of the data-processing system, from which such data can be recalled and redisplayed on the output device.
The surgical instruments can be represented in that the position of the tip of 10 the instrument is shown on the display in the form of a point or cross. Such a method is perfectly adequate for purposes of surgical intervention because the surgeon guides the instrument manually and determines its longitudinal extent in space thereby. On the other hand, for documentation of surgical intervention and subsequent examination of the course of an operation it may be expedient if not only the tip, but also at least part of the 15 instrument as a whole, is displayed, in order that the longitudinal extent and the instantaneous orientation of the surgical instrument can be seen on the superimposed image.
The invention will now be described in more detail, by way of example only, with reference to the accompanying drawings:, in which:-Figure 1 is a diagrammatic representation for recording computer-based tomography;
Figure 2 shows the stratified imagery produced by computer-based tomography;
Figure 3 shows a simplified pictorial representation of a coordinate-measurement system with an inserted surgical instrument combined with the part of a patient's body that is to be treated;
Figure 4 shows a computer with a graphics display;
Figure 5 shows a superimposed image of the surgical instrument prepared according to the present invention, with a stratified image;
l~%r;t~o Figure 6 is a pictorial representation of the coordinate measuring system;
Figure 7 is a cross-section of a coupling, fitted with a code reader, to accommodate an instrument holder provided with coded signs;
Figure 8 is a side view of the instrument holder with code signs;
Figure 9 is view of a partially represented articulated arm of a second embodiment of a coordinate-measurement system, with a counterweight balancing system; and Figure 10 is a partially sectioned plan view of the articulated arm as in figure8, when extended.
Referring to the drawings, figure 3 shows a simplified coordinate-measurement system (1), the structural details of which can be seen in figure 6. The coordinate-measuring system (1) has a boom (3) that is arranged on a column (2). The boom (3) is connected through a hinge joint (4) to an arm (5) that can be traversed in a horizontal plane. A rotation detector (6) is arranged on the hinge joint (4) and this generates a signal that corresponds to the angular position of the arm (5).
An arm (8) that can be pivoted in the vertical plane is articulated onto the arm (5) through a joint (7); the angular position of this arm is picked up by a rotation detector (9). A supporting column (11) is arranged so as to be able to pivot by means of a joint (1~) at the other, forked, end of the arm (8), and the angular position of this column is picked up by a rotation detector (12). The supporting column (11) can be pivoted about its longitudinal axis through a joint (13). The rotational position of the supporting column (11) is picked up by a rotation detector (14).
A second supporting column (16) is arranged at the other, forked, end of the supporting column (11) through a joint (15) and the pivoted position of this column is picked up by rotation detector (17). The supporting column (16) can also be rotated about its longitudinal axis through a joint (18). The pivoted position of this supporting column (16) is picked up by the rotation detector (19).
The structural elements (3) to (18) form an articulated arm (20) that has six axes of rotation.
The surgical instruments can be represented in that the position of the tip of 10 the instrument is shown on the display in the form of a point or cross. Such a method is perfectly adequate for purposes of surgical intervention because the surgeon guides the instrument manually and determines its longitudinal extent in space thereby. On the other hand, for documentation of surgical intervention and subsequent examination of the course of an operation it may be expedient if not only the tip, but also at least part of the 15 instrument as a whole, is displayed, in order that the longitudinal extent and the instantaneous orientation of the surgical instrument can be seen on the superimposed image.
The invention will now be described in more detail, by way of example only, with reference to the accompanying drawings:, in which:-Figure 1 is a diagrammatic representation for recording computer-based tomography;
Figure 2 shows the stratified imagery produced by computer-based tomography;
Figure 3 shows a simplified pictorial representation of a coordinate-measurement system with an inserted surgical instrument combined with the part of a patient's body that is to be treated;
Figure 4 shows a computer with a graphics display;
Figure 5 shows a superimposed image of the surgical instrument prepared according to the present invention, with a stratified image;
l~%r;t~o Figure 6 is a pictorial representation of the coordinate measuring system;
Figure 7 is a cross-section of a coupling, fitted with a code reader, to accommodate an instrument holder provided with coded signs;
Figure 8 is a side view of the instrument holder with code signs;
Figure 9 is view of a partially represented articulated arm of a second embodiment of a coordinate-measurement system, with a counterweight balancing system; and Figure 10 is a partially sectioned plan view of the articulated arm as in figure8, when extended.
Referring to the drawings, figure 3 shows a simplified coordinate-measurement system (1), the structural details of which can be seen in figure 6. The coordinate-measuring system (1) has a boom (3) that is arranged on a column (2). The boom (3) is connected through a hinge joint (4) to an arm (5) that can be traversed in a horizontal plane. A rotation detector (6) is arranged on the hinge joint (4) and this generates a signal that corresponds to the angular position of the arm (5).
An arm (8) that can be pivoted in the vertical plane is articulated onto the arm (5) through a joint (7); the angular position of this arm is picked up by a rotation detector (9). A supporting column (11) is arranged so as to be able to pivot by means of a joint (1~) at the other, forked, end of the arm (8), and the angular position of this column is picked up by a rotation detector (12). The supporting column (11) can be pivoted about its longitudinal axis through a joint (13). The rotational position of the supporting column (11) is picked up by a rotation detector (14).
A second supporting column (16) is arranged at the other, forked, end of the supporting column (11) through a joint (15) and the pivoted position of this column is picked up by rotation detector (17). The supporting column (16) can also be rotated about its longitudinal axis through a joint (18). The pivoted position of this supporting column (16) is picked up by the rotation detector (19).
The structural elements (3) to (18) form an articulated arm (20) that has six axes of rotation.
-6 -1~2~0 The joints (4), (7), (10), (13), (15), (18) are so formed that they are self-limiting, although they can be moved with very little effort. The rotation detectors (6), (9), (12), (14), (17~, (19) are incremental rotation detectors that generate 4,000 pulses per revolution. The large number of pulses results in very accurate detection of the angle of 5 pivot and/or the rotated position of the relevant members of the articulated arm (20). The rotation detectors (6), (9), (12), (14), (17), (19) are connected through a cable (not shown herein) to a data-processing system (21), illustrated pictorially in figure 4, that comprises a computer, a main memory, and a screen (22) as an output device.
