Device For Navigating A Medical Instrument Relative To A Patient Anatomy

Abstract

The present invention relates to a device for navigating a medical instrument relative to a patient anatomy, a method for navigating a medical instrument relative to a patient anatomy, and a program element which, when executed by a computer, executes this method. The device comprises a position determination unit, a computing unit and a navigation display. The position determination unit comprises a sensor module configured to acquire current 3D data of the patient anatomy. The position determination unit further comprises a position sensor which is configured to acquire current movement data of the medical instrument. The computing unit is configured to match the current 3D data of the patient anatomy and the current movement data of the medical instrument with preoperative image data of the patient anatomy and, on this basis, to calculate navigation information for the medical instrument. The navigation display is configured to show the calculated navigation information.

Claims

1. A device for navigating a medical instrument relative to a patient anatomy, comprising: a position determination unit, a computing unit, and a navigation display, wherein the position determination unit comprises a sensor module which is configured to acquire current 3D data of the patient anatomy, wherein the position determination unit further comprises a position sensor which is configured to acquire current movement data of the medical instrument, wherein the computing unit is configured to match the current 3D data of the patient anatomy and the current movement data of the medical instrument with preoperative image data of the patient anatomy and, on this basis, to calculate navigation information for the medical instrument, and wherein the navigation display is configured to show the calculated navigation information.

2. The device of claim 1, further comprising the medical instrument, wherein the position determination unit, the computing unit or the navigation display is integrated in the medical instrument.

3. The device as claimed in claim 1, further comprising the medical instrument, wherein the position determination unit, the computing unit or the navigation display is releasably attached to the medical instrument with the aid of an adapter.

4. The device as claimed in claim 1, wherein the device comprises the medical instrument and has a cylindrical or rod-like shape with a rear end to be directed toward a user, and the navigation display is arranged at the rear end of the device.

5. The device as claimed in claim 1, wherein the navigation display is configured to display an indication of the acquisition of the current 3D data of the patient anatomy, an indication of the three-dimensional orientation or positioning of the medical instrument relative to the patient anatomy, or an indication of the working orientation or positioning of the medical instrument relative to the patient anatomy, or an indication of the work progress.

6. The device as claimed in claim 1, wherein the indications are displayed on the navigation display (14) in the form of graphic patterns, preferably without image data of the patient anatomy (1).

7. The device as claimed in claim 1, wherein the device is portable and comprises the medical instrument, and the medical instrument is configured to be held in a human hand.

8. The device as claimed in claim 1, wherein the navigation display is a projection which is projected by a projection unit onto the patient anatomy or onto a plane lying between operating surgeon and patient or is displayed thereby.

9. A method for navigating a medical instrument relative to a patient anatomy, comprising the following steps: acquiring current 3D data of the patient anatomy with the aid of a position determination unit, acquiring current movement data of the medical instrument with the aid of the position determination unit, matching the current 3D data of the patient anatomy and the current movement data of the medical instrument with preoperative data of the patient anatomy and, on this basis, calculating navigation information for the medical instrument with the aid of a computing unit, and displaying the calculated navigation information with the aid of a navigation display.

10. A non-transitory program element which, when executed by a computer, executes the following steps for navigating a medical instrument relative to a patient anatomy, comprising: acquiring current 3D data of the patient anatomy with the aid of a position determination unit, acquiring current movement data of the medical instrument with the aid of the position determination unit, matching the current 3D data of the patient anatomy and the current movement data of the medical instrument with preoperative data of the patient anatomy and, on this basis, calculating navigation information for the medical instrument with the aid of a computing unit, and displaying the calculated navigation information with the aid of a navigation display.

Description

BRIEF DESCRIPTION OF THE FIGURES

[0039] FIG. 1 shows a device for navigating a medical instrument relative to a patient anatomy, according to one embodiment of the invention.

[0040] FIGS. 2a-2d show a medical instrument with an integrated position determination unit, computing unit and navigation display, according to one embodiment of the invention.

[0041] FIGS. 3a-3c show representations of navigation information on a navigation display, according to one embodiment of the invention.

[0042] FIGS. 4a-4d show a medical instrument with a releasably attached position determination unit and navigation display, according to a further embodiment of the invention.

DETAILED DESCRIPTION OF THE EXEMPLARY EMBODIMENTS

[0043] FIG. 1 shows a device 12 for navigating a medical instrument 3 relative to a patient anatomy 1. The medical instrument 3 can be portable and can be either a surgical tool, an assistive instrument or an implant. Thus, the medical instrument 3 can be held in a human hand or mounted on a robotic arm.

