U.S. patent application number 16/395986 was filed with the patent office on 2020-07-30 for surgical instrument with led lighting and absolute orientation.
The applicant listed for this patent is Prichard Medical, LLC. Invention is credited to Joseph Prichard Drain.
Application Number | 20200237446 16/395986 |
Document ID | 20200237446 / US20200237446 |
Family ID | 1000004069521 |
Filed Date | 2020-07-30 |
Patent Application | download [pdf] |
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United States Patent
Application |
20200237446 |
Kind Code |
A1 |
Drain; Joseph Prichard |
July 30, 2020 |
SURGICAL INSTRUMENT WITH LED LIGHTING AND ABSOLUTE ORIENTATION
Abstract
A surgical instrument having a position sensor that may be
detachable, disposable, partially isolated from movement of the
main body of the surgical instrument, and/or configured to display
feedback lighting. The orientation of the surgical instrument may
be mimicked either virtually or by a mechanical device with a
second surgical instrument. The instruments of the present
disclosure may be used in any procedure or treatment that would
benefit from position feedback for the instruments.
Inventors: |
Drain; Joseph Prichard;
(Rocky River, OH) |
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Applicant: |
Name |
City |
State |
Country |
Type |
Prichard Medical, LLC |
Rocky River |
OH |
US |
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Family ID: |
1000004069521 |
Appl. No.: |
16/395986 |
Filed: |
April 26, 2019 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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15619747 |
Jun 12, 2017 |
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16395986 |
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62413355 |
Oct 26, 2016 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 34/20 20160201;
A61B 90/30 20160201; A61B 2034/2051 20160201; A61B 17/16 20130101;
A61B 2090/309 20160201; A61B 2034/2048 20160201 |
International
Class: |
A61B 34/20 20060101
A61B034/20; A61B 17/16 20060101 A61B017/16; A61B 90/30 20060101
A61B090/30 |
Claims
1. A surgical instrument comprising: an instrument body; an
absolute orientation sensor including an absolute orientation
sensing component, wherein the absolute orientation sensor is
configured to be attached to the instrument body such that when the
absolute orientation sensor is attached to the instrument body the
absolute orientation sensing component would be at least partially
fixed relative to the instrument body, and wherein when the
absolute orientation sensing component is at least partially fixed
relative to the instrument body the absolute orientation sensing
component would be operable to detect a plurality of orientation
data associated with at least one orientation condition of the
surgical instrument relative to the Earth's magnetic field without
requiring calibration by a separate arbitrary reference plane;
wherein the absolute orientation sensor is at least partially
detachable from the instrument body such that the absolute
orientation sensing component is removable from the instrument
body, whereby when the absolute orientation sensing component is
removed the absolute orientation sensing component would not be
operable to detect the plurality of orientation data associated
with the at least one orientation condition of the surgical
instrument.
2. The surgical instrument of claim 1, wherein the absolute
orientation sensing component is configured to be removable from
the instrument body by hand.
3. The surgical instrument of claim 1, wherein the absolute
orientation sensor is configured to slide onto and off of the
instrument body such that the absolute orientation sensing
component is removable from the instrument body.
4. The surgical instrument of claim 3, wherein the absolute
orientation sensor includes a sleeve that is configured to slide
onto and off of a shaft of the instrument body such that the
absolute orientation sensing component is removable from the
instrument body.
5. The surgical instrument of claim 1, wherein the absolute
orientation sensor includes: a sensor case that is configured to
receive the absolute orientation sensing component and at least
partially fix the absolute orientation sensing component relative
to the instrument body.
6. The surgical instrument of claim 5, wherein the sensor case has
an open position and a closed position, wherein when the sensor
case is in the closed position an interior of the sensor case is
hermetically sealed from the atmosphere; and wherein when the
sensor case is in the open position the interior is configured to
receive the absolute orientation sensing component such that the
absolute orientation sensing component can be retained within the
interior when the sensor case is in the closed position.
7. The surgical instrument of claim 1, further including: a device
processor operable for controlling one or more components of the
surgical instrument.
8. The surgical instrument of claim 7, wherein the absolute
orientation sensor is operatively coupled to the device processor
and controlled in part by the device processor, wherein the
absolute orientation sensing component comprises an accelerometer,
gyroscope, and magnetometer, wherein the absolute orientation
sensing component is operable to generate a plurality of
orientation status data on at least a portion of the plurality of
detected orientation data.
9. The surgical instrument of claim 7, further including: at least
one power source operatively coupled to the absolute orientation
sensing component, wherein the at least one power source is
operable to generate a supply of power for operation of the device
processor and the absolute orientation sensing component.
10. The surgical instrument of claim 1 in combination with a
hermetically sealed enclosure, wherein the surgical instrument is
enclosed within the hermetically sealed enclosure.
11. A surgical instrument comprising: an instrument body; an
absolute orientation sensor including an absolute orientation
sensing component, wherein the absolute orientation sensor is
configured to be attached to the instrument body such that when the
absolute orientation sensor is attached to the instrument body the
absolute orientation sensing component would be partially fixed
relative to the instrument body, and wherein when the absolute
orientation sensing component is at least partially fixed relative
to the instrument body the absolute orientation sensing component
would be operable to detect a plurality of orientation data
associated with at least one orientation condition of the surgical
instrument relative to the Earth's magnetic field without requiring
calibration by a separate arbitrary reference plane; wherein the
absolute orientation sensor is configured to partially isolate
movement of the instrument body from absolute orientation sensing
component when the absolute orientation sensor is attached to the
instrument body, whereby when the absolute orientation sensing
component is partially fixed relative to the instrument body the
instrument body would be partially movable relative to the absolute
orientation sensing component.
12. The surgical instrument of claim 11, wherein the instrument
body is rotatable relative to the absolute orientation sensing
component when the absolute orientation sensor is attached to the
instrument body.
13. The surgical instrument of claim 11, wherein the absolute
orientation sensor includes a ratchet that is configured to allow
the instrument body to move relative to the absolute orientation
sensing component in a first direction and configured to not allow
the absolute orientation sensor component to move in a second
direction opposite the first direction.
14. The surgical instrument of claim 13, wherein the absolute
orientation sensor includes a ratchet that is configured to allow
the instrument body to rotate relative to the absolute orientation
sensing component in the first direction and configured to not
allow the absolute orientation sensor component to move in the
second direction.
15. The surgical instrument of claim 11, further comprising: a
display operatively coupled to the device processor, wherein the
display is operable to display at least a portion of the plurality
of generated orientation status data thereon, and wherein the
display is configured to be partially fixed relative to the
instrument body, whereby when the display is partially fixed
relative to the instrument body the instrument body would be
partially movable relative to the display.
16. A surgical instrument comprising: a device processor operable
for controlling one or more components of the surgical instrument;
at least one light source operatively coupled to the device
processor and controlled in part by the device processor, wherein
the device processor is configured to operate the light source
based on the orientation of the surgical instrument.
17. The surgical instrument of claim 16, wherein the device
processor is configured to activate one or more light sources of
the at least one light source based on the orientation of the
surgical instrument relative to a predetermined orientation.
18. The surgical instrument of claim 17, wherein the device
processor is configured to activate one or more light sources of
the at least one light source when the surgical instrumented is
oriented in a predetermined orientation.
19. The surgical instrument of claim 18, wherein the predetermined
orientation is within a predetermined threshold of a reference
orientation.
20. The surgical instrument of claim 16, wherein the device
processor is configured to change the color of the light output by
the at least one light source based on the orientation of the
surgical instrument relative to a predetermined orientation.
21. The surgical instrument of claim 16, wherein the device
processor is configured to operate the least one light source based
on the orientation of the surgical instrument relative to a
predetermined orientation relative to a patient.
Description
RELATED APPLICATIONS
[0001] This application is a continuation-in-part of U.S.
Non-Provisional application Ser. No. 15/619,747, which claims the
benefit of U.S. Provisional Application No. 62/413,355 filed on
Oct. 26, 2016, the contents of both of which are incorporated
herein by reference in their entirety.
FIELD OF INVENTION
[0002] The disclosure relates generally to surgical and medical
instruments. More particularly, this disclosure relates to surgical
and medical instruments having high intensity lighting and absolute
orientation sensors. The instruments of the present disclosure may
be used in any suitable procedure or treatment which would benefit
from high intensity lighting of the area to be treated or of
interest, as well as knowing the orientation of such instrument in
three-dimensional space. While reference is made herein to surgical
instruments in particular, it should be understood that this
disclosure is directed to medical, dental, or other instruments
used in the treatment of humans or animals requiring lighting and
absolute orientation knowledge.
BACKGROUND
[0003] Adequate lighting of an area to be treated is of great
importance for any surgical or medical procedure. Operating room
lighting may allow a surgeon to have an improved view of the
surgical field. In this regard, lighting arrays may be provided in
operating rooms or outpatient clinics to assist in illuminating the
surgical field. Alternatively, bulky fiber-optic cable can also be
used to illuminate the surgical field by being placed in or near
the surgical field. Additional light emitters, such as headlamps
and the like, worn by medical personnel may also be employed.
However, in all these instances the light emitter is generally
provided some distance away from the surgical instrument, and/or
away from the surgical field, and/or in an orientation not
conducive to illuminating critical portions of the surgical
instrument or the surgical area. As such, the surgical instrument
and light emitters are separated and shadows may be cast on the
surgical field by the user, the electrosurgical instrument, or
other obstructions (e.g., table drapes, other devices utilized
during surgery, user's hand, etc.).
[0004] In addition, determining the optimal or desired alignment
and/or orientation of surgical or medical instruments, such as for
the proper placement of implants into the body, and maintaining
such alignment and/or orientation as required for the selected
procedure has long been a challenge. The surgeon must be provided
with efficient and reliable feedback as to the orientation of the
instrument in three-dimensional space with respect to the patient's
body or treatment area in order to quickly and accurately correct
any errors or issues with the orientation. Failure to do so may
cause damage to the patient. Orientation data can be exploited in
multiple settings, several of which occur in the operating room:
hand-held, powered, or robotic surgical instruments all stand to
benefit from real-time calculation of their precise orientation,
location, as well as their linear and angular acceleration and
velocity.
[0005] As example of this application outside of the operating
room, doctors regularly perform a biopsy procedure involving the
insertion of a biopsy needle into an object to be examined (e.g., a
living body such as a human body) and extracting a tissue sample
from a biopsy region in the object. Generally, in order to reduce
the physical burden on patient, it is desirable to insert the
biopsy needle near the biopsy region to reliably and accurately
extract a tissue sample from the biopsy region. Accordingly, it has
been customary in a biopsy to carry out a stereoscopic image
capturing process in which radiation is applied to an object to be
examined, and a stereoscopic image of the object is acquired, and
then to calculate a three-dimensional position of the biopsy region
from the stereoscopic image, before the biopsy procedure
begins.
[0006] However, even if the three-dimensional position of the
biopsy region is accurately mapped in advance of the procedure, it
is possible that the needle may deviate from the desired puncture
path (e.g., an interference with a blood vessel in the object). As
a result, the inserted biopsy needle does not follow the desired
puncture path, and then the positional relationship, i.e., distance
and direction relationship, between the biopsy region from which a
tissue sample is to be extracted and the opening of the biopsy
needle. To solve the problem, there have been proposed various
technologies for aspirating and sampling an appropriate amount of
tissue from a biopsy region through a biopsy needle without the
need for inserting the biopsy needle again. This is just another
manner in which this technology can be deployed in the medical
setting.