A flange (23) is attached to the free end of the supporting column (16), and lo the peripheral side of this flange is covered by a sleeve (24). A journal (25) that is flattened on one side is formed on the supporting column (16) adjacent to the flange (23). A spring-loaded ball (27) is arranged in a transverse blind hole (26) in the journal (25), and this is prevented from falling out by a corresponding restriction (not shown herein) on the edge of the hole (26).
An instrument holder (28) is snapped onto the journal (25); this holder has a depression (29) that is associated with the ball (27) and forms a detent stop with this.
The holder (28) incorporates a drilled hole (30) that matches the shape of the flattened journal (25), which means that the holder (28) cannot turn. A surgical instrument (31) is installed so as to be releasable in the holder (28). Thus, the holder (28) and the journal (25) together form a coupling (32) to connect the surgical instrument (31) to the articulated arm (20) of the coordinate-measurement system (1), that simultaneously forms a guiding and holding system for the instrument (31).
A plurality of blind holes (33) are arranged in a circle within which are arranged three permanent magnets (34). The arrangement of the permanent magnets (34) forms an identification code that is associated with the instrument (31) that has been inserted. A number of Hall-effect devices (35) corresponding to the number of blind holes (33) are arranged within the flange (23); these devices are located exactly opposite the drillings (33) or the permanent magnets installed within them and form a code scanner (36). The permanent magnets (34) cause the Hall generators (35) that are associated with them to generate a signal. The signals generated by the Hall-effect devices (35) or the code scanner (36) are passed to the data-processing system (21), by which means the data-processing system is informed of the type and size of the surgical instrument (31) that is connected to the articulated arm (20).
l~2 ~j~Ja The coordinate-measurement system (50) that is shown in part in figure 9 has an adjustable crosspiece (51) arranged on a column (not shown herein). A flange-like articulated element (52) is secured to the crosspiece (51), and a hollow joint pin (53) is installed within this so as to be able to rotate. At the lower end of the joint pin (53)there is 5 a transversely projecting carrier (54). An adjusting ring (55) is clamped onto a section of the joint pin t53) that extends beyond the joint pin (53) and this, together with the carrier (54), secures the joint pin (53) in an axial direction.
A hollow arm (56) that extends transversely is secured to the carrier (54). A
journal (57) that extends coaxially with the joint pin (53) is secured on the arm (56), and l0 this transfers the rotated position of the arm (56) to a rotation detector (58) that is installed through a mounting (59) on the crossbeam (51) so as to be unable to rotate.
A hollow arm (61) that can pivot in a vertical plane is supported on the arm (56) through a joint (60); the rotated position of this arm is transmitted through a joint pin (62) to a rotation detector (63) that is connected to the arm (56). A hollow supporting column (65) is supported at the other end of the arm (56) by a joint (64) so as to be able to pivot; the pivoted position of this arm is transmitted through one of two joint pins (66) that are aligned with each other (figure 10) to a rotation detector (67) that is arranged on the arm (61). A sleeve (68) is arranged on the supporting column (65) so as to be able to rotate, and this is locked to a second supporting column (69) ffigure 10). The rotated 2 0 position of the second supporting column (69) relative to the first supporting column (65) is transmitted to a rotation detector p1) that is arranged on the supporting column (65) through a shaft (70).
The structural elements (51 to 71) are components of an articulated arm p2) that is constructed in a manner similar to that used for the articulated arm (20) (figure 25 6) and which, apart from these structural elements, has a further supporting column (not shown herein) that can be rotated longitudinally and transversely. The articulated arm (72) has six axes of rotation in the same way as the articulated arm (20). In the same way, an instrument carrier (not shown herein) that is constructed in the same way as theinstrument carrier (28) is connected through a coupling (not shown herein) that 3 0 corresponds to the coupling (32) to the supporting column (not shown herein).
The articulated arm p2) is fitted with a counterweight balance system (73).
This has a forked carrier (74) that is clamped to the upper end of the joint pin (53); at its upper end, this carrier has a fixed pin (75). On the pin p5) there are two notched-belt pulleys (76, 77) that are so installed as to be able to rotate independently of each other. A
l~2~a rod p8) is attached rigidly to the front pulley p6) and the balance weight p9) is installed at the end of this. A longer rod (80) is connected rigidly to the rear belt pulley (77), and a balance weight (81) is connected rigidly to the end of this rod.
A pin (82) that is parallel to the pin (75) is fixed within the arm (56) and two5 double notched-belt pulleys (83, 84) are supported on this so as to be able to rotate freely independently of each other. The rear notched-belt pulley (77) and the innermost pulley of the rear double notched-belt pulley (84) are connected to each other by a notched belt (85). The outer pulley of the rear double notched-belt pulley (84) is connected through a notched belt (86) to a notched-belt pulley (not shown herein) that is arranged on the joint o pin (62) and connected to the arm (61) so as to be unable to rotate. Because of this construction, pivoting movements of the arm (61) are transmined through the two notched belts (86, 85) to the rear notched-belt pulley p7), which means that the rod (80) with the balance weight (81) is rotated in the same direction. When the arm (61) is extended horizontally, the rod (80) also adopts a position that is essentially horizontal, and when the 15 arm (61) is vertical, it adopts an essentially vertical position. Thus, the orientation of the arm (61) and the rod (80) are opposite to each other, i.e., when the rod (80) is in the lowered position, the arm (61) is raised, and vice versa. When the weight-force of the balance weight (81) is selected taking into account the weight of the arm (61) and of the additional structural elements that it supports, this balance weight will generate a turning 20 moment that acts in an opposite direction to the turning moment generated by the effective weight-force of the arm (61) and the elements of the articulated arm p2) supported by it, and because of the balanced weights ensures that the arm (61) can be pivoted with a small amount of equal force in the two opposing directions.
