Image guided awl/tap/screwdriver

Abstract

A trackable medical instrument for use in a computer assisted image guided medical and surgical navigation systems that generate images during medical and surgical procedures, includes a guide member having an emitter array for being tracked by the system and a drive shaft contained within the guide member having a proximal and a distal end, the drive shaft being rotatable within the guide member while being fixable axially inside the guide member, the proximal end of the drive shaft having a first connector for interchangeably receiving at least one drive source, and the distal end having a second connector for interchangeably receiving at least one instrument tip.

What is claimed is: 
     
       1. A trackable medical instrument for use in a computer assisted image guided surgery system having a digitizer for tracking the position of the instrument in three dimensional space and a display providing an indication of the position of the instrument with respect to images of a body part take preoperatively, the instrument comprising:
 a guide member having an emitter array mounted thereon for being tracked by a digitizer; and   a drive shaft contained within the guide member, the drive shaft having a longitudinal axis and a proximal and a distal end, the drive shaft being rotatable within the guide member while being fixable within the guide member in a direction of the longitudinal axis, the proximal end of the drive shaft having a first connector for interchangeably receiving at least one drive source for transmitting torque to the drive shaft causing rotation of the drive shaft relative to the guide member, and the distal end having a second connector for interchangeably receiving at least one instrument tip.   
     
     
       2. The instrument according to  claim 1 , further comprising at least one instrument tip for removable connection to the distal end of the drive shaft. 
     
     
       3. The instrument according to  claim 2 , wherein the at least on drive source comprises a drive handle for removable connection to the proximal end of the drive shaft for transmitting torque to the drive shaft and the instrument tip to cause rotation of the instrument tip. 
     
     
       4. The instrument according to  claim 3 , wherein the drive handle and the drive shaft include a male-female socket joint to removably connect the drive shaft to the drive handle. 
     
     
       5. The instrument according to  claim 3 , wherein the drive handle includes a ratchet. 
     
     
       6. The instrument according to  claim 3 , wherein the drive handle includes a motor for imparting torque to the drive shaft. 
     
     
       7. The instrument according to  claim 2 , wherein the instrument tip and the drive shaft include a male-female socket joint to removably connect the drive shaft to the instrument tip. 
     
     
       8. The instrument according to  claim 2 , wherein the instrument tip is an awl. 
     
     
       9. The instrument according to  claim 2 , wherein the instrument tip is a tap. 
     
     
       10. The instrument according to  claim 2 , wherein the instrument tip has a shaped end for mating with a workpiece to be rotated by said drive shaft. 
     
     
       11. The instrument according to  claim 2 , wherein the instrument tip is a drill bit. 
     
     
       12. The instrument according to  claim 1 , wherein the emitter array includes at least one LED array for emitting light signals. 
     
     
       13. The instrument according to  claim 12 , wherein the LED array includes a base and a plurality of LED emitters disposed on the base. 
     
     
       14. The instrument according to  claim 1 , wherein at least one bushing is provided in the guide member to reduce friction between the guide member and drive shaft. 
     
     
       15. The instrument according to  claim 1 , wherein the instrument includes a sensor which senses the removal and connection of an instrument tip to the instrument. 
     
     
       16. The instrument according to  15 , wherein the sensor includes an electromechanical switch on the guide member electrically connected to the system. 
     
     
       17. A trackable medical instrument for use in a computer assisted image guided surgery system having a digitizer for receiving signals representing a position of the instrument during surgery, a computer for processing the signals received, and a display for providing an image representing the position of the instrument in three dimensional space during surgery, the instrument comprising:
 guiding means for guiding the instrument in three dimensional space, the guiding means including signaling means for providing a signal representing the trajectory of the instrument and the location of the instrument; and   driving means for driving the instrument contained within the guiding means, the driving means having a longitudinal axis and being fixable in relation to the guiding means in a direction of the longitudinal axis while being rotatable in relation to the guiding means, the driving means having a first end adapted to interchangeably receive at least one medical instrument tip and an opposite end adapted to interchangeably receive at least one drive source.   
     
     
       18. The instrument according to  claim 17 , wherein the instrument includes a sensing means for sensing the removal and the connection of an instrument tip to the instrument. 
     
     
       19. The instrument according to  18 , wherein the sensing means includes an electromechanical switch on the guiding means connected to the means for processing. 
     
     
       20. The instrument according to  claim 17 , wherein the guiding means comprises a housing for receiving the driving means, the driving means being rotatable within the housing while being retained axially within the housing. 
     
     
       21. The instrument according to  claim 20  wherein the signaling means comprises an LED array. 
     
     
       22. The instrument according to  claim 21 , further comprising an instrument tip for connection to the first end of the driving means.  
     
     
       23. The instrument according to  claim 22 , further comprising a drive handle for connection to the opposite end of the driving means for transmitting torque to the instrument tip to cause rotation of the instrument tip. 
     
     
       24. The instrument according to  claim 20 , wherein the driving means comprises a drive shaft having mating connectors on both ends for connection to corresponding connectors disposed on an instrument tip and a drive source. 
     