[0007] There is a need for surgical and medical instruments to
include a high intensity light source and/or absolute orientation
sensors to improve the effectiveness of such instruments
SUMMARY
[0008] The following presents a simplified overview of the example
embodiments in order to provide a basic understanding of some
aspects of the example embodiments. This overview is not an
extensive overview of the example embodiments. It is intended to
neither identify key or critical elements of the example
embodiments nor delineate the scope of the appended claims. Its
sole purpose is to present some concepts of the example embodiments
in a simplified form as a prelude to the more detailed description
that is presented later.
[0009] In accordance with embodiments herein, the present
disclosure is directed to surgical and medical instruments and
devices having absolute orientation sensors and/or high intensity
lighting. The instruments of the present disclosure may be used in
any suitable procedure or treatment which would benefit from
knowing the orientation of the surgical instrument or high
intensity lighting of the area to be treated or of interest. While
reference is made herein to surgical instruments in particular, it
should be understood that this disclosure is directed to medical,
dental, or other instruments used in the treatment of humans or
animals requiring lighting and absolute orientation. Absolute
orientation means that the absolute orientation sensors may not
require calibration against a known point or plane in order to
provide orientation related information. The absolute orientation
sensor may comprise an accelerometer, gyroscope, and magnetometer,
and may be able to generate an absolute orientation by using the
Earth itself as a reference point or plane, by sensing the Earth's
magnetic field, and by extension, the Earth's magnetic core, rather
than an arbitrarily determined point or plane.
[0010] According to one aspect of the invention, a surgical
instrument comprises an instrument body, an absolute orientation
sensor including an absolute orientation sensing component, the
absolute orientation sensor being configured to be attached to the
instrument body such that when the absolute orientation sensor is
attached to the instrument body the absolute orientation sensing
component would be at least partially fixed relative to the
instrument body. When the absolute orientation sensing component is
at least partially fixed relative to the instrument body the
absolute orientation sensing component would be operable to detect
a plurality of orientation data associated with at least one
orientation condition of the surgical instrument relative to the
Earth's magnetic field without requiring calibration by a separate
arbitrary reference plane, the absolute orientation sensor being at
least partially detachable from the instrument body such that the
absolute orientation sensing component is removable from the
instrument body, where when the absolute orientation sensing
component is removed the absolute orientation sensing component
would not be operable to detect the plurality of orientation data
associated with the at least one orientation condition of the
surgical instrument.
[0011] According to another aspect of the invention, a surgical
instrument comprises an instrument body, an absolute orientation
sensor including an absolute orientation sensing component, the
absolute orientation sensor being configured to be attached to the
instrument body such that when the absolute orientation sensor is
attached to the instrument body the absolute orientation sensing
component would be partially fixed relative to the instrument body.
When the absolute orientation sensing component is at least
partially fixed relative to the instrument body the absolute
orientation sensing component would be operable to detect a
plurality of orientation data associated with at least one
orientation condition of the surgical instrument relative to the
Earth's magnetic field without requiring calibration by a separate
arbitrary reference plane, the absolute orientation sensor being
configured to partially isolate movement of the instrument body
from absolute orientation sensing component when the absolute
orientation sensor is attached to the instrument body, where when
the absolute orientation sensing component is partially fixed
relative to the instrument body the instrument body would be
partially movable relative to the absolute orientation sensing
component.
[0012] According to another aspect of the invention, a surgical
instrument comprises a device processor operable for controlling
one or more components of the surgical instrument, at least one
light source operatively coupled to the device processor and
controlled in part by the device processor, the device processor
being configured to operate the light source based on the
orientation of the surgical instrument.
[0013] Features of any of the above aspects may be combined with
one another. For example, a surgical instrument may include a
detachable absolute orientation sensor that is partially fixable
relative to an instrument body and the surgical instrument may
provide feedback (e.g., light feedback) based on the orientation
sensed by the absolute orientation sensor.
[0014] One embodiment may be a surgical instrument comprising: a
device processor operable for controlling one or more components of
the surgical instrument; an absolute orientation sensing component
operatively coupled to the device processor and controlled in part
by the device processor, wherein the absolute orientation sensing
component may comprise an accelerometer, gyroscope, and
magnetometer, wherein the absolute orientation sensing component
may be operable to detect a plurality of orientation data
associated with at least one orientation condition of the surgical
instrument relative to the Earth's magnetic field without requiring
calibration by a separate arbitrary reference plane, and generate a
plurality of orientation status data on at least a portion of the
plurality of detected orientation data; and at least one power
source operatively coupled to the absolute orientation sensing
component, wherein the at least one power source may be operable to
generate a supply of power for operation of the device processor
and the absolute orientation sensing component. The surgical
instrument may further comprise a display operatively coupled to
the device processor, wherein the display may be operable to
display at least a portion of the plurality of generated
orientation status data thereon. The plurality of orientation data
may comprise at least one from the group consisting of a location
data, pitch data, roll data, and yaw data. The location data may
comprise x, y, and z coordinate values. The plurality of
orientation data may further comprise at least one selected from
the group consisting of angular velocity data, acceleration data,
magnetic field strength data, linear acceleration data, gravity
data, and temperature data. The surgical instrument may further
comprise an input/output device operably coupled to the device
processor and controlled in part by the device processor; wherein
the input/out device may be operable to transmit at least a portion
of the plurality of generated orientation status data to a remote
device. The surgical instrument may further comprise an audio
component operatively coupled to the device processor and
controlled in part by the device processor, wherein the device
processor may be further operable to generate at least one audio
response based in response to at least a portion of the plurality
of generated orientation status data for output by the audio
component. The surgical instrument may further comprise at least
one light source operatively coupled to the device processor and
controlled in part by the device processor, wherein the at least
one light source may be located on the surgical instrument such
that the at least one light source may be operable to direct light
towards a specified area on an associated patient. The at least one
light source may be a high lumen light source. The at least one
light source may be a light emitting diode, compact fluorescent,
incandescent, fluorescent, or halogen bulb. The device processor
may be operable to activate the at least one light source when the
surgical device is in use. The surgical instrument may be drills,
drivers, saws, wire insertion devices, burr, awls, scalpels,
suction, retraction devices, mallets, biopsy needles, unpowered
drills, unpowered drivers, unpowered saws, unpowered wire
inserters, and unpowered burrs. Additionally, the surgical
instrument may be a robotic surgical device, such as robotic arms
or other assisted medical devices which provide a user or robot
with real-time orientation data.
[0015] Another embodiment may be a surgical instrument comprising a
device processor operable for controlling one or more components of
the surgical instrument; an absolute orientation sensing component
operatively coupled to the device processor and controlled in part
by the device processor, wherein the absolute orientation sensing
component may comprise an accelerometer, gyroscope, and
magnetometer, wherein the absolute orientation sensing component
may be operable to detect a plurality of orientation data
associated with at least one orientation condition of the surgical
instrument relative to the Earth's magnetic field without requiring
calibration by a separate arbitrary reference plane, and generate a
plurality of orientation status data on at least a portion of the
plurality of detected orientation data; at least one power source
operatively coupled to the absolute orientation sensing component,
wherein the at least one power source may be operable to generate a
supply of power for operation of the device processor and the
absolute orientation sensing component; and an audio component
operatively coupled to the device processor and controlled in part
by the device processor, wherein the device processor may be
further operable to generate at least one audio response based in
response to at least a portion of the plurality of generated
orientation status data for output by the audio component; wherein
the plurality of orientation data may comprise at least one from
the group consisting of a location data, pitch data, roll data, and
yaw data, angular velocity data, acceleration data, magnetic field
strength data, linear acceleration data, gravity data, and
temperature data; and wherein the location data may comprise x, y,
and z coordinate values. The surgical instrument may further
comprise an input/output device operably coupled to the device
processor and controlled in part by the device processor; wherein
the input/out device may be operable to transmit at least a portion
of the plurality of generated orientation status data to a remote
device. The surgical instrument may further comprise a display
operatively coupled to the device processor, wherein the display
may be operable to display at least a portion of the plurality of
generated orientation status data thereon. The surgical instrument
may further comprise at least one light source operatively coupled
to the device processor and controlled in part by the device
processor, wherein the at least one light source may be located on
the surgical instrument such that the at least one light source may
be operable to direct light towards a specified area on an
associated patient; wherein the light source may be a high lumen
light source; wherein the light source may be a light emitting
diode, compact fluorescent, incandescent, fluorescent, or halogen
bulb; wherein the device processor may be operable to activate the
light source when the surgical device may be in use.
[0016] Another embodiment of the surgical instrument may comprise:
a device processor operable for controlling one or more components
of the surgical instrument; at least one light source operatively
coupled to the device processor and controlled in part by the
device processor, wherein the at least one light source may be
located on the surgical instrument such that the at least one light
source may be operable to direct light towards a specified area on
an associated patient; wherein the light source may be a high lumen
light source; wherein the light source may be a light emitting
diode, compact fluorescent, incandescent, fluorescent, or halogen
bulb; wherein the device processor may be operable to activate the
light source when the surgical device may be in use; and at least
one power source operatively coupled to the light source, wherein
the at least one power source may be operable to generate a supply
of power for operation of the device processor and the light
source. The surgical instrument may further comprise an absolute
orientation sensing component operatively coupled to the device
processor and controlled in part by the device processor, wherein
the absolute orientation sensing component may comprise an
accelerometer, gyroscope, and magnetometer, wherein the absolute
orientation sensing component may be operable to detect a plurality
of orientation data associated with at least one orientation
condition of the surgical instrument relative to the Earth's
magnetic field without requiring calibration by a separate
arbitrary reference plane, and generate a plurality of orientation
status data on at least a portion of the plurality of detected
orientation data; and further comprising an audio component
operatively coupled to the device processor and controlled in part
by the device processor, wherein the device processor may be
further operable to generate at least one audio response based in
response to at least a portion of the plurality of generated
orientation status data for output by the audio component; wherein
the plurality of orientation data may comprise at least one from
the group consisting of a location data, pitch data, roll data, and
yaw data, angular velocity data, acceleration data, magnetic field
strength data, linear acceleration data, gravity data, and
temperature data; and wherein the location data may comprise x, y,
and z coordinate values. The surgical instrument may further
comprise an input/output device operably coupled to the device
processor and controlled in part by the device processor; wherein
the input/out device may be operable to transmit at least a portion
of the plurality of generated orientation status data to a remote
device. The surgical instrument may further comprise a display
operatively coupled to the device processor, wherein the display
may be operable to display at least a portion of the plurality of
generated orientation status data thereon.
[0017] Still other advantages, aspects and features of the subject
disclosure will become readily apparent to those skilled in the art
from the following description wherein there is shown and described
a preferred embodiment of the present disclosure, simply by way of
illustration of one of the best modes best suited to carry out the
subject disclosure As it will be realized, the present disclosure
is capable of other different embodiments and its several details
are capable of modifications in various obvious aspects all without
departing from the scope herein. Accordingly, the drawings and
descriptions will be regarded as illustrative in nature and not as
restrictive.
BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The drawings are of illustrative embodiments. They do not
illustrate all embodiments. Other embodiments may be used in
addition or instead. Details which may be apparent or unnecessary
may be omitted to save space or for more effective illustration.
Some embodiments may be practiced with additional components or
steps and/or without all of the components or steps which are
illustrated. When the same numeral appears in different drawings,
it refers to the same or like components or steps.
[0019] FIG. 1 is a block diagram of a surgical instrument.