The front notched-belt pulley p6) and the inner pulley of the front double 25 notched-belt pulley (83) are connected to each other by a notched belt (87). The outer pulley of the front double notched-belt pulley (83) is connected through a notched belt (88) with a pulley of a double notched-belt pulley (89) that is rnounted so as to be able to rotate on the joint pin (82). The other pulley of the double notched-belt pulley (89) is connected by a notched belt (90) to a notched-belt pulley (91), that is arranged on the 3 o front joint pin (66) and connected rigidly to the supporting column (65).
The pivoting movements of the supporting column (65) are transmined onto the front notched-belt pulley p6) through the notched belts (90, 88 and 87), which means that the rod (78) with the balance weight p9) is pivoted in the same direction.
When this is done, the movement relationships between the supporting column (65) and 35 the balance weight p9) are comparable to the above-described movement relationships 132~
between the arm (61) and the balance weight (81). If the balance weight p9) is appropriately dimensioned, this generates a turning moment that acts opposite to the turning moment generated by the effective weight-force of the supporting columns (65, 69), the sleeve (68) and the structural elements of the articulated arm p2) supported by 5 the supporting column (69). Because of this balanced weight, the supporting columns (65, 69) and the sleeve (68) can be moved about the joint pin (66) with an essentially even and small force.
A two-part, closed housing (92) is clamped onto the adjusting ring (55); this housing encloses the paths of movement of the balance weights p9, 81).
In a further embodiment of an articulated arm (not shown herein) the six rotation detectors are housed in a common housing that is comparable to the housing (92), with the individual rotation detectors being connected, each by its own notched-belt or pinion drive, with the individual elements of the articulated arm. As a result of these measures, the articulated arm is not only of lower mass, and thus easier to manipulate, 15 but is also more slender, which reduces the risk of collision.
The operation of the apparatus as well as the associated procedure are explained in greater detail below on the basis of a typical procedure.
First, the patient is moved (as shown in figure 1) into an appropriate scanner for the production of a number of stratified images. As an example, images can 2 o be captured using computer- based tomography or nuclear-spin tomography.
Figure 2 shows the stratified images (41) recorded as in figure 1.
Prior to the recording, three measurement points (42) are marked, secured, surveyed or established in the area of interest in the patient; of these points, two lie in the vicinity of the ears, whereas the third can be formed, for example, by the gap between the 2 5 two upper incisors.
In the event that, because of actual conditions, it is not possible to establishspecific measurement points, small pieces of ceramic can be attached and used asmeasurement points. Such ceramic pieces are particularly well-suited because they cause no reflections in the imagery.
132~r ,o The measurement points (42) are shown at each appropriate place in the stratified images (41) shown in figure 2 and are included in the data. The stratified imagery data that is provided with the measurement-point data which as a whole reproduces a spatial structure of the part of the body that is to be treated, are stored in a suitable 5 memory unit in the data- processing system.
In order to prepare for an operation that is to be carried out, the patient is secured on his back on an operating table and moved into the correct positiGn. Before the operation is carried out, the position of the three measurement points (42) attached and secured to the patient, or established thereon, is determined by the above-described lO coordinate-measurement system (1). This is done in that the surgical instrument (31) or a scanner used in place of this is brought into contact with the measurement points (42), when the instrument or the tester can be raised, lowered, inclined, adjusted with regard to angle, and moved ahead completely unhindered because of the articulated motion of the articulated arm. Each movement and the position of the individual elements of the articulated arm (20) is picked up exactly by the rotation detectors (6), (9), (12), (14), (17), (19), and passed to the data-processing system (21). The positional data about the measurement points (42) gathered in this way are checked against the imagery data of the measurement points (42) in the memory p). The measurement points (42), in their positions established on the operating table, are so matched with the stored imagery data 2 o about the measurement points (42) by appropriate computation in the computer that now an exact association of the stored stratified imagery data with the concrete spatial position of the patient and of the surgical instrument (31) is undertaken.
With the help of the signals transmitted by the code scanner (36) the computer calls up the identification values concerning the size and distance of the tip of 25 the instrument from the instrument carrier that correspond to the surgical instrument, whereby for each of the various instruments in any position of the instrument carrier (28) the precise position of the instrument tip can be computed by the computer.
.
Once the three measurement points (42) have been approached through the coordinate-measurement system (1) and thus the exact, spatial connection between 30 the surgical instrument (31) and the patient have been matched with the stored stratified imagery (41), the operation can be started, so that during the operations the tip or the effective area of the surgical instrument can be detected and recorded by the coordinate-measurement system (1) during each movement and/or angular movement, no matter how small. This detected movement of the surgical instrument is then shown through the 1~2~0 computer on the screen (22), together with the actual stratified imagery, which results in a superimposed image (43).
The imagery data from the superimposed images (43) are stored in the computer memory to document the course of the surgical intervention; they can be5 recalled from this memory at any time and called up to the display (22).
As soon as the tip of the instrument moves out of the stratified image displayed at any instant on the display (22) during any when the surgical instrument is moved, inserted or twisted, in place of this image the image into which the tip of the instrument is moving is automatically displayed. Thus, the operator is provided with the 10 maximum information regarding the exact area in which it is located during the operation.
A further measure to enhance information about the spatial position of the tip of the instrument within the area of the operation can be achieved in that superimposed images made up of longitudinal, transverse and horizontal stratified images can be displayed simultaneously in various windows on the display screen (22).
The assistance rendered by the apparatus described herein can be further enhanced in that, for example, as required, one of the next deeper strata can bedisplayed in advance on the screen (22); this provides an opportunity to consider the direction in which the surgical instrument (31) is to be moved. This, too, increase safety to a considerable degree in comparison to conventional procedures and apparatus.
