Systems and methods for surgical navigation with a tracker instrument

Abstract

There is provided a surgical instrument for navigated surgeries and systems and methods using such a surgical instrument. The surgical tool comprises a tip; a tool interface, separate from the tip; and an optically trackable target. The tip is configured to probe positions in a space and identify the positions using optical information from the optically trackable target. The tool interface is configured to mate with a surgical tool such that the optical trackable target then provides optical information with which to determine positional information for the surgical tool in the space. In one example, the system provides navigational information during surgery using the surgical instrument, namely, a single integrated tracker instrument with two or more mechanical interfaces for coupling the tracker instrument with anatomical features and/or surgical tools.

What is claimed is: 
     
         1 . A surgical instrument comprising:
 a probe tip for probing positions in a space;   a tool interface, separate from the tip; and   an optically trackable target;   wherein the optically trackable target is configured to provide optical information with which to determine the positions; and   wherein the tool interface is configured to mate with a surgical tool such that the optical trackable target then provides optical information with which to determine positional information for the surgical tool in the space.   
     
     
         2 . The surgical instrument of  claim 1 , wherein the tip and the tool interface are located at opposite ends of the instrument. 
     
     
         3 . The surgical instrument of  claim 2 , wherein the optically trackable target is located between the opposite ends. 
     
     
         4 . The surgical instrument of  claim 2 , wherein:
 the instrument defines a rigid body between the opposite ends; and   the probe tip is positioned at one of the opposite ends, along a longitudinal axis of the rigid body, extended away from the tool interface.   
     
     
         5 . The surgical instrument of  claim 4 , wherein the rigid body comprises a rigid rod, the probe tip located at a free end of the rigid rod, the free end defining one of the opposite ends of the instrument. 
     
     
         6 . The surgical instrument of  claim 2 , wherein:
 the instrument defines a rigid body between the opposite ends; and   the tool interface is positioned at a free end of an extension member of the rigid body, away from the probe tip.   
     
     
         7 . The surgical instrument of  claim 1  wherein the tool interface is one of:
 a V-channel mounting interface; 
 a kinematic mount; 
 a planar feature without a magnet; and 
 a planar feature with a magnet. 
 
     
     
         8 . The surgical instrument of  claim 1 , wherein the tool interface comprises channel surfaces defining a channel having a V-shape, the channel surfaces configured to receive a shaft of a tool for coupling the instrument to the surgical tool. 
     
     
         9 . The surgical instrument of  claim 1 , wherein the tool interface comprises a planar surface oriented transversely to a longitudinal axis of the instrument for coupling the instrument to the surgical tool. 
     
     
         10 . The surgical instrument of  claim 9 , wherein the tool interface comprises a magnet for coupling the instrument at the planar surface to the surgical tool. 
     
     
         11 . The surgical instrument of  claim 1 , wherein the instrument is pre-sterilized, single-use and disposable. 
     
     
         12 . A method comprising:
 probing a position in a space using a surgical instrument, the instrument comprising:
 a probe tip for probing positions in the space; 
 a tool interface configured to mate with a surgical tool, the tool interface separate from the tip; and 
 an optically trackable target configured to provide optical information with which to determine the positions by a system to provide navigational information; 
   coupling the surgical instrument via the tool interface to the surgical tool; and   using the tool with the surgical instrument coupled thereto to provide the optical information to the system to determine the positional information for the surgical tool in the space.   
     
     
         13 . The method of  claim 12  comprising: receiving from the system first navigational information based on at least one position probed by the probe tip. 
     
     
         14 . The method of  claim 12  comprising: receiving from the system second navigational information associated with a pose of the tool interface, the pose determined from the optical information received when the tool is coupled to the tool interface. 
     
     
         15 . The method of  claim 12 , wherein the instrument is pre-sterilized, single-use and disposable; and wherein the method comprises disposing the instrument once use with a single patient is completed. 
     
     
         16 . The method of  claim 15 , wherein the system to provide navigational information is free from any components requiring reprocessing for sterility. 
     
     
         17 . The method of  claim 15 , wherein the step or probing and the step of using the tool each provide respective optical information to a camera of the system, the camera having a drape that provides a sterile barrier around the camera, the drape further comprising an optical window to enable the camera to receive the optical information from within the sterile barrier. 
     
     
         18 . The method of  claim 12 , wherein:
 the surgical tool comprises an acetabular implant inserter tool;   using the tool comprises performing acetabular implant alignment during an arthroplasty;   the step of probing defines a first probing, the first probing comprising positioning the probe tip in contact with a landmark on a patient's femur, prior to the arthroplasty; and   the method comprises:
 prior to the arthroplasty, causing the system to calculate a first position of the tip when in contact with the landmark; 
 during the arthroplasty when the surgical instrument is coupled to the acetabular implant inserter tool, causing the system to calculate a pose of the tool interface during acetabular implant alignment; 
 receiving acetabular implant alignment information from the system; 
 after the arthroplasty, performing a second probing comprising positioning the probe tip in contact with the landmark on a patient's femur; 
 causing the system to calculate a second position of the tip when in contact with the landmark after to the arthroplasty; and 
 receiving a change in leg position information from the system based on at least the first position and second position. 
   
     
     
         19 . The method of  claim 12  comprising orienting the surgical instrument to trigger the system to switch between navigation contexts, wherein each navigation context provides different navigational information. 
     
     
         20 . The method of  claim 19 , wherein:
 a first one of the navigation contexts provides navigation information based on a position of the probe tip; and   a second one of the navigation contexts provides navigation information based on a position of the surgical tool when coupled to the surgical instrument.