[0020] FIG. 2 is a perspective illustration of one embodiment of a
surgical instrument that is a surgical awl according to the present
disclosure.
[0021] FIG. 3 is a side plan illustration of one embodiment of a
surgical instrument that is a surgical awl according to the present
disclosure.
[0022] FIG. 4 is a front perspective illustration of an alternative
embodiment of a surgical instrument that is a surgical awl
according to the present disclosure.
[0023] FIG. 5 is a rear perspective illustration of an alternative
embodiment of a surgical instrument that is a surgical awl
according to the present disclosure.
[0024] FIG. 6 is a side perspective illustration of an embodiment
of a surgical instrument that is a surgical drill according to the
present disclosure.
[0025] FIG. 7 is a front perspective illustration of an embodiment
of a surgical instrument that is a surgical drill according to the
present disclosure.
[0026] FIG. 8 is an illustration of one embodiment of a surgical
instrument that is a biopsy needle according to the present
disclosure.
[0027] FIG. 9 is an illustration of one embodiment of an absolute
orientation sensor and display.
[0028] FIG. 10 is an illustration of one embodiment of a surgical
instrument that is a robotic arm according to the present
disclosure.
[0029] FIG. 11 is a front illustration of another embodiment of a
surgical instrument enclosed within hermetically sealed
packaging.
[0030] FIG. 12 is a front perspective illustration of another
embodiment of a surgical instrument with a detachable absolute
orientation sensor that is able to attach to an instrument body of
the surgical instrument.
[0031] FIG. 13 is a front perspective illustration of the surgical
instrument of FIG. 12 with the absolute orientation sensor
attached.
[0032] FIG. 14 is a front perspective illustration of the surgical
instrument of FIG. 12 with the absolute orientation sensor
detached.
[0033] FIG. 15 is a front illustration of another embodiment of an
absolute orientation sensor and an introducing tool configured to
grip an absolute orientation sensor component and insert the
absolute orientation sensor component into a sensor case of the
absolute orientation sensor.
[0034] FIG. 16 is a front perspective illustration of the absolute
orientation sensor and introducing tool of FIG. 15, the absolute
orientation sensor being in an open position.
[0035] FIG. 17 is a front perspective illustration of another
embodiment of a surgical instrument attached to the absolute
orientation sensor of FIG. 16, the absolute orientation sensor
being in a closed position.
[0036] FIG. 18 is a front perspective illustration of another
embodiment of an absolute orientation sensor that includes a handle
and a movable display.
[0037] FIG. 19 is a front perspective illustration of the absolute
orientation sensor of FIG. 18 with the display rotated relative to
a handle.
[0038] FIG. 20 is a front perspective illustration of the absolute
orientation sensor of FIG. 18 in combination with an awl.
[0039] FIG. 21 is a front perspective illustration of the absolute
orientation sensor of FIG. 20 in combination with a tap.
[0040] FIG. 22 is a front perspective illustration of the absolute
orientation sensor of FIG. 21 in combination with a
screwdriver.
[0041] FIG. 23 is a front perspective illustration of another
embodiment of a surgical instrument that is rotatably attached to
another embodiment of an absolute orientation sensor.
[0042] FIG. 24 is a front cross-sectional illustration of the
absolute orientation sensor of FIG. 23 including a ratchet.
[0043] FIG. 25 is a front illustration of another embodiment of a
surgical instrument and a display mimicking the orientation of the
surgical instrument in real-time.
[0044] FIG. 26 is a front illustration of another embodiment of a
surgical instrument and a robotic arm configured to mimic the
orientation of the surgical instrument in real-time.
[0045] FIG. 27 is a front illustration of another embodiment of a
robotic arm that is configured to transmit the orientation feedback
of a surgical instrument and configured to receive a target
orientation.
[0046] FIG. 28 is a front illustration of the surgical instrument
of FIG. 27 in combination with an orientation input configured to
send a target orientation to a receiver operably coupled to the
surgical instrument.
[0047] FIG. 29 is a front perspective illustration of a patient
entering a computed tomography (CT) scanner.
[0048] FIG. 30 is a front illustration of a display showing a CT
scan of the patient of FIG. 29 and a target entry point and
orientation for a biopsy needle.
[0049] FIG. 31 is a front perspective illustration of the patient
of FIG. 29 and the biopsy needle of FIG. 11.
DETAILED DESCRIPTION
[0050] This description provides examples not intended to limit the
scope of the appended claims. The figures generally indicate the
features of the examples, where it is understood and appreciated
that like reference numerals are used to refer to like elements.
Reference in the specification to "one embodiment" or "an
embodiment" or "an example embodiment" means that a particular
feature, structure, or characteristic described is included in at
least one embodiment described herein and does not imply that the
feature, structure, or characteristic is present in all embodiments
described herein.
[0051] Before the present methods and systems are disclosed and
described, it is to be understood that the methods and systems are
not limited to specific methods, specific components, or to
particular implementations. It is also to be understood that the
terminology used herein is for the purpose of describing particular
embodiments only and is not intended to be limiting.
[0052] As used in the specification and the appended claims, the
singular forms "a," "an," and "the" include plural referents unless
the context clearly dictates otherwise. Ranges may be expressed
herein as from "about" one particular value, and/or to "about"
another particular value. When such a range is expressed, another
embodiment includes from the one particular value and/or to the
other particular value. Similarly, when values are expressed as
approximations, by use of the antecedent "about," it will be
understood that the particular value forms another embodiment. It
will be further understood that the endpoints of each of the ranges
are significant both in relation to the other endpoint, and
independently of the other endpoint.
[0053] "Optional" or "optionally" means that the subsequently
described event or circumstance may or may not occur, and that the
description includes instances where said event or circumstance
occurs and instances where it does not.
[0054] Throughout the description and claims of this specification,
the word "comprise" and variations of the word, such as
"comprising" and "comprises," means "including but not limited to,"
and is not intended to exclude, for example, other components,
integers or steps. "Exemplary" means "an example of" and is not
intended to convey an indication of a preferred or ideal
embodiment. "Such as" is not used in a restrictive sense, but for
explanatory purposes.
[0055] Disclosed are components that may be used to perform the
disclosed methods and systems. These and other components are
disclosed herein, and it is understood that when combinations,
subsets, interactions, groups, etc. of these components are
disclosed that while specific reference of each various individual
and collective combinations and permutation of these may not be
explicitly disclosed, each is specifically contemplated and
described herein, for all methods and systems. This applies to all
embodiments of this application including, but not limited to,
steps in disclosed methods. Thus, if there are a variety of
additional steps that may be performed it is understood that each
of these additional steps may be performed with any specific
embodiment or combination of embodiments of the disclosed
methods.
[0056] The present methods and systems may be understood more
readily by reference to the following detailed description of
preferred embodiments and the examples included therein and to the
Figures and their previous and following description.
[0057] As will be appreciated by one skilled in the art, the
methods and systems may take the form of an entirely hardware
embodiment, an entirely software embodiment, or an embodiment
combining software and hardware embodiments. Furthermore, the
methods and systems may take the form of a computer program product
on a computer-readable storage medium having computer-readable
program instructions (e.g., computer software) embodied in the
storage medium. More particularly, the present methods and systems
may take the form of web-implemented computer software. Any
suitable computer-readable storage medium may be utilized including
hard disks, CD-ROMs, optical storage devices, or magnetic storage
devices.
[0058] Embodiments of the methods and systems are described below
with reference to block diagrams and flowchart illustrations of
methods, systems, apparatuses and computer program products. It
will be understood that each block of the block diagrams and
flowchart illustrations, and combinations of blocks in the block
diagrams and flowchart illustrations, respectively, may be
implemented by computer program instructions. These computer
program instructions may be loaded onto a general-purpose computer,
special purpose computer, or other programmable data processing
apparatus to produce a machine, such that the instructions which
execute on the computer or other programmable data processing
apparatus create a means for implementing the functions specified
in the flowchart block or blocks.
[0059] These computer program instructions may also be stored in a
computer-readable memory that may direct a computer or other
programmable data processing apparatus to function in a particular
manner, such that the instructions stored in the computer-readable
memory produce an article of manufacture including
computer-readable instructions for implementing the function
specified in the flowchart block or blocks. The computer program
instructions may also be loaded onto a computer or other
programmable data processing apparatus to cause a series of
operational steps to be performed on the computer or other
programmable apparatus to produce a computer-implemented process
such that the instructions that execute on the computer or other
programmable apparatus provide steps for implementing the functions
specified in the flowchart block or blocks.
[0060] Accordingly, blocks of the block diagrams and flowchart
illustrations support combinations of means for performing the
specified functions, combinations of steps for performing the
specified functions and program instruction means for performing
the specified functions. It will also be understood that each block
of the block diagrams and flowchart illustrations, and combinations
of blocks in the block diagrams and flowchart illustrations, may be
implemented by special purpose hardware-based computer systems that
perform the specified functions or steps, or combinations of
special purpose hardware and computer instructions.
[0061] In the following description, certain terminology is used to
describe certain features of one or more embodiments. For purposes
of the specification, unless otherwise specified, the term
"substantially" refers to the complete or nearly complete extent or
degree of an action, characteristic, property, state, structure,
item, or result. For example, in one embodiment, an object that is
"substantially" located within a housing would mean that the object
is either completely within a housing or nearly completely within a
housing. The exact allowable degree of deviation from absolute
completeness may in some cases depend on the specific context.
However, generally speaking, the nearness of completion will be so
as to have the same overall result as if absolute and total
completion were obtained. The use of "substantially" is also
equally applicable when used in a negative connotation to refer to
the complete or near complete lack of an action, characteristic,
property, state, structure, item, or result.
[0062] As used herein, the terms "approximately" and "about"
generally refer to a deviance of within 5% of the indicated number
or range of numbers. In one embodiment, the term "approximately"
and "about", may refer to a deviance of between 0.001-10% from the
indicated number or range of numbers.
[0063] Various embodiments are now described with reference to the
drawings. In the following description, for purposes of
explanation, numerous specific details are set forth in order to
provide a thorough understanding of one or more embodiments. It may
be evident, however, that the various embodiments may be practiced
without these specific details. In other instances, well-known
structures and devices are shown in block diagram form to
facilitate describing these embodiments.
[0064] The absolute orientation sensor may comprise an
accelerometer, gyroscope, and magnetometer, and may be able to
generate an absolute orientation by using the Earth itself as a
reference point or plane, by sensing the Earth's magnetic field,
and by extension, the Earth's magnetic core, rather than an
arbitrarily determined point or plane. When the absolute
orientation sensor is connected to a surgical instrument the
orientation of the absolute orientation sensor may be extrapolated
to determine the orientation of the surgical instrument. This
orientation of the surgical instrument may be conveyed to a user
through display on a digital display that is located on the
surgical instrument, or the orientation information may be
transmitted to an external electronic device. The absolute
orientation sensor may be attachable to substantially any surgical
device. Additionally, the surgical instrument may have a high lumen
light source to assist a user in viewing a place of a body to be
operated upon.
[0065] The accompanying drawings incorporated herein and forming a
part of the specification illustrate the example embodiments.
[0066] FIG. 1 is a block diagram of a surgical instrument. As shown
in FIG. 1, the surgical instrument 1 may comprise an absolute
orientation sensor 30, accelerometer 35, gyroscope 40, magnetometer
45, device processor 50, power source 55, light source 60, display
70, input/output device 85, remote device 80, communication link
87, and audio device 95.