The coordinate measurement system (1) described heretofore thus serves, in the present case, not only to track the position of the surgical instrument carrier (28) or of the surgical instrument (31) itself, but also to determine the three measurement points (42). This presents the further advantage that during the operation it is possible to check, at any time, whether the precise position of the patient has been maintained. All that is necessary in order to do this is to pick off the three measurement points (42) through an instrument during an operation and input each of the corresponding positional data into the computer. If a slight change in the position of the body part that is to be treated be detected, this change in position can be detected immediately by the computer and the image that is shown on the display can be corrected.
3 o In the embodiment shown, the surgical instrurnent is attached or connected to the coordinate-measurement system (1) so as to be releasable. However, it is also possible that the surgical instrument be monitored constantly, without contact, through a 1 3 ~
"locator system", to wit a coordinate-measurement system, by which means the precise location of the tip of the surgical instrument is established and input into the computer.
This can be done, for example, by threes spatially arranged probes and three detectors.
Whether the positional coordinate determination is effected by an acoustic 5 or optical or electromagnetic method (e.g., above or below the light-wave range) will depend on the particular case.
If specific body parts are removed with the surgical instrument, the data obtained during the operation can be input into the computer by picking off the cavities so formed as a generating curve, and the stratified-imagery data obtained prior to the lo information can be modified accordingly. This means that the actual conditions that change during the operation can be displayed on the screen (22). The post-operative stratified images obtained in this way can also be stored in the computer to document the results of the operation.
A flange (23) is attached to the free end of the supporting column (16), and lo the peripheral side of this flange is covered by a sleeve (24). A journal (25) that is flattened on one side is formed on the supporting column (16) adjacent to the flange (23). A spring-loaded ball (27) is arranged in a transverse blind hole (26) in the journal (25), and this is prevented from falling out by a corresponding restriction (not shown herein) on the edge of the hole (26).
An instrument holder (28) is snapped onto the journal (25); this holder has a depression (29) that is associated with the ball (27) and forms a detent stop with this.
The holder (28) incorporates a drilled hole (30) that matches the shape of the flattened journal (25), which means that the holder (28) cannot turn. A surgical instrument (31) is installed so as to be releasable in the holder (28). Thus, the holder (28) and the journal (25) together form a coupling (32) to connect the surgical instrument (31) to the articulated arm (20) of the coordinate-measurement system (1), that simultaneously forms a guiding and holding system for the instrument (31).
A plurality of blind holes (33) are arranged in a circle within which are arranged three permanent magnets (34). The arrangement of the permanent magnets (34) forms an identification code that is associated with the instrument (31) that has been inserted. A number of Hall-effect devices (35) corresponding to the number of blind holes (33) are arranged within the flange (23); these devices are located exactly opposite the drillings (33) or the permanent magnets installed within them and form a code scanner (36). The permanent magnets (34) cause the Hall generators (35) that are associated with them to generate a signal. The signals generated by the Hall-effect devices (35) or the code scanner (36) are passed to the data-processing system (21), by which means the data-processing system is informed of the type and size of the surgical instrument (31) that is connected to the articulated arm (20).
l~2 ~j~Ja The coordinate-measurement system (50) that is shown in part in figure 9 has an adjustable crosspiece (51) arranged on a column (not shown herein). A flange-like articulated element (52) is secured to the crosspiece (51), and a hollow joint pin (53) is installed within this so as to be able to rotate. At the lower end of the joint pin (53)there is 5 a transversely projecting carrier (54). An adjusting ring (55) is clamped onto a section of the joint pin t53) that extends beyond the joint pin (53) and this, together with the carrier (54), secures the joint pin (53) in an axial direction.
A hollow arm (56) that extends transversely is secured to the carrier (54). A
journal (57) that extends coaxially with the joint pin (53) is secured on the arm (56), and l0 this transfers the rotated position of the arm (56) to a rotation detector (58) that is installed through a mounting (59) on the crossbeam (51) so as to be unable to rotate.
A hollow arm (61) that can pivot in a vertical plane is supported on the arm (56) through a joint (60); the rotated position of this arm is transmitted through a joint pin (62) to a rotation detector (63) that is connected to the arm (56). A hollow supporting column (65) is supported at the other end of the arm (56) by a joint (64) so as to be able to pivot; the pivoted position of this arm is transmitted through one of two joint pins (66) that are aligned with each other (figure 10) to a rotation detector (67) that is arranged on the arm (61). A sleeve (68) is arranged on the supporting column (65) so as to be able to rotate, and this is locked to a second supporting column (69) ffigure 10). The rotated 2 0 position of the second supporting column (69) relative to the first supporting column (65) is transmitted to a rotation detector p1) that is arranged on the supporting column (65) through a shaft (70).
The structural elements (51 to 71) are components of an articulated arm p2) that is constructed in a manner similar to that used for the articulated arm (20) (figure 25 6) and which, apart from these structural elements, has a further supporting column (not shown herein) that can be rotated longitudinally and transversely. The articulated arm (72) has six axes of rotation in the same way as the articulated arm (20). In the same way, an instrument carrier (not shown herein) that is constructed in the same way as theinstrument carrier (28) is connected through a coupling (not shown herein) that 3 0 corresponds to the coupling (32) to the supporting column (not shown herein).
The articulated arm p2) is fitted with a counterweight balance system (73).
This has a forked carrier (74) that is clamped to the upper end of the joint pin (53); at its upper end, this carrier has a fixed pin (75). On the pin p5) there are two notched-belt pulleys (76, 77) that are so installed as to be able to rotate independently of each other. A
l~2~a rod p8) is attached rigidly to the front pulley p6) and the balance weight p9) is installed at the end of this. A longer rod (80) is connected rigidly to the rear belt pulley (77), and a balance weight (81) is connected rigidly to the end of this rod.