     
       25. The instrument according to  claim 24 , wherein at least one bushing is provided between the housing and the drive shaft to reduce friction between the guide handle and drive shaft. 
     
     
       26. The instrument according to  claim 22 , wherein the instrument tip is an awl. 
     
     
       27. The instrument according to  claim 22 , wherein the instrument tip is a tap. 
     
     
       28. The instrument according to  claim 22 , wherein the instrument tip has a shaped end for mating with a workpiece. 
     
     
       29. A trackable medical instrument for use in a computer assisted image guided surgery system having a digitizer for tracking the position of the instrument in three dimensional space and a display providing an indication of the position of the instrument with respect to images of a body part take preoperatively, the instrument comprising:
 a guide member having an emitter array mounted thereon for being tracked by a digitizer;   a drive shaft contained within the guide member, the drive shaft having a longitudinal axis and a proximal and a distal end, the drive shaft being rotatable within the guide member while being fixable within the guide member in a direction of the longitudinal axis;   an instrument tip extending from the proximal end of the drive shaft; wherein the instrument tip rotates freely relative to the guide member while being fixable axially relative to the guide member; and   a drive handle extending from the distal end of the drive shaft for guiding the instrument, including the guide member, and for imparting rotary motion to the drive shaft and the instrument tip independent of the guide member.   
     
     
       30. The instrument according to  claim 29 , further comprising a proximal coupler for interchangeably coupling the drive source to the drive shaft. 
     
     
       31. The instrument according to  claim 30 , wherein the proximal coupler comprises a male-female socket joint disposed on the drive shaft and the drive source to removably connect the drive source to the drive shaft. 
     
     
       32. The instrument according to  claim 29 , wherein the drive handle includes a ratchet.  
     
     
       33. The instrument according to  claim 29 , wherein the drive handle includes a motor for imparting rotary motion to the drive shaft. 
     
     
       34. The instrument according to  claim 29 , further comprising a distal coupler for interchangeably coupling the instrument tip to the drive shaft. 
     
     
       35. The instrument according to  claim 34 , wherein the distal coupler includes a male-female socket joint disposed on the drive shaft and the instrument tip to removably connect the instrument tip to the drive shaft. 
     
     
       36. The instrument according to  claim 29 , wherein the instrument tip is an awl. 
     
     
       37. The instrument according to  claim 29 , wherein the instrument tip is a tap. 
     
     
       38. The instrument according to  claim 29 , wherein the instrument tip has a shaped end for mating with a workpiece to be rotated by said drive shaft. 
     
     
       39. The instrument according to  claim 29 , wherein the instrument tip is a drill bit. 
     
     
       40. The instrument according to  claim 29 , wherein the emitter array includes at least one LED array for emitting light signals. 
     
     
       41. The instrument according to  claim 29 , wherein the at least one LED array includes a base and a plurality of LED emitters disposed on the base. 
     
     
       42. The instrument according to  claim 29 , wherein at least one bushing is provided in the guide member to reduce friction between the guide member and drive shaft. 
     
     
       43. A trackable medical instrument for use in a computer assisted image guided surgery system having a digitizer for tracking the position of the instrument in three dimensional space and a display providing an indication of the position of the instrument with respect to images of a body part taken preoperatively, the instrument comprising:
 a guide member having a tracking device mounted thereon for being tracked by a digitizer;   a drive shaft contained within the guide member, the drive shaft having a longitudinal axis and a proximal and a distal end, the drive shaft being rotatable within the guide member while being fixable within the guide member in a direction of the longitudinal axis;   an instrument tip extending from the proximal end of the drive shaft; wherein the instrument tip rotates freely relative to the guide member while being fixable axially relative to the guide member; and   a drive handle extending from the distal end of the drive shaft for guiding the instrument, including the guide member, and for imparting rotary motion to the drive shaft and the instrument tip independent of the guide member.   
     
     
       44. The instrument according to  claim 43 , wherein the tracking device includes a passive signal generator. 
     
     
       45. The instrument according to  claim 44 , wherein the instrument comprises at least one reflective surface for reflecting signals to be tracked by the digitizer. 
     
     
       46. The instrument according to  claim 44 , wherein the instrument comprises at least three reflective surfaces for reflecting signals to be tracked by the digitizer. 
     
     
       47. The instrument according to  claim 43 , further comprising a proximal coupler for interchangeably coupling the drive source to the drive shaft. 
     
     
       48. The instrument according to  claim 47 , wherein the proximal coupler comprises a male-female socket joint disposed on the drive shaft and the drive source to removably connect the drive source to the drive shaft. 
     
     
       49. The instrument according to  claim 43 , further comprising a distal coupler for interchangeably coupling the instrument tip to the drive shaft. 
     
     
       50. The instrument according to  claim 49 , wherein the distal coupler includes a male-female socket joint disposed on the drive shaft and the instrument tip to removably connect the instrument tip to the drive shaft. 
     