[0067] The accelerometer 35, gyroscope 40, and magnetometer 45 may
be components of the absolute orientation sensor 30. An
accelerometer measures linear acceleration, such that an
accelerometer at rest on the surface of the Earth measures a
positive acceleration of 9.81 m/s, and an accelerometer in free
fall towards the center of the Earth measures an acceleration of 0
m/s. A gyroscope, historically is a spinning wheel or disc in which
the axis of rotation is free to assume any orientation by itself
but in this instance a microelectrical mechanical system, is useful
for measuring or maintaining orientation, providing information
about angular acceleration, velocity, and position. The combination
of an accelerometer and a gyroscope are often included in inertial
navigation systems. A magnetometer is an instrument that measures
magnetism--either magnetization of magnetic material like a
ferromagnet, or the direction, strength, or the relative change of
a magnetic field at a particular location.
[0068] The power source 55 may provide power to the absolute
orientation sensor 30, device processor 50, light source 60,
display 70, input/output device 85, and audio device 95. The device
processor 50 may be operatively coupled to, and control, the
absolute orientation sensor 30, device processor 50, light source
60, display 70, input/output device 85, and audio device 95.
[0069] The device processor 50 may be, or may comprise, any
suitable microprocessor or microcontroller, for example, a
low-power application-specific controller (ASIC) and/or a field
programmable gate array (FPGA) designed or programmed specifically
for the task of controlling a device as described herein, or a
general purpose central processing unit (CPU), for example, one
based on 80.times.86 architecture as designed by Intel.TM. or
AMD.TM., or a system-on-a-chip as designed by ARM.TM.. The device
processor 50 may be coupled (e.g., communicatively, operatively,
etc.) to auxiliary devices or modules of the surgical instrument 1
using a bus or other coupling.
[0070] The absolute orientation sensor 30 may capture, in
real-time, various orientation variables of the surgical instrument
1, including location, pitch, roll, yaw angular acceleration,
velocity, and position; linear acceleration, velocity, and
position, as well as magnetic field strength, linear acceleration,
gravity, and/or temperature. Location may include x, y, and z
coordinate values, and other indicators of position in
three-dimensional space.
[0071] The absolute orientation sensor 30 may be configured to
generate orientation information that is particular to the tool
being used. For example, when the absolute orientation sensor 30 is
on the surgical instrument 1, particularly important orientation
information may include information relating to location, pitch,
roll, and yaw of the tip or active portion of the surgical
instrument 1, such as a drill portion of an awl, or other manual,
powered, hand held, robotic or other surgical device or tool. The
absolute orientation sensor 30 may also be calibrated such that the
orientation information generated by the absolute orientation
sensor 30 is directly readable on the tip or active portion of the
surgical instrument 1 by calculating the differences in orientation
of the absolute orientation sensor 30 and tip or active portion of
the surgical instrument 1 during a calibration step. Importantly,
while it may be recommended to calibrate the absolute orientation
sensor 30 relative to the tip or active portion of the surgical
instrument 1, it is not required that the absolute orientation
sensor 30 be calibrated against an arbitrary point or plane. The
combination of accelerometer 35, gyroscope 40, and magnetometer 45
allow the absolute orientation sensor 30 to self-calibrate by using
the Earth's magnetic field and/or the Earth's core as reference
points or planes. In one embodiment, the absolute orientation
sensor 30 may comprise a microelectricalmechanical system (MEMS)
multi-axis gyroscope, multi-axis accelerometer, and a multiaxial
geomagnetic sensor that is able to generate output information
comprising quaternion, Euler angles, rotation vector, linear
acceleration, gravity, and heading. A combination of multiaxis
gyroscope, multiaxis accelerometers, and multiaxis geomagnetic
sensors (magnetometer) may comprise an Inertial Measurement Unit
mode.
[0072] In one embodiment, the absolute orientation sensor 30 may
comprise an accelerometer 35 that outputs absolute orientation in
the "X", "Y", and "Z" axis as well as angular velocity,
acceleration, magnetic field strength, linear acceleration,
gravity, and temperature. "X" and "Y" orientation of the instrument
may output onto a display, providing the user an absolute value of
where the surgical instrument is held in space.
[0073] The addition of the gyroscope 40 may allow the absolute
orientation sensor 30 to measure tilt, rotation, and changes in
angular momentum. The addition of the magnetometer 45 allows for
the measurement of the magnetic field of the Earth and the Earth's
core. The combination of the accelerometer 35, gyroscope 40, and
magnetometer 45 allows the absolute orientation sensor 30 to
calibrate itself against a fixed point, the Earth's core, and
thereby be accurate regardless of where the absolute orientation
sensor 30 is in use.
[0074] This may allow the user to move the surgical instrument and
receive real time quantified feedback about the angle and
orientation of the surgical instrument. This may aid in surgical
instrument alignment and its use, in one instance the placement of
screws. The absolute orientation sensor 30 comprise any suitable
sensors and related components for determining orientation as is
known in the art. Examples include, but are not limited to,
accelerometers 35, gyroscopes 40, magnetometers 45, and the like,
and combinations thereof. The absolute orientation sensor 30 may
interface wirelessly or wired, or both, with the surgical
instrument or components thereof to control its operation. The
orientation sensor 30 may be powered by any suitable means,
including, but not limited to, connection to the power source of
the surgical instrument, battery, rechargeable battery, connection
to a separate power source, and the like. The surgical instrument 1
may also comprise power supply. The power supply may comprise one
or more batteries and/or other power storage device (e.g.,
capacitor) and/or a port for connecting to an external power
supply. The one or more batteries may be rechargeable. The one or
more batteries may comprise a lithium-ion battery (including thin
film lithium ion batteries), a lithium-ion polymer battery, a
nickel--cadmium battery, a nickel metal hydride battery, a
lead--acid battery, combinations thereof, and the like. For
example, an external power supply may supply power to the surgical
instrument 1 and a battery may store at least a portion of the
supplied power.
[0075] Accordingly, while a doctor generally has the use of their
eyes when performing a medical procedure, it may be difficult to be
able to see or otherwise discern the exact orientation of a
particular surgical instrument, and use of the absolute orientation
sensor 30 may be able to provide doctors with the exact orientation
of a particular surgical instrument. It may be especially difficult
to determine the orientation of this surgical instrument when part
of the surgical instrument is inside a patient.
[0076] The absolute orientation sensor 30, utilizing its
components, may determine various orientation factors of the
surgical instrument 1, which may include location data, pitch data,
roll data, and yaw data, angular velocity data, acceleration data,
magnetic field strength data, linear acceleration data, gravity
data, and temperature data. Location data may comprise x, y, and z
coordinate values. Once orientation factors are determined or
generated by the absolute orientation sensor 30, the absolute
orientation sensor 30 may transmit a signal to the device processor
50. The device processor 50 may then transmit the signal in one or
more ways to one or more different locations.
[0077] In one embodiment, the device processor 50 may transmit the
signal comprising the orientation information to the display 70.
The display 70 may digitally display the information received such
that the user may read the information off of the display 70. In
another embodiment, the device processor 50, may transmit the
signal comprising the orientation information to the input/output
device 85, which may then communicate via a communication link 87
with the remote device 80. The communication link 87 may be a
wireless signal, wired signal, or other communication protocol. The
remote device 80 may then display, or otherwise use, the
orientation information. In another embodiment, the device
processor 50 may transmit a signal, based on the received
orientation information, to the audio device 95 to generate a
sound. For example, where the orientation information received by
the device processor 50 indicates that the surgical instrument 1 is
not within specified parameters, the device processor 50 may send a
signal to the audio device 95 to generate a sound, which signals to
a user that the surgical instrument 1 should have its orientation
corrected. The degree or intensity of the sound may correspond to
how far outside the specified parameters the surgical instrument 1
is.
[0078] In an alternative embodiment, the device processor 50 may
send a signal to the light source 60 controlling the light source
60 when one or more other conditions are met. For example, the
device processor 50 may activate, or deactivate, the light source
60 when the surgical instrument 1 is in use, when one or more
orientation conditions are met, when one or more orientation
conditions are not met, or another trigger event. The light source
60 may include compact fluorescence lights, light emitting diodes,
incandescent, fluorescent, halogen, and other types of lights.
[0079] In one embodiment of the surgical instrument 1, the
information received by the remote device 80 may be used to create
a real-time virtual image or representation of the surgical
instrument 1 by the remote device 80.
[0080] FIG. 2 and FIG. 3 are illustrations of one embodiment of a
surgical instrument that is a surgical awl according to the present
disclosure. As shown in FIGS. 1 and 2, the surgical awl 100 may
comprise a handle 105, neck 110, drill 115, guide 120, sensor
mounting portion 125, and absolute orientation sensor 130.
[0081] The handle 105 may be connected to a first end of the neck
110, and the drill 115 may be connected to a second and of the neck
110. The guide 120 may substantially encapsulate the drill 115, as
shown, or alternatively the guide 120 may encapsulate the neck 110.
In one embodiment, the sensor mounting portion 125 may be connected
on a first end to the guide 120 and on a second end to the absolute
orientation sensor 130. In the alternative embodiments, the
absolute orientation sensor 130 may be mounted on substantially any
portion of the surgical awl 100. The absolute orientation sensor
130 may be mounted to the surgical awl 100 by the use of an
adhesive, screws, bolts, or any other connecting means.
Alternatively, the absolute orientation sensor 130 may be built
into the housing of the surgical awl 100.
[0082] The absolute orientation sensor 130 may comprise an
accelerometer 135, gyroscope 140, magnetometer 145, device
processor 150, and a power source 155.
[0083] The device processor 150 may control the absolute
orientation sensor's 130 components.
[0084] The surgical awl 100 described herein may function
substantially similarly to a standard medical awl, except that the
surgical awl 100 provides additional orientation data to the doctor
and illumination.
[0085] The orientation information generated by the absolute
orientation sensor 130 may be relayed to a doctor by transmitting
the orientation information to a digital display attached to a
surgical instrument or to an external receiving electronic device.
If the orientation information is being transmitted to an external
receiving electronic device, the absolute orientation sensor 130
may comprise a wireless communication component to transmit the
orientation information.
[0086] As shown in FIG. 3, the surgical awl 100 may also comprise a
light source 160. The light source may be located on a proximal end
of the handle 105, such that the light source 160 illuminates a
portion of a patient to be operated upon. The light source 160 may
interface wirelessly or wired, or both, with the surgical awl 100
or components thereof to control its operation. The light source
160 may be powered by any suitable means, including, but not
limited to, connection to the power source of the surgical
instrument, battery, rechargeable battery, connection to a separate
power source, and the like. The light source 160 may also be a
plurality of light sources, and may be located near to one another
or spaced apart. In one embodiment, the light sources may be
directed towards a common location such that the combination of
light sources provides more lighting than a single light source
would.
[0087] The surgical awl 100 may have a power source in the handle
105, or in another suitable location in order to power the light
source 160 and the absolute orientation sensor 130.
[0088] The light source 160 (or another light source) may be
configured to provide visual feedback to the user based on the
orientation of the surgical awl 100. For example, the light source
160 may be configured to adjust the light output based on the
orientation of the surgical awl 100 detected by the absolute
orientation sensor 130 relative to a predetermined orientation.
[0089] In an embodiment, the one or more lights of the light source
turn on/off or pulse based on whether the orientation of the awl is
within a predetermined threshold of the predetermined orientation.
For example, a lower light can be turned off when the handle of the
awl is too low to inform the user that the handle needs to be
raised.