A pin (82) that is parallel to the pin (75) is fixed within the arm (56) and two5 double notched-belt pulleys (83, 84) are supported on this so as to be able to rotate freely independently of each other. The rear notched-belt pulley (77) and the innermost pulley of the rear double notched-belt pulley (84) are connected to each other by a notched belt (85). The outer pulley of the rear double notched-belt pulley (84) is connected through a notched belt (86) to a notched-belt pulley (not shown herein) that is arranged on the joint o pin (62) and connected to the arm (61) so as to be unable to rotate. Because of this construction, pivoting movements of the arm (61) are transmined through the two notched belts (86, 85) to the rear notched-belt pulley p7), which means that the rod (80) with the balance weight (81) is rotated in the same direction. When the arm (61) is extended horizontally, the rod (80) also adopts a position that is essentially horizontal, and when the 15 arm (61) is vertical, it adopts an essentially vertical position. Thus, the orientation of the arm (61) and the rod (80) are opposite to each other, i.e., when the rod (80) is in the lowered position, the arm (61) is raised, and vice versa. When the weight-force of the balance weight (81) is selected taking into account the weight of the arm (61) and of the additional structural elements that it supports, this balance weight will generate a turning 20 moment that acts in an opposite direction to the turning moment generated by the effective weight-force of the arm (61) and the elements of the articulated arm p2) supported by it, and because of the balanced weights ensures that the arm (61) can be pivoted with a small amount of equal force in the two opposing directions.
The front notched-belt pulley p6) and the inner pulley of the front double 25 notched-belt pulley (83) are connected to each other by a notched belt (87). The outer pulley of the front double notched-belt pulley (83) is connected through a notched belt (88) with a pulley of a double notched-belt pulley (89) that is rnounted so as to be able to rotate on the joint pin (82). The other pulley of the double notched-belt pulley (89) is connected by a notched belt (90) to a notched-belt pulley (91), that is arranged on the 3 o front joint pin (66) and connected rigidly to the supporting column (65).
The pivoting movements of the supporting column (65) are transmined onto the front notched-belt pulley p6) through the notched belts (90, 88 and 87), which means that the rod (78) with the balance weight p9) is pivoted in the same direction.
When this is done, the movement relationships between the supporting column (65) and 35 the balance weight p9) are comparable to the above-described movement relationships 132~
between the arm (61) and the balance weight (81). If the balance weight p9) is appropriately dimensioned, this generates a turning moment that acts opposite to the turning moment generated by the effective weight-force of the supporting columns (65, 69), the sleeve (68) and the structural elements of the articulated arm p2) supported by 5 the supporting column (69). Because of this balanced weight, the supporting columns (65, 69) and the sleeve (68) can be moved about the joint pin (66) with an essentially even and small force.
A two-part, closed housing (92) is clamped onto the adjusting ring (55); this housing encloses the paths of movement of the balance weights p9, 81).
In a further embodiment of an articulated arm (not shown herein) the six rotation detectors are housed in a common housing that is comparable to the housing (92), with the individual rotation detectors being connected, each by its own notched-belt or pinion drive, with the individual elements of the articulated arm. As a result of these measures, the articulated arm is not only of lower mass, and thus easier to manipulate, 15 but is also more slender, which reduces the risk of collision.
The operation of the apparatus as well as the associated procedure are explained in greater detail below on the basis of a typical procedure.
First, the patient is moved (as shown in figure 1) into an appropriate scanner for the production of a number of stratified images. As an example, images can 2 o be captured using computer- based tomography or nuclear-spin tomography.
Figure 2 shows the stratified images (41) recorded as in figure 1.
Prior to the recording, three measurement points (42) are marked, secured, surveyed or established in the area of interest in the patient; of these points, two lie in the vicinity of the ears, whereas the third can be formed, for example, by the gap between the 2 5 two upper incisors.
In the event that, because of actual conditions, it is not possible to establishspecific measurement points, small pieces of ceramic can be attached and used asmeasurement points. Such ceramic pieces are particularly well-suited because they cause no reflections in the imagery.
132~r ,o The measurement points (42) are shown at each appropriate place in the stratified images (41) shown in figure 2 and are included in the data. The stratified imagery data that is provided with the measurement-point data which as a whole reproduces a spatial structure of the part of the body that is to be treated, are stored in a suitable 5 memory unit in the data- processing system.
In order to prepare for an operation that is to be carried out, the patient is secured on his back on an operating table and moved into the correct positiGn. Before the operation is carried out, the position of the three measurement points (42) attached and secured to the patient, or established thereon, is determined by the above-described lO coordinate-measurement system (1). This is done in that the surgical instrument (31) or a scanner used in place of this is brought into contact with the measurement points (42), when the instrument or the tester can be raised, lowered, inclined, adjusted with regard to angle, and moved ahead completely unhindered because of the articulated motion of the articulated arm. Each movement and the position of the individual elements of the articulated arm (20) is picked up exactly by the rotation detectors (6), (9), (12), (14), (17), (19), and passed to the data-processing system (21). The positional data about the measurement points (42) gathered in this way are checked against the imagery data of the measurement points (42) in the memory p). The measurement points (42), in their positions established on the operating table, are so matched with the stored imagery data 2 o about the measurement points (42) by appropriate computation in the computer that now an exact association of the stored stratified imagery data with the concrete spatial position of the patient and of the surgical instrument (31) is undertaken.
With the help of the signals transmitted by the code scanner (36) the computer calls up the identification values concerning the size and distance of the tip of 25 the instrument from the instrument carrier that correspond to the surgical instrument, whereby for each of the various instruments in any position of the instrument carrier (28) the precise position of the instrument tip can be computed by the computer.
.
Once the three measurement points (42) have been approached through the coordinate-measurement system (1) and thus the exact, spatial connection between 30 the surgical instrument (31) and the patient have been matched with the stored stratified imagery (41), the operation can be started, so that during the operations the tip or the effective area of the surgical instrument can be detected and recorded by the coordinate-measurement system (1) during each movement and/or angular movement, no matter how small. This detected movement of the surgical instrument is then shown through the 1~2~0 computer on the screen (22), together with the actual stratified imagery, which results in a superimposed image (43).
The imagery data from the superimposed images (43) are stored in the computer memory to document the course of the surgical intervention; they can be5 recalled from this memory at any time and called up to the display (22).
