Pedicle Screw Insertion System and Method

Abstract

Improved methods and apparatuses for inserting pedicle screws in accordance with embodiments of the present invention include an image correction algorithm. In various embodiments, an original image of a region of interest of a patient including a pedicle is created with an X-ray emitter and an X-ray detector. Due to the X-ray emitter not being aligned orthogonal to the X-ray detector, the original image will be skewed. Using a known location and orientation of the X-ray detector, a location and orientation of the X-ray emitter provided by a position monitoring system, and the original image, a processing system can execute the image correction algorithm to provide a corrected image to allow a surgeon to properly insert a pedicle screw along the axis of the pedicle while viewing an accurate corrected image in real time.

1 - 23 . (canceled) 
     
     
         24 . A system for inserting a pedicle screw into a pedicle of a patient, comprising:
 a manually positionable beam emitter adjustable in more than three degrees of freedom, the emitter including a drill assembly adapted to insert a pedicle screw into a pedicle of a patient along an axis of operation;   a detector that detects a beam from the emitter, the beam oriented along an axis parallel to the axis of operation of the actuator, and generates an original two-dimensional surface projection image of a three-dimensional object having a region of interest between the detector and emitter;   a computer controlled position monitoring system that monitors a position and an orientation of the emitter in the more than three degrees of freedom;   a processor operably connected to the position monitoring system and the detector and configured to execute an image correction algorithm, the image correction algorithm operable to provide a corrected two-dimensional surface projection image from the original two-dimensional surface projection image, the original two-dimensional surface projection image of the pedicle being skewed when the axis along which the beam is emitted is at an angle that is not perpendicular to the detector relative to an actual appearance of the pedicle and the corrected two-dimensional surface projection showing the actual appearance of the pedicle; and   a video display linked to the processor to display the corrected two-dimensional surface projection image in real-time to a surgeon performing an operation to insert the pedicle screw into the pedicle of the patient.   
     
     
         25 . The system of  claim 25 , wherein the image correction algorithm executed by the processor operates directly on texture coordinates of the original two-dimensional surface projection image generated by the detector using matrix transforms. 
     
     
         26 . The system of  claim 25 , wherein the image correction algorithm executed by the processor utilizes rasterization to provide the corrected two-dimensional surface projection image. 
     
     
         27 . The system of  claim 25 , wherein the computer controlled position monitoring system is a kinematic or mechanical tracking system. 
     
     
         28 . The system of  claim 27 , wherein the emitter is connected to an arm of the kinematic or mechanical tracking system. 
     
     
         29 . The system of  claim 25 , wherein the computer controlled position monitoring system is an optical tracking system. 
     
     
         30 . The system of  claim 25 , wherein the computer controlled position monitoring system is at least partially located within the emitter. 
     
     
         31 . The system of  claim 25 , wherein the emitter is manually positionable in at least five degrees of freedom. 
     
     
         32 . The system of  claim 25 , wherein the axis of operation of the drill assembly and the axis along which the beam is emitted are coaxial. 
     
     
         33 . The system of  claim 32 , wherein at least a portion of the drill assembly that is coaxial with the axis along which the beam is emitted is comprised of a material that is translucent to the beam. 
     
     
         34 . The system of  claim 25 , wherein the emitter is an X-ray emitter and the detector is an X-ray detector. 
     
     
         35 . The system of  claim 25 , wherein the emitter is a handheld tool having a handle and a housing at least partially containing the actuator. 
     
     
         36 . A system for inserting a pedicle screw into a pedicle of a patient, comprising:
 a manually positionable X-ray emitter including a drill assembly adapted to insert a pedicle screw into a pedicle of a patient along an axis of operation;   an X-ray detector that detects the X-rays from the X-ray emitter, the X-ray emitter capable of being positioned such that the X-rays are not perpendicular to the X-ray detector, wherein the X-ray detector generates an original image of a region of interest that includes the pedicle when the pedicle is positioned between the X-ray detector and the X-ray emitter;   a computer controlled position monitoring system that uses a processor to monitor a position and an orientation of the X-ray emitter,   wherein the processor is operably connected to the position monitoring system and the X-ray detector and configured to execute an image correction algorithm that provides a corrected image of the original image when the original image is generated with the X-rays emitted at an angle that is not perpendicular to the X-ray detector; and   a video display linked to the processor to display the corrected mage in real-time to a surgeon performing an operation to insert the pedicle screw into the pedicle of the patient.