[0090] In an embodiment, one or more lights of the light source may
change color based on whether the orientation of the awl is within
a predetermined threshold of the predetermined orientation. A red,
yellow, or green color may indicate that the tool is out of
position, close to position, or within a position (or within a
predetermined threshold of the position) that is designated (e.g.,
by the user). For example, a green light may be generated when the
orientation is within the predetermined threshold, and a red light
may be generated when the orientation is outside of the
predetermined threshold. The red light may be directed downward
and/or a green light may be directed upward when the handle of the
awl is too low to provide the user with feedback regarding how the
orientation of the awl should be to better match the predetermined
orientation.
[0091] In some embodiments, the light source is configured to
adjust based on a predetermined fixed angle or position value. For
example, one or more lights of the lights source may light up in a
predetermined orientation, sequence, and/or pattern to indicate
that the tool is being used at a predetermined orientation or
predetermined orientation relative to a designated orientation.
[0092] In some embodiments, a display or other visual feedback is
provided to inform the user of the orientation of the awl relative
to the predetermined orientation. For example, the lighting and/or
other display feedback can indicate to the user differential
orientation about translation and/or rotation in three-dimensional
space. Such feedback may be in real-time.
[0093] The light source 160 may be configured to communicate (e.g.,
wirelessly) with the device processor 150 to provide feedback in
real-time based on the current position of the absolute orientation
sensor 130 and the surgical awl 100.
[0094] For example, the user can input a desired orientation in the
x, y, z planes, and the instrument lighting can turn on/off and
change color intermittently based on the current orientation to
provide feedback to the user about the orientation. Independent
differential feedback in each plane that can account for degrees of
mis-alignment from a desired orientation can allow the user to know
how to adjust the instrument to achieve the desired
orientation.
[0095] In some embodiments, the absolute orientation sensor and/or
the surgical awl is configured to provide audio and/or tactile
feedback to the user based on whether the orientation of the awl is
within a predetermined threshold of the predetermined
orientation.
[0096] In an embodiment, the light source is configured to indicate
that one portion of the instrument is parallel, perpendicular to,
or any orientation with respect to another portion of the
instrument. The indication from the light source allows the user to
know whether the sleeve and the drill are coaxial with one another.
The light source may be configured to communicate with the both
instruments and provide visual feedback based on whether the
instruments are within a predetermined coaxial threshold. The
sleeve and the drill may have independent absolute orientation
sensors and may communicate orientation information to one
another.
[0097] The surgical awl 100 may also comprise a remote device 180,
input/output device 185, communication link 190, and audio device
195. As described hereinbelow, the input/output device 185 may
transmit information generated by the absolute orientation sensor
130 and processed by the device processor 150 to the remote device
180. The input/output device 185 may utilize the communication link
190 to transmit information wirelessly to the remote device 180.
Additionally, the input/output device may transmit a signal to the
audio device 195 to cause the audio device to provide an audio
notification based on the orientation information generated by the
absolute orientation sensor.
[0098] In alternative embodiments, the surgical instrument may be
any instrument suitable for surgical or medical procedures or
treatments on humans or animals. The surgical instrument may be
made of titanium, aluminum, stainless steel, various alloys, as
well as various plastics. The surgical instrument may include a
housing or other outer structure to which the lighting source may
be attached or affixed. In an example embodiment, the light source
160, may include a trigger mechanism or component which operates in
conjunction with the operation of the surgical instrument. This may
allow the light source 160 to emit light upon operation of the
surgical instrument, synchronizing the operation of the light
source 160 with the function of the surgical instrument. The light
source 160 may include compact fluorescence lights, light emitting
diodes, incandescent, fluorescent, halogen, and other types of
lights.
[0099] FIG. 4 and FIG. 5 are illustrations of an alternative
embodiment of a surgical instrument that is a surgical awl
according to the present disclosure. As shown in FIGS. 4 and 5, an
alternative embodiment of a surgical awl 300 may comprise a handle
305, neck 310, drill 315, light source 360, and absolute
orientation sensor 330.
[0100] The handle 305 may be connected to a first end of the neck
310, and the drill 315 may be connected to a second and of the neck
310. The absolute orientation sensor 330 may be located on a distal
end of the handle 305.
[0101] As shown in FIG. 4, the surgical awl 300 made comprise a
light source 360. The light source 360 may be located on a proximal
end of the handle 305, such that the light source 360 illuminates a
portion of a patient to be operated upon.
[0102] The surgical awl 300 may have a power source in the handle
305, or in another suitable location in order to power the light
source 360 and the absolute orientation sensor 330.
[0103] FIG. 6 and FIG. 7 are illustrations of an embodiment of a
surgical instrument that is a surgical drill according to the
present disclosure. The surgical drill 500 may comprise, a housing
505, trigger 510, drill 515, absolute orientation sensor 530, and
light source 560. The trigger 510 may be mounted on a handle
portion of the housing 505, and the drill 515 may extend from a
forward portion of the housing 505. The light source 560 may be
mounted near where the drill 515 and housing 505 connect. As shown
in FIGS. 6 and 7, the absolute orientation sensor 530 may be
located on top of the housing 505. In an alternative embodiment,
the absolute orientation sensor 530 may be located on a different
part of the housing 505. The absolute orientation sensor 530 may
function substantially similarly to the one described in FIGS.
2-3.
[0104] A power source may be contained within the housing 505, such
that the power source is able to power the drill 515, the light
source 560, and/or the absolute orientation sensor 530. In one
embodiment, when the trigger 510 is depressed the drill 515 and the
light source 560 are activated substantially simultaneously. In a
preferred embodiment, the absolute orientation sensor 530 is active
independent of the trigger 510.
[0105] FIG. 8 is an illustration of one embodiment of a surgical
instrument that is a biopsy needle according to the present
disclosure. As shown in FIG. 8, the biopsy needle may comprise an
absolute orientation sensor 730. The biopsy needle 700 generally
comprises a hollow needle that may be inserted into an area from
which a sample is desired. The biopsy needle 700 is useful in
obtaining samples of certain tissues, including liver, kidney, and
the genitourinary tract, skin, breast, lung, bone, prostate,
testicle, intestine, brain, ovary, uterus, and thyroid, in addition
to other tissue types, as well as fluid collections, abscesses,
tumor, hematoma, and other masses, fluids, collections, and area of
interest for potential biopsy. The biopsy needle 700 may have
additional gripping portions to allow a user to more accurately and
steadily use the needle to recover a sample of soft tissue. In some
embodiments, the biopsy needle may be hollow, and after inserted
such that a desired sample is now present in the hollow needle, a
blight suction may be applied to keep the core sample inside the
needle wild and needle is removed from soft tissue.
[0106] FIG. 9 is an illustration of one embodiment of an absolute
orientation sensor and display. As shown in FIG. 9, the absolute
orientation sensor and display 800 may comprise an absolute
orientation sensor 830, display 870, and electronic housing 875.
The electronic housing 875 may encapsulate the absolute orientation
sensor 830 and the display 870. The electronic housing 875 may be
configured to protect the absolute orientation sensor 830 and the
display 875. In one embodiment, the electronic housing 875 may
include a transparent portion to allow a user to view the display
870. Alternatively, the display 870 may be mounted on the outside
of the electronic housing 875. The electronic housing 875 may be
different shapes to accommodate different surgical tools. For
example, as shown in FIG. 9, the electronic housing 875 may form of
a shape that is consistent with this shape of a biopsy needle. It
is understood that the electronic housing 875 that may take various
shapes and make up portions of surgical instruments.
[0107] FIG. 10 is an illustration of one embodiment of a surgical
instrument that is a robotic arm according to the present
disclosure. As shown in FIG. 10, the robotic arm 900 may comprise
mounting arms 905, 906, 907 robotic tools 910, 911, 912, 913 and an
absolute orientation sensor 915. The robotic arm 900 may comprise
any number of mounting arms 905, 906, 907 suitable for the surgery
to be performed. Each of the mounting arms 905, 906, 907 may
comprise any number of robotic tools 910, 911, 912, 913 suitable
for the surgery to be performed. The robotic tools 910, 911, 912,
913 may be substantially any surgical device.
[0108] The absolute orientation sensor 915 may be substantially
similar to the absolute orientation sensor 800 described in FIG. 9,
and may or may not include a digital display.
[0109] The absolute orientation sensor 915 may be mounted on the
mounting arm 905. Alternatively, the absolute orientation sensor
may be located on or in any of the mounting arms 905, 906, 907
and/or robotic tools 910, 911, 912, 913. Additionally, there may be
multiple absolute orientation sensors 915 on different components
of the robotic arm 900 at the same time.
[0110] In an embodiment, the surgical instrument may also comprise
an input/output device coupled to a device processor, absolute
orientation sensor, and/or any other electronic component of the
surgical instrument. Input may be received from the device
processor or absolute orientation sensor and/or output may be
provided to an electronic display or another device via the
input/output device. The input/output device may comprise any
combinations of input and/or output devices such as buttons, knobs,
keyboards, touchscreens, displays, light-emitting elements, a
speaker, and/or the like. In an embodiment, the input/output device
may comprise an interface port such as a wired interface, for
example a serial port, a Universal Serial Bus (USB) port, an
Ethernet port, or other suitable wired connection. The input/output
device may comprise a wireless interface (not shown), for example a
transceiver using any suitable wireless protocol, for example Wi-Fi
(IEEE 802.11), Bluetooth.RTM., infrared, or other wireless
standard. For example, the input/output device may communicate with
a remote device via Bluetooth.RTM. such that the data generated by
the absolute orientation sensor may be sent to the remote device
and monitored. In an embodiment, the input/output device may
comprise a user interface.
[0111] The user interface may comprise at least one of lighted
signal lights, gauges, boxes, forms, check marks, avatars, visual
images, graphic designs, lists, active calibrations or
calculations, 2D interactive fractal designs, 3D fractal designs,
2D and/or 3D representations of vapor devices and other interface
system functions.
[0112] In an embodiment, the input/output device may comprise a
touchscreen interface and/or a biometric interface. For example,
the input/output device may include controls that allow the user to
interact with and input information and commands to the surgical
instrument. For example, with respect to the embodiments described
herein, the input/output device may comprise a touch screen
display. User inputs to the touch screen display are processed by,
for example, the input/output device and/or the device processor.
The input/output device may also be configured to process new
content and communications to the surgical instrument. The touch
screen display may provide controls and menu selections, and
process commands and requests. Application and content objects may
be provided by the touch screen display. The input/output device
and/or the device processor may receive and interpret commands and
other inputs, interface with the other components of the surgical
instrument as required. In an embodiment, the touch screen display
may enable a user to view at least one orientation data of the
surgical instrument generated by the absolute orientation
sensor.
[0113] In an embodiment, the input/output device may comprise an
audio user interface. A speaker may be configured to send audio
signals and relay the audio signals to the input/output device. The
audio user interface may be any interface that is responsive to
data generated. The audio user interface may be configured to
transmit a sound based on the data generated by the absolute
orientation sensor. The audio user interface may be deployed
directly on the surgical instrument and/or via other electronic
devices (e.g., electronic communication devices, such as a
smartphone, a smart watch, a tablet, a laptop, a dedicated audio
user interface device, other personal computing devices, and the
like). The audio user interface may be used to convey data
generated by the absolute orientations sensor. Such conveyance may
comprise, but is not limited to, orientation data of the surgical
instrument. The user may then adjust the positioning of the
surgical instrument based on the audio signal output
[0114] The input/output device may be configured to interface with
other remote devices, for example, computing equipment,
communications devices and/or other surgical devices, for example,
via a physical or wireless connection. The input/output device may
thus exchange data with the other equipment. A user may sync their
surgical equipment to other devices, via programming attributes
such as mutual dynamic link library (DLL) `hooks`. This enables a
smooth exchange of data between devices, as may a web interface
between devices. The input/output device may be used to upload one
or more orientation data to the other devices. Using monitoring
equipment as an example, the one or more orientation data may
comprise data such as location data, pitch data, roll data, yaw
data, x, y, and z coordinate values, angular velocity data,
acceleration data, magnetic field strength data, linear
acceleration data, gravity data, and temperature data. Data from
usage of previous monitoring sessions may be archived and
shared.