As soon as the tip of the instrument moves out of the stratified image displayed at any instant on the display (22) during any when the surgical instrument is moved, inserted or twisted, in place of this image the image into which the tip of the instrument is moving is automatically displayed. Thus, the operator is provided with the 10 maximum information regarding the exact area in which it is located during the operation.
A further measure to enhance information about the spatial position of the tip of the instrument within the area of the operation can be achieved in that superimposed images made up of longitudinal, transverse and horizontal stratified images can be displayed simultaneously in various windows on the display screen (22).
The assistance rendered by the apparatus described herein can be further enhanced in that, for example, as required, one of the next deeper strata can bedisplayed in advance on the screen (22); this provides an opportunity to consider the direction in which the surgical instrument (31) is to be moved. This, too, increase safety to a considerable degree in comparison to conventional procedures and apparatus.
The coordinate measurement system (1) described heretofore thus serves, in the present case, not only to track the position of the surgical instrument carrier (28) or of the surgical instrument (31) itself, but also to determine the three measurement points (42). This presents the further advantage that during the operation it is possible to check, at any time, whether the precise position of the patient has been maintained. All that is necessary in order to do this is to pick off the three measurement points (42) through an instrument during an operation and input each of the corresponding positional data into the computer. If a slight change in the position of the body part that is to be treated be detected, this change in position can be detected immediately by the computer and the image that is shown on the display can be corrected.
3 o In the embodiment shown, the surgical instrurnent is attached or connected to the coordinate-measurement system (1) so as to be releasable. However, it is also possible that the surgical instrument be monitored constantly, without contact, through a 1 3 ~
"locator system", to wit a coordinate-measurement system, by which means the precise location of the tip of the surgical instrument is established and input into the computer.
This can be done, for example, by threes spatially arranged probes and three detectors.
Whether the positional coordinate determination is effected by an acoustic 5 or optical or electromagnetic method (e.g., above or below the light-wave range) will depend on the particular case.
If specific body parts are removed with the surgical instrument, the data obtained during the operation can be input into the computer by picking off the cavities so formed as a generating curve, and the stratified-imagery data obtained prior to the lo information can be modified accordingly. This means that the actual conditions that change during the operation can be displayed on the screen (22). The post-operative stratified images obtained in this way can also be stored in the computer to document the results of the operation.
Claims (18)
PROPERTY OR PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS:
1. A process for representing on a tomogram positions of an instrument located in an object represented by the tomogram, the process comprising the steps of:
creating three reference points on the object;
creating a tomogram of the object, said tomogram encompassing a predetermined number of tomogram slices, at least one of said tomogram slices containing said three reference points; storing a first set of positional data associated with said three reference points included in said at least one tomogram slice; placing said object in a non-rigid manner on a support; positioning an instrument at said three reference points on said object which is placed on said support, and defining a second set of positional data associated with said three reference points on said object placed on said support, said defining being done by said positioning; establishing a relationship between said first set of positional data and said second set of positional data; inserting said instrument into said object placed on said support; sensing positions of said instrument along a path of insertion movement into said object in relation to said second set of positional data, said sensing being performed during said step of inserting said instrument into said object; using said relationship established between said first and second sets of positional data for transforming said positions of said instrument along said path of insertion movement into said object in relation to said second set of positional data into corresponding positions in relation to said first set of positional data;
superimposing an indication of said corresponding position of said instrument on said tomogram slices of said tomogram;
and displaying said tomogram slices containing said superimposed indication of said corresponding positions of said instrument during said step of inserting said instrument into said object in order to indicate in said tomogram slices said corresponding positions of said instrument located in said object represented by said tomogram.
creating three reference points on the object;
creating a tomogram of the object, said tomogram encompassing a predetermined number of tomogram slices, at least one of said tomogram slices containing said three reference points; storing a first set of positional data associated with said three reference points included in said at least one tomogram slice; placing said object in a non-rigid manner on a support; positioning an instrument at said three reference points on said object which is placed on said support, and defining a second set of positional data associated with said three reference points on said object placed on said support, said defining being done by said positioning; establishing a relationship between said first set of positional data and said second set of positional data; inserting said instrument into said object placed on said support; sensing positions of said instrument along a path of insertion movement into said object in relation to said second set of positional data, said sensing being performed during said step of inserting said instrument into said object; using said relationship established between said first and second sets of positional data for transforming said positions of said instrument along said path of insertion movement into said object in relation to said second set of positional data into corresponding positions in relation to said first set of positional data;
superimposing an indication of said corresponding position of said instrument on said tomogram slices of said tomogram;
and displaying said tomogram slices containing said superimposed indication of said corresponding positions of said instrument during said step of inserting said instrument into said object in order to indicate in said tomogram slices said corresponding positions of said instrument located in said object represented by said tomogram.
2. A process in accordance with claim 1, wherein:
said step of creating the tomogram includes creating said tomogram in substantially horizontal and vertical planes with respect to said object; and said step of displaying said tomogram slices entails simultaneously displaying all of said tomogram slices containing said indication of said corresponding positions of the instrument.
said step of creating the tomogram includes creating said tomogram in substantially horizontal and vertical planes with respect to said object; and said step of displaying said tomogram slices entails simultaneously displaying all of said tomogram slices containing said indication of said corresponding positions of the instrument.
3. A process in accordance with claim 1, further comprising:
storing said tomogram slices containing said superimposed indication of said corresponding positions of said instrument located in the object for retrieval at a later time.
storing said tomogram slices containing said superimposed indication of said corresponding positions of said instrument located in the object for retrieval at a later time.