[0044] The device 12 comprises a position determination unit 4, a computing unit 16 and a navigation display 14. The position determination unit 4 comprises a sensor module 5 which is configured to acquire current 3D data of the patient anatomy 1. The sensor module 5 can comprise at least one sensor which is suitable for acquisition of current or real-time 3D data of the patient anatomy, e.g. optical, magnetic field or ultrasonic sensors.

[0045] The position determination unit 4 further comprises a position sensor 9 which is configured to acquire current movement data and/or alignment data of the medical instrument 3. The position sensor 9 can be a speed or location sensor, for example. The computing unit 16 is configured to match the current 3D data of the patient anatomy 1 and the current movement data of the medical instrument 3 with preoperative image data of the patient anatomy 1 and, on this basis, to calculate navigation information for the medical instrument 3, for example a site of use T.

[0046] The navigation display 14 is configured to display the calculated navigation information. Patient information, registration accuracy, operation planning data, preoperative patient image data, for example from ultrasound, X-ray, computed tomography or magnetic resonance tomography, and, if necessary, the navigation information can be displayed on an external screen output 15.

[0047] The user can interact with the device via an analog or digital input interface on the medical instrument 3, on the navigation display 14 or also on the external computing unit 16 or the external screen output 15.

[0048] FIGS. 2a to 2d show a medical instrument 3 with an integrated position determination unit 4, computing unit 13 and navigation display 14, according to one embodiment of the invention. The medical instrument 3 can have a cylindrical or rod-like shape with a rear end 3a to be directed toward a user, or a pistol-like shape with a pistol barrel 3a and a pistol grip 3b.

[0049] The sensor module 5 is mounted on the pistol barrel 3a and comprises two optical sensors 6, 7 and a projection source 8, which are configured to create a three-dimensional surface structure of the patient anatomy. Furthermore, the position sensor 9 is integrated in the pistol barrel 3a, and the computing unit 13 is integrated in the pistol grip 3b. As an alternative, the position sensor 9 and the computing unit 13 can be integrated together in the pistol barrel 3a or in the pistol grip 3b.

[0050] On the basis of the received current 3D data of the patient anatomy 1 and the current movement data of the medical instrument 3, the computing unit 13 supplies an indication of the position of the medical instrument in relation to the patient. This navigation information can then be output via the navigation display 14, which is integrated at the rear end of the pistol barrel 3a to be directed toward the user.

[0051] The navigation information can comprise indications of the acquisition of the current 3D data of the patient anatomy 1, indications of the three-dimensional orientation and/or positioning of the medical instrument 3 relative to the patient anatomy 1, and/or indications of the work orientation and/or positioning of the medical instrument 3 relative to the patient anatomy 1, and/or indications of the work progress.

[0052] As is shown in FIGS. 3a to 3c, the indications can be viewed in the form of graphic patterns, preferably without image data of the patient anatomy, on the navigation display 14. In particular, FIG. 3a shows a representation of a site of use of the medical instrument 3, shown in the form of a crosshair. FIG. 3b shows a representation of an angle of use of the medical instrument 3, shown in the form of an arc of a circle. FIG. 3c shows a representation of a depth of use of the medical instrument 3, shown in the form of a target. Furthermore, the navigation display can, for example, use different colors to illustrate target accuracy and/or handling instructions.

[0053] In this way, it is possible to do without an external computing unit or an external screen output, with the result that the medical instrument 3, in addition to its original function, becomes a fully functional navigation system that is transportable and freely movable.

[0054] FIGS. 4a to 4d show a medical instrument 3 on which the position determination unit 4 and the navigation display 14 can be releasably attached with the aid of an adapter 18. The adapter 18 has a housing 17 and a connection mechanism 19. At least one of position determination unit 4, computing unit 13 and navigation display 14 can be arranged in the housing 17, and the housing 17 can be releasably attached to the medical instrument 3 with the aid of the connection mechanism 19, for example a clamp connection. Preferably, at least the position determination unit 4 and the navigation display 14 are arranged in the housing 17, with the navigation display 14 being able to be directed toward the user. The current sensor data acquired from the position determination unit 4 can be transmitted to the external computing unit 16 via a cable 10 or a wireless connection 11, e.g. WLAN or Bluetooth. The processed navigation information can be presented via the navigation display 14, optionally also the external screen output 15.

[0055] It should be noted that “comprising” and “having” do not exclude other elements or steps. It should further be noted that features or steps that have been described with reference to one of the above exemplary embodiments can also be used in combination with other features or steps of other exemplary embodiments described above. Reference signs in the claims are not to be regarded as restrictive.