[0115] In general, the embodiments herein provide surgical and
medical instruments having high intensity lighting and/or absolute
orientation sensors. The instruments of the present disclosure may
be used in any suitable procedure or treatment which would benefit
from high intensity lighting of the area to be treated or of
interest, as well as knowing the orientation of such instrument in
three-dimensional space. While reference is made herein to surgical
instruments in particular, it should be understood that this
disclosure is directed to medical, dental, or other instruments
used in the treatment of humans or animals requiring lighting
and/or absolute orientation.
[0116] As discussed above, the surgical instrument is any
instrument suitable for surgical or medical procedures or
treatments on humans or animals. The surgical instrument may be
comprised of titanium, aluminum, stainless steel, various alloys,
as well as various plastics. The surgical instrument may include a
housing or other outer structure to which the absolute orientation
sensor may be attached or affixed. In an example embodiment, the
orientation sensor can include a trigger mechanism or component
which operates in conjunction with the operation of the
instrument.
[0117] As discussed above, any suitable surgical instrument can
include the high intensity lighting source or the absolute
orientation sensor, or both. Examples include, but are not limited
to, powered instruments, such drills/drivers, saws, wire insertion
devices, burr, and the like, and manual instruments, such as awls
for pedicle screw placement, scalpels, suction, retraction devices,
mallets, unpowered drills, drivers, saws, wire inserters, and
burrs, and various hand tools. Surgical instruments including such
high intensity lighting source and/or absolute orientation sensor
can be used in any suitable procedure, treatment, or field.
Examples, include, but are not limited to: orthopedic surgery,
including but not limited to: spine surgery, orthopedic trauma
surgery, foot and ankle surgery, sports surgery, joint replacement
in knee, hip, shoulder, any fracture fixation, tibial, femoral, and
other long bone nailing procedures, upper extremity and hand
surgery, oncological orthopedic surgery, and pediatric orthopedic
surgery; neurological surgery, including but not limited to: spine
surgery, intracranial surgery of all kinds, and surgery in central
and peripheral nervous systems; otolaryngology surgery; plastic
surgery, obstetric and gynecological surgery, urological surgery,
trauma surgery, general surgery; anesthesia; emergency medicine;
family and internal medicine; gastroenterology; cardiology; dental
surgery; veterinary surgery; and all surgical and medical fields
not named above.
[0118] Having thus described certain embodiments for practicing
aspects of the present disclosure, it is to be appreciated that
various alterations, modifications, and improvements will readily
occur to those skilled in the art. Such alterations, modifications,
and improvements are intended to be part of this disclosure, and
are intended to be within the spirit and scope of this
disclosure.
[0119] Turning now to FIG. 11, an exemplary embodiment of a biopsy
needle is shown at 1000. The biopsy needle 1000 is substantially
the same as the above-referenced biopsy needle 700, and
consequently the same reference numerals but indexed by 1000 are
used to denote structures corresponding to similar structures in
the biopsy needle 1000. In addition, the foregoing description of
the biopsy needle 700 is equally applicable to the biopsy needle
1000 except as noted below. Moreover, it will be appreciated that
aspects of the biopsy needles may be substituted for one another or
used in conjunction with one another where applicable.
[0120] The biopsy needle 1000 may be sterile and enclosed in
packaging 1010 that hermetically seals the biopsy needle 1000 from
the environment. For example, the packaging 1010 may include a pull
tab 1020 that allows a user to remove the biopsy needle 1000 from
the packaging 1010 by hand when the user desires to use the biopsy
needle 1000.
[0121] The packaging 1010 may be made of plastic or another
suitable material that protects the biopsy needle 1000 from the
environment and allows the biopsy needle 1000 to be removed from
the packaging 1010 by a user. In an embodiment, the packaging is be
made of plastic, resin, metal, paper, or glass and/or is not
configured to withstand several rounds of sterilization. As
discussed further below, the packaging 1010 may be disposed of
after the biopsy needle 1000 is removed from the packaging
1010.
[0122] The biopsy needle 1000 may include an absolute orientation
sensor 1030, which may be permanently fixed to a main body 1032 and
a needle portion 1034 of the biopsy needle 1000. In another
embodiment, the absolute orientation sensor may be detached from
the remainder of the biopsy needle.
[0123] After the user is done using the biopsy needle 1000 the
entire biopsy needle 1000 may be disposed of. As described above,
the absolute orientation sensor 1030 may include, but is not
limited to a 9-degree of freedom sensor system, and/or inertial
measurement unit (IMU) that may integrate sensory input from an
accelerometer, gyroscope, and magnetometer to provide orientation
data from the medical device or instrument to the user.
[0124] In an embodiment, the absolute orientation sensor can be a
disposable attachment to a medical device that is reusable--or
components of a medical device that are reusable (e.g., the main
body of a biopsy needle). In another embodiment, absolute
orientation sensor can take the form of a reusable package
integrated into a disposable device. Other embodiments include any
combination of the reusable and disposable features discussed
above.
[0125] Disposability adds a novel use to the above described or
other medical devices. Due to advances made in technology
particularly in the field of cellular telephone and communication
equipment, the absolute orientation sensor 1030 can be integrated
into a medical device in such a fashion that the device can be
discarded at the end of the medical procedure. This may not
necessitate a significant change in physician behavior or require
additional time for hospital staff. For example, an interventional
radiologist at the end of a procedure may dispose of the biopsy
needle 1000, instead of recycling or reusing the biopsy needle
1000. Thus, disposing of the biopsy needle 1000 allows the
radiologist to use the biopsy needle 1000 and dispose of it without
requiring significantly more time or a significant behavior
change.
[0126] Furthermore, disposability can avoid the need for
sterilization just prior to use by medical staff. For example, the
biopsy needle 1000 can be discarded after a single use thereby
avoiding any need for hospital staff to use a sterilization process
on the entire biopsy needle 1000 (e.g., via a chemical, gas, steam,
UV or the like sterilization process). The biopsy needle 1000 thus
allows hospital staff to avoid costly, time-intensive, and
environmentally-unfriendly sterilization practices.
[0127] Turning now to FIGS. 12-14, an exemplary embodiment of a
surgical drill is shown at 1100. The surgical drill 1100 is
substantially the same as the above-referenced surgical drill 500,
and consequently the same reference numerals but indexed by 1100
are used to denote structures corresponding to similar structures
in the surgical drill 1100. In addition, the foregoing description
of the surgical drill 500 is equally applicable to the surgical
drill 1100 except as noted below. Moreover, it will be appreciated
that aspects of the surgical drills may be substituted for one
another or used in conjunction with one another where
applicable.
[0128] Referring initially to FIG. 12, the surgical drill 1100 may
include a housing 1102 (an example of an instrument body), a drill
bit 1104 (an example of an instrument body), and a detachable
absolute orientation sensor 1130. The housing 1102 may be
configured to attach to and detach from the absolute orientation
sensor 1130. For example, the housing 1102 and the absolute
orientation sensor 1130 may attach to one another via a T-shaped
(or a dovetail) connection.
[0129] The housing 1102 may include a T-shaped (or dovetail shaped)
protrusion 1106 that is configured to slide into a similarly shaped
groove 1108 of the absolute orientation sensor 1130 to form a
press-fit attachment. When attached, the absolute orientation
sensor 1130 may move entirely with the housing 1102.
[0130] FIGS. 12-14 illustrate attachment and detachment of the
absolute orientation sensor 1130 from the housing 1102. Referring
again to FIG. 12, the absolute orientation sensor 1130 may be
attached to the protrusion 1106 by aligning the front of the groove
1108 with the back of the protrusion 1106 and sliding the groove
1108 toward the front of the housing 1102 until the protrusion 1106
is press-fit to the groove 1108. In another embodiment, the
absolute orientation sensor attaches to the housing and/or the
drill bit with male/female connectors, quick connectors, screw
threads, screw(s), hardware fixation, interlocking devices, or any
combination thereof.
[0131] The attachment may be by hand and may result in the
assembled state shown in FIG. 13. In another embodiment, the
absolute orientation sensor is able to be detached and re-attached
to the housing and/or the drill bit with the use of a separate
tool. For example, in some embodiments a screw driver may be used
to remove screws that attach the absolute orientation sensor to the
housing. In an alternative embodiment, the absolute orientation
sensor is permanently attached (e.g., by welding or overmolding)
and cannot be detached from the rest of the instrument without at
least partially damaging the instrument.
[0132] The absolute orientation sensor 1130 may be removed from the
housing 1102 by hand. For example, the absolute orientation sensor
1130 can be slid backward from the protrusion by the user.
[0133] In an embodiment, the absolute orientation sensor is
integrated into the housing or drill bit. For example, the housing
may include a central cavity that is configured to receive the
absolute orientation sensor and fixedly attach the absolute
orientation sensor to the housing. The cavity may receive the
entire absolute orientation sensor.
[0134] In some embodiments, any part of the sensor can be
independently integrated in a tool body. For example, an electronic
sensor component, display, and/or power source (or any combination
thereof) may be attached to the tool body as needed to provide
orientation.
[0135] In an embodiment, the absolute orientation sensor can
function when separated from the housing. For example, the absolute
orientation sensor may function as stand-alone "digital level" or
gauge, functioning as a calibrator or digital level for any and all
tools or equipment, including those that are manually powered with
no electronic components. The free-standing "digital level" can
provide the user absolute orientation coordinates to any instrument
or object in a medical or surgical context. This may allow the
orientation system to "calibrate" or "orient" in space a "manual"
tool, instrument, or device that itself does not have electronic
component. Additionally, the tool can mate via a formal paired
connector, either physically or digitally, to operably couple or
provide orientation information to a specific sensor.
[0136] In an embodiment, the absolute orientation sensor and the
instrument it is associated with can function as a single unit,
which can be disposable or reusable.
[0137] In an embodiment, the absolute orientation sensor is
attachable to/detachable from or permanently integrated into
another surgical/medical device/equipment. For example, the
absolute orientation sensor may be attachable to/detachable from or
permanently integrated into wearable devices (e.g., surgical
gloves, surgical masks, headgear, and/or surgical eyewear), image
acquisition machines, patient tables/beds, anesthesia monitoring
equipment, and the like.
[0138] The absolute orientation sensor 1130 may include an
accelerometer 135, a gyroscope 140, a magnetometer 145, a device
processor 150, a power source 155, an input/output device 185, a
communication link 190, and/or an audio device 195 (each shown in
FIG. 2). For example, the absolute orientation sensor 1130 may
include each component in a similar manner as the absolute
orientation sensor 130 described with reference to FIG. 2
above.
[0139] The display portion may be similar to the display 870
described with reference to FIG. 9 above. For example, the display
portion may display the current orientation of the absolute
orientation sensor 1130.