4. A process in accordance with claim 1, further comprising:
periodically checking said three reference points on said object placed on said support; redefining said second set of positional data associated with said three reference points on said object placed on said support by said periodically checking; reestablishing said relationship between said first and redefined second sets of positional data; using said relationship reestablished between said first and redefined second sets of positional data for transforming said positions of said instrument along said path of insertion movement into said object in relation to said redefined second set of positional data into corresponding positions in relation to said first set of positional data; and said step of displaying said tomogram slices entailing a step of displaying tomogram slices containing said superimposed indications of said corresponding positions of the instrument based on said reestablished relationship between said first and said redefined second sets of positional data.
periodically checking said three reference points on said object placed on said support; redefining said second set of positional data associated with said three reference points on said object placed on said support by said periodically checking; reestablishing said relationship between said first and redefined second sets of positional data; using said relationship reestablished between said first and redefined second sets of positional data for transforming said positions of said instrument along said path of insertion movement into said object in relation to said redefined second set of positional data into corresponding positions in relation to said first set of positional data; and said step of displaying said tomogram slices entailing a step of displaying tomogram slices containing said superimposed indications of said corresponding positions of the instrument based on said reestablished relationship between said first and said redefined second sets of positional data.
5. A process in accordance with claim 1, further comprising:
defining and representing a predetermined area of operation in at least one of said tomogram slices; sensing movements of the instrument inserted into said object and defining an area of operation which is operated upon by said instrument in the object; recording said movements of the instrument inserted into said object and recording said area of operation; and comparing said recorded area of operation defined by said movements of the instrument with said predetermined area of operation represented in said at least one of said tomogram slices.
defining and representing a predetermined area of operation in at least one of said tomogram slices; sensing movements of the instrument inserted into said object and defining an area of operation which is operated upon by said instrument in the object; recording said movements of the instrument inserted into said object and recording said area of operation; and comparing said recorded area of operation defined by said movements of the instrument with said predetermined area of operation represented in said at least one of said tomogram slices.
6. A process in accordance with claim 5, further comprising:
modifying said predetermined area of operation defined and represented in said at least one tomogram slice as a result of said step of comparing said recorded area of operation defined by said movements of the instrument with said predetermined area of operation defined and represented in said at least one of said tomogram slices.
modifying said predetermined area of operation defined and represented in said at least one tomogram slice as a result of said step of comparing said recorded area of operation defined by said movements of the instrument with said predetermined area of operation defined and represented in said at least one of said tomogram slices.
7. A process in accordance with claim 5, further comprising:
forming a cavity in said object as a result of said sensed movements of said instrument inserted into said object; representing said cavity as an envelope curve;
superimposing said envelope curve onto said at least one tomogram slice containing said predetermined area of operation; and storing said at least one tomogram slice containing said predetermined area of operation and said envelope curve superimposed on said predetermined area of operation; storing said envelope curve; creating another tomogram of the object at a later date; combining said stored envelope curve with said another tomogram.
forming a cavity in said object as a result of said sensed movements of said instrument inserted into said object; representing said cavity as an envelope curve;
superimposing said envelope curve onto said at least one tomogram slice containing said predetermined area of operation; and storing said at least one tomogram slice containing said predetermined area of operation and said envelope curve superimposed on said predetermined area of operation; storing said envelope curve; creating another tomogram of the object at a later date; combining said stored envelope curve with said another tomogram.
8. A process in accordance with claim 7, further comprising:
comparing the initially created tomogram with said another tomogram combined with said stored envelope.
comparing the initially created tomogram with said another tomogram combined with said stored envelope.
9. A process in accordance with claim 1, wherein:
said step of sensing said positions of the instrument along said path of insertion movement into said object entails continuously sensing said positions of said instrument in said object; and said step of displaying said tomogram slices entails continuously indicating in said tomogram slices said positions of said instrument located in said object.
said step of sensing said positions of the instrument along said path of insertion movement into said object entails continuously sensing said positions of said instrument in said object; and said step of displaying said tomogram slices entails continuously indicating in said tomogram slices said positions of said instrument located in said object.
10. A process for representing on a tomogram a position of an instrument located in an object represented by the tomogram, the process comprising the steps of:
creating three reference points on the object;
creating the tomogram of the object, the tomogram including a predetermined number of tomogram slices, one of said tomogram slices containing said three reference points;
identifying locations of said three reference points on said one tomogram slice; storing a first set of positional data describing said locations of said three reference points on said one tomogram slice; placing the object in a supple manner on a support; positioning the instrument at said three reference points on the object placed on said support;
recording a second set of positional data from the instrument defining locations of said three reference points; establishing a relationship between said first set of positional data and said second set of positional data;
inserting a tip of the instrument into said object placed on said support; sensing a position of said tip of the instrument along a path of said inserting, said sensing of said position being in relation to said second set of positional data and being performed during said inserting;
mapping said sensed position of said tip of the instrument along said path into a coordinate frame of the tomogram;
superimposing an indication of said sensed position of said tip of instrument on said tomogram slices of said tomogram;
and displaying said tomogram slices containing said superimposed indication of said sensed position of the tip of the instrument during said step of inserting the instrument into the object in order to indicate in said tomogram slices said sensed position of the tip of the instrument located in the object represented by the tomogram.
creating three reference points on the object;
creating the tomogram of the object, the tomogram including a predetermined number of tomogram slices, one of said tomogram slices containing said three reference points;
identifying locations of said three reference points on said one tomogram slice; storing a first set of positional data describing said locations of said three reference points on said one tomogram slice; placing the object in a supple manner on a support; positioning the instrument at said three reference points on the object placed on said support;
recording a second set of positional data from the instrument defining locations of said three reference points; establishing a relationship between said first set of positional data and said second set of positional data;
inserting a tip of the instrument into said object placed on said support; sensing a position of said tip of the instrument along a path of said inserting, said sensing of said position being in relation to said second set of positional data and being performed during said inserting;
mapping said sensed position of said tip of the instrument along said path into a coordinate frame of the tomogram;
superimposing an indication of said sensed position of said tip of instrument on said tomogram slices of said tomogram;
and displaying said tomogram slices containing said superimposed indication of said sensed position of the tip of the instrument during said step of inserting the instrument into the object in order to indicate in said tomogram slices said sensed position of the tip of the instrument located in the object represented by the tomogram.
11. An apparatus for the reproducible optical representation of an operation carried out using a surgical instrument comprising:
a data processing system;
a data memory in said data processing system;
said data memory storing tomogram data of a body part in the form of a series of tomogram slices;
a screen connected with said data processing system for reproducing selected ones of said tomogram slices from said tomogram data;
a three-dimensionally freely movable support supporting a surgical instrument;
a coordinate measuring device coupled to said support and said data processing system for determining positional data of said surgical instrument;
said coordinate measuring device establishing a relationship between said positional data of said surgical instrument and positional data in said tomogram slices;
characterized by at least three reference points which are established at said body part and which are externally accessible;
tomogram slices containing said reference points;
means included in said data processing system for establishing a relationship between positional data of said reference points as determined by means of said coordinate measuring device, and positional data of reference points present in said tomogram slices, whereby generally a relationship is established between said positional data present in said tomogram slices and positional data of the surgical instrument as determined by the coordinate measuring device;
means included in said data processing system for superimposing positional data of the surgical instrument as determined on the basis of said established relationship during a surgical operation on said body part, on said tomogram slices in order to produce superimposition images;
and means connected with said data processing system for continuously reproducing said superimposition images on said screen which superimposition images continuously display positions of the surgical instrument in said tomogram slices and thus within said body part during said surgical operation.
a data processing system;
a data memory in said data processing system;
said data memory storing tomogram data of a body part in the form of a series of tomogram slices;
a screen connected with said data processing system for reproducing selected ones of said tomogram slices from said tomogram data;
a three-dimensionally freely movable support supporting a surgical instrument;
a coordinate measuring device coupled to said support and said data processing system for determining positional data of said surgical instrument;
said coordinate measuring device establishing a relationship between said positional data of said surgical instrument and positional data in said tomogram slices;
characterized by at least three reference points which are established at said body part and which are externally accessible;
tomogram slices containing said reference points;
means included in said data processing system for establishing a relationship between positional data of said reference points as determined by means of said coordinate measuring device, and positional data of reference points present in said tomogram slices, whereby generally a relationship is established between said positional data present in said tomogram slices and positional data of the surgical instrument as determined by the coordinate measuring device;
means included in said data processing system for superimposing positional data of the surgical instrument as determined on the basis of said established relationship during a surgical operation on said body part, on said tomogram slices in order to produce superimposition images;
and means connected with said data processing system for continuously reproducing said superimposition images on said screen which superimposition images continuously display positions of the surgical instrument in said tomogram slices and thus within said body part during said surgical operation.
12. Apparatus according to Claim 11, characterized in that the support supporting said surgical instrument is attached to a three-dimensionally freely movable articulated arm and the coordinate measuring device comprises synchros connected to said articulated arm.
13. Apparatus according to Claim 11, characterized in that the coordinate measuring device is constructed as position finder for determining said positional data of said surgical instrument in a contact-free manner.
14. Apparatus according to Claim 12, characterized in that the articulated arm includes six rotational axes.
15. Apparatus according to Claim 14, characterized in that the articulated arm includes a weight-balancing mechanism.
16. Apparatus according to Claim 15, characterized in that the articulated arm includes two members pivotable about horizontal axes and connected to respective individual balance masses via a toothed belt drive.
17. Apparatus according to any one of Claims 11 to 16, characterized in that said surgical instruments and/or the sensor are connectable to said coordinate measuring device via a coupling and provided with an identifying code and that a code scanner is arranged in the region of the coupling, said code scanner being connected to said data processing system for transmitting code data.
18. Apparatus according to any one of Claims 12 to 16, characterized in that measuring instruments of the coordinate measuring device are associated with individual joints of the articulated arm and arranged in a central housing, said measuring instruments being connected to said joints by means of traction and gear means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA0616958A CA1336923E (en) | 1987-05-27 | 1995-01-10 | Procedure and Apparatus for the Reproducible Representation of a Surgical Operation |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DEP3717871.7 | 1987-05-27 | ||
| DE3717871A DE3717871C3 (en) | 1987-05-27 | 1987-05-27 | Method and device for reproducible visual representation of a surgical intervention |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA0616958A Division CA1336923E (en) | 1987-05-21 | 1995-01-10 | Procedure and Apparatus for the Reproducible Representation of a Surgical Operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1325850C true CA1325850C (en) | 1994-01-04 |
Family
ID=6328534
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000567895A Expired - Lifetime CA1325850C (en) | 1987-05-27 | 1988-05-27 | Procedure and an apparatus for the reproducible representation of a surgical operation |
| CA0616958A Expired - Fee Related CA1336923E (en) | 1987-05-21 | 1995-01-10 | Procedure and Apparatus for the Reproducible Representation of a Surgical Operation |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA0616958A Expired - Fee Related CA1336923E (en) | 1987-05-21 | 1995-01-10 | Procedure and Apparatus for the Reproducible Representation of a Surgical Operation |
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| US (1) | US5494034A (en) |
| JP (1) | JPH02503519A (en) |
| KR (1) | KR970001431B1 (en) |
| CA (2) | CA1325850C (en) |
| DE (1) | DE3884800D1 (en) |
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-
1988
- 1988-05-21 DE DE88904956T patent/DE3884800D1/en not_active Expired - Lifetime
- 1988-05-21 JP JP88504700A patent/JPH02503519A/en active Pending
- 1988-05-21 KR KR1019890700101A patent/KR970001431B1/en not_active IP Right Cessation
- 1988-05-27 CA CA000567895A patent/CA1325850C/en not_active Expired - Lifetime
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1994
- 1994-06-15 US US08/260,010 patent/US5494034A/en not_active Expired - Lifetime
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| CA1336923E (en) | 1995-09-05 |
| DE3884800D1 (en) | 1993-11-11 |
| KR970001431B1 (en) | 1997-02-06 |
| JPH02503519A (en) | 1990-10-25 |
| KR890701064A (en) | 1989-12-19 |
| US5494034A (en) | 1996-02-27 |
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