[0140] Turning now to FIGS. 15-17, an exemplary embodiment of an
absolute orientation sensor is shown at 1230. The absolute
orientation sensor 1230 is substantially the same as the
above-referenced absolute orientation sensor 1130, and consequently
the same reference numerals but indexed by 1200 are used to denote
structures corresponding to similar structures in the absolute
orientation sensor 1230. In addition, the foregoing description of
the absolute orientation sensor 1130 is equally applicable to the
absolute orientation sensor 1230 except as noted below. Moreover,
it will be appreciated that aspects of the absolute orientation
sensors may be substituted for one another or used in conjunction
with one another where applicable.
[0141] The absolute orientation sensor 1230 may include an absolute
orientation sensor component 1232 and a sensor case 1234. The
sensor case 1234 may be configured to receive the absolute
orientation sensing component 1232 and at least partially fix the
absolute orientation sensing component 1232 relative to the
instrument body. For example, the sensor case 1234 may include a
groove 1208 that is configured to attach to a protrusion of a
surgical tool (e.g., attach to the surgical drill housing
1102).
[0142] The absolute orientation sensing component 1232 may include
an accelerometer 135, a gyroscope 140, a magnetometer 145, a device
processor 150, a power source 155, an input/output device 185, a
communication link 190, and/or an audio device 195 (each shown in
FIG. 2). For example, the absolute orientation sensing component
1232 may include each component in a similar manner as the absolute
orientation sensor 130 described with reference to FIG. 2
above.
[0143] A user may use an introducing tool 1236 to move the absolute
orientation sensing component 1232 into an interior of the sensor
case 1234, as shown in FIG. 16. The introducing tool 1236 may have
a handle 1238 configured to grip and release grippers 1240 that are
able to hold and release the absolute orientation sensing component
1232. When the absolute orientation sensing component 1232 is
entirely inside the interior of the sensor case 1234, the sensor
case 1234 may be closed to hermetically seal the absolute
orientation sensing component 1232 from the exterior
environment.
[0144] The absolute orientation sensing component 1232 may include
all or some of the electrical sensor components, including a
display. For example, as shown in FIG. 17, the sensor case 1234 may
include a window 1242 to allow a user to see a display of the
absolute orientation sensing component 1232. The display may be
similar to the display 870 described with reference to FIG. 9
above. For example, the display portion may display the current
orientation of the absolute orientation sensor 1130.
[0145] The sensor case 1234 may attach to the housing 1102 via the
groove 1208 in a similar manner to the absolute orientation sensing
1130 described above.
[0146] In an embodiment, the absolute orientation sensor includes
feedthroughs from a nonsterile enclosure to a sterile external
space, separating the electronics from the surgical/biological
environment. For example, the absolute orientation sensor and its
associated components can be nonsterile and contained within an
externally sterile package that is introduced to the surgical field
sterilely. More specifically, the nonsterile components can be
introduced into the field inside of the package after the outside
of the package has been sterilized.
[0147] In an embodiment, the absolute orientation sensor is
integrated within a tool or instrument itself, with
hermetic/sterile enclosures and "feed-throughs" that allow
instrumentation and the like to "pass through" a housing that
contains electronics and enter the sterile surgical/medical field.
The orientation sensor, its power source, various input and output
hardware, and the tool itself can be integrated into a single
sealed enclosure which can then be entirely sterilized.
[0148] In an alternative embodiment, the orientation sensor and any
combinations of its power source, input, output, displays,
feedback, monitors, and any and all combinations can be separately
sealed in a discrete sterile or sterilizable package and can mate
with a working portion of a tool.
[0149] In another embodiment, the absolute orientation sensor is
contained in a nonsterile environment that is introduced sterile or
otherwise contained and cordoned from the sterile environment.
[0150] Turning now to FIGS. 18-22, an exemplary embodiment of an
absolute orientation sensor is shown at 1330. The absolute
orientation sensor 1330 is similar to the above-referenced absolute
orientation sensor 130, and consequently the same reference
numerals but indexed by 1300 are used to denote structures
corresponding to similar structures in the absolute orientation
sensor 1330. In addition, the foregoing description of the absolute
orientation sensor 130 is equally applicable to the absolute
orientation sensor 1330 except as noted below. Moreover, it will be
appreciated that aspects of the absolute orientation sensors may be
substituted for one another or used in conjunction with one another
where applicable.
[0151] The absolute orientation sensor 1330 may include a handle
1332 a display arm 1334 that is rotatable about multiple axes. The
handle 1332 may include electronical components including an
absolute orientation sensing component (not shown). The handle 1332
may be attached to a rotation bearing 1320 that is configured to
slide onto a tool and allows the handle 1332 to rotate about a
longitudinal axis. An outer rotational bearing 1336 may connect the
handle 1332 to the display arm 1334 such that the display arm 1334
is rotatable about the longitudinal axis, as exemplified in FIG.
19.
[0152] The display arm 1334 may include a display to allow a user
to see an orientation of the handle 1332 and any tool attached to
the handle 1332. The display arm 1334 may include a transverse
rotation bearing 1340 that is configured to allow the display
portion of the display arm 1334 to rotate about a lateral axis that
is transverse to the longitudinal axis.
[0153] The transverse rotation bearing 1340 may include or be
connected to a ratchet (not shown) that allows the display portion
to rotate in only one direction and not in an opposite direction.
In an embodiment, the outer rotation bearing also or alternatively
includes or is attached to a ratchet to allow the display arm to
rotate in only one direction and not the opposite direction.
[0154] The display portion may be similar to the display 870
described with reference to FIG. 9 above. For example, the display
portion may display the current orientation of the absolute
orientation sensor 1330.
[0155] FIG. 20 illustrates the absolute orientation sensor 1330 in
combination with an awl 1350. The shaft of the awl 1350 can be
slide into the central hole of the rotation bearing 1320 until a
handle of the awl 1350 abuts the absolute orientation sensor
1330.
[0156] The display portion can be oriented to be more easily viewed
by a user by adjusting the display arm 1334 and the corresponding
display portion relative to the longitudinal and lateral axes. For
example, the user may hold the handle 1332 with one hand and use
the other hand to adjust the display arm 1334 and display
portion.
[0157] FIGS. 21 and 22 illustrate the absolute orientation sensor
1330 in combination with a tap 1360 and a screw driver 1370,
respectively. Each of the tap 1360 and the screw driver 1370 may be
combined with the absolute orientation sensor 1330 in a similar
manner as the awl 1350.
[0158] Turning now to FIGS. 23 and 24, an exemplary embodiment of a
surgical screw driver is shown at 1400. The surgical screwdriver
1400 is similar to the above-referenced surgical drill 1100, and
consequently the same reference numerals but indexed by 1400 are
used to denote structures corresponding to similar structures in
the surgical screw driver 1400. In addition, the foregoing
description of components of the surgical drill 1100 is equally
applicable to similar components of the surgical screw driver 1400
except as noted below. Moreover, it will be appreciated that
aspects of the surgical screwdriver and the surgical drill may be
substituted for one another or used in conjunction with one another
where applicable.
[0159] The screw driver 1400 includes a handle 1402, a shaft 1404,
and an absolute orientation sensor 1430 partially fixed relative to
the handle 1402 and the shaft 1404. In an embodiment, the absolute
orientation sensor is partially fixed relative to the only the
shaft or only the handle.
[0160] The absolute orientation sensor 1430 includes a sleeve 1410
that is ratchetably coupled to the handle 1402 so that the absolute
orientation sensor 1430 is able to rotate in only one direction
about a longitudinal axis of the handle 1402 or the shaft 1404. For
example, when a user is holding the handle 1402, the absolute
orientation sensor 1430 can be rotated so that a display portion of
the absolute orientation sensor 1430 is more easily viewable by the
user. In an embodiment, an absolute orientation sensing element of
the absolute orientation sensor is entirely fixed to the display
portion. In another embodiment, the absolute orientation sensing
element is partially fixed to the display portion.
[0161] FIG. 24 illustrates a cross-section of the screw driver 1400
through the absolute orientation sensor 1430. The screw driver 1400
includes ratchet 1412 that ratchetably couples the sleeve 1410 to
the handle 1402.
[0162] The ratchet 1412 includes multiple fingers 1414 biased
radially outward by springs 1416. The fingers 1414 are configured
to allow the handle 1402 to rotate counter-clockwise (when viewing
FIG. 24) but not clockwise. For example, when the handle 1402 is
urged clockwise relative to the sleeve 1410, the fingers 1414 lock
against corresponding protrusions 1420 that are fixed to the sleeve
1410. When the handle 1402 is rotated counter-clockwise relative to
the sleeve 1410 and the fingers 1414 abut a protrusion 1420, the
fingers 1414 move radially inward of the corresponding protrusion
1420 and compress the corresponding spring 1416.
[0163] When the handle 1402 is moved linearly, the absolute
orientation sensor 1430 may move with the handle 1402. For example,
the absolute orientation sensor 1430 may detect linear movement of
the handle 1402 along any of three independent axes and/or may
detect rotation of the handle 1402 about either of the two
independent axes that are perpendicular to the longitudinal
axis.
[0164] In another embodiment, the handle is coupled to the absolute
orientation sensor by a sprocket-type mechanical linkage. In
another embodiment, the handle is coupled to the absolute
orientation sensor by another coupling or linkage. For example, a
magnetic, electronic or chemical linkage may be configured to allow
the absolute orientation sensor to be partially fixed relative to
the tool.
[0165] In an embodiment, the absolute orientation sensor is coupled
to a tool/device used in a medical/surgical context which allows
independent motion of the sensor relative to the tool in certain
planes. For instance, a ratchet allows the absolute orientation
sensor to remain in a stable orientation while an instrument (or
part of the instrument) that uses axial rotation for its function
(for example, a screw driver or drill) can turn. This allows a
constant read of the orientation of the instrument (e.g., screw
driver) even while the instrument is moving in a specific
plane/axis (spinning coaxially). Similarly, relative linear motion
between the absolute orientation sensor and the corresponding tool
can be implemented. For example, instruments that linearly move or
include linearly moving components (e.g., nested components that
move linearly or with a rotatory fashion with respect to one
another) can be combined with an absolute orientation sensor that
would not linearly move with such instruments or components. Such
partial relative movement allows the absolute orientation sensor to
remain in the same position relative to the user.
[0166] Turning now to FIG. 25, an exemplary embodiment of a
surgical drill is shown at 1500. The surgical drill 1500 is
substantially the same as the above-referenced surgical drill 1100,
and consequently the same reference numerals but indexed by 1500
are used to denote structures corresponding to similar structures
in the surgical drill 1500. In addition, the foregoing description
of the surgical drill 1100 is equally applicable to the surgical
drill 1500 except as noted below. Moreover, it will be appreciated
that aspects of the surgical drills may be substituted for one
another or used in conjunction with one another where
applicable.
[0167] The orientation information detecting movement of the
surgical drill 1500 may be transmitted to a display 1502 so that
movement of the surgical drill 1500 can be mimicked on the display
1502. The display 1502 allows a user to see a virtual
representation of the movement and absolute orientation of the
surgical drill 1500. In an embodiment, the display may provide a
virtual representation of a patient or other objects in addition to
a virtual representation of the surgical drill to provide the user
with a visualization of the surgical drill. The visualization may
not be otherwise available to the user do to the user's position or
location.
[0168] In an embodiment, captured angle, position, velocity, and
acceleration data reproduced in the virtual representation of the
tool displayed on a monitor.
[0169] Turning now to FIG. 26, an exemplary embodiment of a
surgical drill is shown at 1600. The surgical drill 1600 is
substantially the same as the above-referenced surgical drill 1500,
and consequently the same reference numerals but indexed by 1600
are used to denote structures corresponding to similar structures
in the surgical drill 1600. In addition, the foregoing description
of the surgical drill 1500 is equally applicable to the surgical
drill 1600 except as noted below. Moreover, it will be appreciated
that aspects of the surgical drills may be substituted for one
another or used in conjunction with one another where
applicable.
[0170] The surgical drill 1600 may communicate its orientation to a
robotic arm 1610. The robotic arm 1610 may control a second
surgical drill 1601 based on the orientation of the surgical drill
1600. For example, the robotic arm 1610 may move the surgical drill
1601 in the same manner that the surgical drill 1600 is moved by a
user.
[0171] The surgical drill 1601 may be identical to the surgical
drill 1600. In an embodiment, the surgical drill controlled by the
arm does not include an orientation sensor.
[0172] The surgical drill may include a wireless transmitter 1650
that wirelessly communicates with a wireless receiver 1652 of the
robotic arm 1610. For example, when the surgical drill 1600 is
moved, the transmitter 1650 may communicate such movement to the
receiver 1652 so that the robotic arm 1610 can mimic such movement
with the surgical drill 1601. Mimicking movement allows a user to
remain in an unsterile environment while operating the robotic arm
1610, which may be in a sterile environment with a patient.
[0173] As shown in FIG. 27, the robotic arm 1610 may include a
transmitter 1654 to provide feedback orientation information
pertaining to the surgical drill 1601. The feedback may be utilized
by a processor built into the surgical drill 1600 or a separate
processor to refine the orientation information provided to the
robotic arm 1610 and/or to refine movement of the robotic arm
1610.
[0174] Referring now to FIG. 28, an orientation controller 1660 may
communication an orientation to the robotic arm 1610 (schematically
shown in FIG. 28) and the robotic arm 1610 may move the surgical
drill 1601 to that orientation. For example, a user may use input
buttons on the orientation controller 1660 to set orientation
angles and positions. The orientation controller 1660 may
wirelessly communication the set orientation to the robotic arm
1610 and the robotic arm may move the surgical drill 1601 to the
set orientation.
[0175] In an embodiment, the robotic arm includes one or more
stepper motor to determine the orientation of the surgical drill
held by the robotic arm in addition to the orientation sensor of
the surgical drill held by the robotic arm. In another embodiment,
the position of the surgical drill held by the robotic arm is
determined entirely by sensors or stepper motors of the robotic
arm.
[0176] Turning now to FIG. 29, a computed tomography (CT) scanner
may be used to identify an area of interest of a patient. For
example, the patient's pelvic region may be an area of interest and
a CT image of a cross-section of the patient's pelvic region may
include a desired location to be biopsied.
[0177] FIG. 30 illustrates an example of a CT image in which a
location to be biopsied X is shown along with a desired entry angle
of a biopsy needle. A point of entry in the patient may be
determined based on the location to be biopsied X and the entry
angle. A doctor may determine any or all of the location to be
biopsied X, the entry angle, and/or the point of entry.
[0178] The biopsy needle 1000, discussed above, or another tool
discussed above, may be inserted into the patient at the point of
entry to reach the location to be biopsied X. Orientation feedback
from the biopsy needle 1000 may allow the user to insert the biopsy
needle into the patient and reach the location to be biopsied X at
the desired entry angle and via the desired point of entry, without
necessitating a second CT scan. For example, the biopsy needle 1000
may provide feedback to the user based on the desired entry angle,
point of entry, and/or location to be biopsied X so that the user
is informed regarding when the orientation of the biopsy needle
1000 is correct or incorrect.
[0179] In an embodiment, the biopsy needle provides feedback to the
user (e.g., with lights, sound, or with another feedback
component/functionality discussed above) to alert the user that the
orientation is correct and/or incorrect. For example, the biopsy
needle may include lights configured to display a particular
pattern or color when the orientation of the biopsy needle is
correct (e.g., within a predetermined threshold of the desired
orientation). The biopsy needle may also or alternatively be
configured to display a different pattern or color when the
orientation of the biopsy needle is incorrect (e.g., outside of a
predetermined threshold of the desired orientation). In some
embodiments, the current orientation of the biopsy needle may be
displayed in an overlaid fashion with the desired orientation.
[0180] The biopsy needle 1000 with its absolute orientation sensor
1030 (labeled in FIG. 11) can be used in conjunction with
conventional imaging intra-operatively. For example, the absolute
orientation sensor may be used in interventional radiology. With
the use of a biopsy needle with orientation sensing, a physician
can position the instrument at a known anatomic landmark or over
area of interest; using any imaging modality employed by the
interventional radiologists, such as fluoroscopy, CT scanning,
ultrasound, MRI, and the like, the tool can be repositioned based
on measurements made after additional imaging has been obtained.
This allows the biopsy needle 1000 to be introduced and/or advanced
in a guided fashion into the desired area of the patient's
body.
[0181] In an embodiment, a robotic arm is configured to insert the
biopsy needle based on the desired area of the patient's body. For
example, the desired entry angle, location of interest, and/or
orientation are input to the robotic arm and the robotic arm
inserts the biopsy needle based on the designated inputs.
[0182] According to one aspect of the invention, a surgical
instrument comprises an instrument body, an absolute orientation
sensor including an absolute orientation sensing component, the
absolute orientation sensor being configured to be attached to the
instrument body such that when the absolute orientation sensor is
attached to the instrument body the absolute orientation sensing
component would be at least partially fixed relative to the
instrument body. When the absolute orientation sensing component is
at least partially fixed relative to the instrument body the
absolute orientation sensing component would be operable to detect
a plurality of orientation data associated with at least one
orientation condition of the surgical instrument relative to the
Earth's magnetic field without requiring calibration by a separate
arbitrary reference plane, the absolute orientation sensor being at
least partially detachable from the instrument body such that the
absolute orientation sensing component is removable from the
instrument body, where when the absolute orientation sensing
component is removed the absolute orientation sensing component
would not be operable to detect the plurality of orientation data
associated with the at least one orientation condition of the
surgical instrument.
[0183] The absolute orientation sensing component may be configured
to be removable from the instrument body by hand.
[0184] The absolute orientation sensor may be configured to slide
onto and off of the instrument body such that the absolute
orientation sensing component is removable from the instrument
body.
[0185] The absolute orientation sensor may include a sleeve that is
configured to slide onto and off of a shaft of the instrument body
such that the absolute orientation sensing component is removable
from the instrument body.
[0186] The absolute orientation sensor may include a sensor case
that is configured to receive the absolute orientation sensing
component and at least partially fix the absolute orientation
sensing component relative to the instrument body.
[0187] The sensor case may have an open position and a closed
position, and when the sensor case is in the closed position an
interior of the sensor case is hermetically sealed from the
atmosphere, and when the sensor case is in the open position the
interior is configured to receive the absolute orientation sensing
component such that the absolute orientation sensing component can
be retained within the interior when the sensor case is in the
closed position.
[0188] The surgical instrument may include a device processor
operable for controlling one or more components of the surgical
instrument.
[0189] The absolute orientation sensor may be operatively coupled
to the device processor and controlled in part by the device
processor, the absolute orientation sensing component may comprise
an accelerometer, gyroscope, and magnetometer, wherein the absolute
orientation sensing component is operable to generate a plurality
of orientation status data on at least a portion of the plurality
of detected orientation data.
[0190] The surgical instrument may further include at least one
power source operatively coupled to the absolute orientation
sensing component, wherein the at least one power source is
operable to generate a supply of power for operation of the device
processor and the absolute orientation sensing component.
[0191] The surgical instrument may be in combination with a
hermetically sealed enclosure, and the surgical instrument may be
enclosed within the hermetically sealed enclosure.
[0192] According to another aspect of the invention, a surgical
instrument comprises an instrument body, an absolute orientation
sensor including an absolute orientation sensing component, the
absolute orientation sensor being configured to be attached to the
instrument body such that when the absolute orientation sensor is
attached to the instrument body the absolute orientation sensing
component would be partially fixed relative to the instrument body.
When the absolute orientation sensing component is at least
partially fixed relative to the instrument body the absolute
orientation sensing component would be operable to detect a
plurality of orientation data associated with at least one
orientation condition of the surgical instrument relative to the
Earth's magnetic field without requiring calibration by a separate
arbitrary reference plane, the absolute orientation sensor being
configured to partially isolate movement of the instrument body
from absolute orientation sensing component when the absolute
orientation sensor is attached to the instrument body, where when
the absolute orientation sensing component is partially fixed
relative to the instrument body the instrument body would be
partially movable relative to the absolute orientation sensing
component.
[0193] The instrument body may be rotatable relative to the
absolute orientation sensing component when the absolute
orientation sensor is attached to the instrument body.
[0194] The absolute orientation sensor may include a ratchet that
is configured to allow the instrument body to move relative to the
absolute orientation sensing component in a first direction and
configured to not allow the absolute orientation sensor component
to move in a second direction opposite the first direction.
[0195] The absolute orientation sensor may include a ratchet that
is configured to allow the instrument body to rotate relative to
the absolute orientation sensing component in the first direction
and configured to not allow the absolute orientation sensor
component to move in the second direction.
[0196] The surgical instrument may further comprise a display
operatively coupled to the device processor, the display being
operable to display at least a portion of the plurality of
generated orientation status data thereon, and the display may be
configured to be partially fixed relative to the instrument body,
where when the display is partially fixed relative to the
instrument body the instrument body would be partially movable
relative to the display.
[0197] According to another aspect of the invention, a surgical
instrument comprises a device processor operable for controlling
one or more components of the surgical instrument, at least one
light source operatively coupled to the device processor and
controlled in part by the device processor, the device processor
being configured to operate the light source based on the
orientation of the surgical instrument.
[0198] The device processor may be configured to activate one or
more light sources of the at least one light source based on the
orientation of the surgical instrument relative to a predetermined
orientation.
[0199] The device processor may be configured to activate one or
more light sources of the at least one light source when the
surgical instrumented is oriented in a predetermined
orientation.
[0200] The predetermined orientation may be within a predetermined
threshold of a reference orientation.
[0201] The device processor may be configured to change the color
of the light output by the at least one light source based on the
orientation of the surgical instrument relative to a predetermined
orientation.
[0202] The device processor may be configured to operate the least
one light source based on the orientation of the surgical
instrument relative to a predetermined orientation relative to a
patient.
[0203] As mentioned above, features of any of the above aspects may
be combined with one another. For example, a surgical instrument
may include a detachable absolute orientation sensor that is
partially fixable relative to an instrument body and the surgical
instrument may provide feedback (e.g., light feedback) based on the
orientation sensed by the absolute orientation sensor.
[0204] Although the invention has been shown and described with
respect to a certain embodiment or embodiments, it is obvious that
equivalent alterations and modifications will occur to others
skilled in the art upon the reading and understanding of this
specification and the annexed drawings. In particular regard to the
various functions performed by the above described elements
(components, assemblies, devices, compositions, etc.), the terms
(including a reference to a "means") used to describe such elements
are intended to correspond, unless otherwise indicated, to any
element which performs the specified function of the described
element (i.e., that is functionally equivalent), even though not
structurally equivalent to the disclosed structure which performs
the function in the herein illustrated exemplary embodiment or
embodiments of the invention. In addition, while a particular
feature of the invention may have been described above with respect
to only one or more of several illustrated embodiments, such
feature may be combined with one or more other features of the
other embodiments, as may be desired and advantageous for any given
or particular application.
* * * * *