     
       51. A trackable medical instrument system, comprising:
 a guide member having a tracking device mounted thereon for being tracked; and   a surgical implement extending from the guide member, the surgical implement having a longitudinal axis and a proximal end and a distal end, the surgical implement being rotatable relative to the guide member while being fixable relative to the guide member in a direction of the longitudinal axis, and the distal end having at least one instrument tip;   wherein the surgical implement is configured to be rotated by at least one drive source transmitting torque to the surgical implement for causing rotation of the surgical implement relative to the guide member.   
     
     
       52. The instrument system of claim 51, further comprising:
 a display for illustrating an indication of the position of the surgical implement with respect to images of a body part taken preoperatively;   wherein a digitizer is used for tracking the position of the surgical implement in three dimensional space to be displayed on the display.   
     
     
       53. The instrument system of claim 51, wherein the medical instrument system is recalibrated without touching the at least one instrument tip to a known reference point. 
     
     
       54. The instrument system of claim 51, wherein the medical instrument system is recalibrated by entering dimensions of the at least one instrument tip into a computer associated with a digitizer. 
     
     
       55. The instrument system of claim 51, wherein the medical instrument system is recalibrated by entering a tool-type of the at least one instrument tip into a computer associated with a digitizer. 
     
     
       56. The instrument system of claim 51, wherein the medical instrument system is recalibrated by selecting dimensions of the at least one instrument tip from a list of tool dimensions pre-programmed into a computer associated with a digitizer. 
     
     
       57. The instrument system of claim 51, wherein the medical instrument system is recalibrated by selecting a tool type of the at least one instrument tip from a list of tool types pre-programmed into a computer associated with a digitizer. 
     
     
       58. The instrument system of claim 51, further comprising:
 a fiber optic device for reading a reference provided on the surgical implement;   wherein the medical instrument system is recalibrated based on information provided by the reference.   
     
     
       59. The instrument system of claim 51, further comprising:
 a drive source extending from the distal end of the surgical implement configured to impart rotary motion to the at least one instrument tip independent of the guide member;   wherein the at least one instrument tip rotates freely relative to the guide member while being fixable axially relative to the guide member;   wherein after the medical instrument system is calibrated, the medical instrument system is recalibrated without touching the at least one instrument tip to a known reference point.   
     
     
       60. A trackable medical instrument system for use in a computer assisted image guided surgery system, comprising:
 a guide member having a tracking device mounted thereon for being tracked; and   a drive shaft contained within the guide member, the drive shaft having a longitudinal axis, a first end and a second end, the drive shaft being rotatable within the guide member while being fixable within the guide member along the longitudinal axis, the first end of the drive shaft having a first connector for receiving at least one drive source for transmitting torque to the drive shaft for causing rotation of the drive shaft relative to the guide member, and the second end having at least one instrument tip extending therefrom.   
     
     
       61. The instrument system of claim 60, further comprising:
 a drive handle as the drive source.   
     
     
       62. The instrument system of claim 60, wherein at least the drive shaft and the at least one instrument tip are permanently attached. 
     
     
       63. The instrument system of claim 60, wherein at least the drive shaft and the at least one drive source are permanently attached. 
     
     
       64. The instrument system of claim 60, wherein all of the drive shaft, the at least one instrument tip, and the at least one drive source are permanently attached. 
     
     
       65. The instrument system of claim 60, wherein the drive shaft is extractable from the guide member. 
     
     
       66. The instrument system of claim 65, further comprising:
 bushings between the drive shaft and the guide member to allow smooth operation of the drive shaft.   
     
     
       67. The instrument system of claim 60, further comprising:
 a computer where information regarding dimensions of the at least one instrument tip is entered into the computer.   
     
     
       68. The instrument system of claim 60, wherein the tracking device is configured to allow determination of both position and trajectory information in three dimensional space. 
     
     
       69. The instrument system of claim 60, wherein the at least one instrument tip is at least one of a tap, an awl, a shaped tool, or a screw driver. 
     
     
       70. The instrument system of claim 60, further comprising:
 a monitor to display images;   a reference arc connected to a patient; and   a digitizer to triangulate the position of at least one of the tracking device or the reference arc.   
     
     
       71. A trackable medical instrument system for use in a computer assisted image guided surgery system, comprising:
 a guide member integral with at least one instrument tip;   a tracking device connected to the guide member for being tracked; and   a drive shaft contained within the guide member, the drive shaft having a longitudinal axis and at least a first end;   wherein the drive shaft is rotatable within the guide member while being fixable within the guide member along the longitudinal axis;   wherein the first end of the drive shaft has a first connector for receiving at least one drive source for transmitting torque to the drive shaft for causing rotation of the drive shaft relative to the guide member.   
     
     
       72. The instrument system of claim 71, wherein the tracking device is configured to rotate relative to the at least one instrument tip. 
     
     
       73. The instrument system of claim 71, wherein the guide member and the drive source are integral. 
     
     
       74. The instrument system of claim 71, further comprising:
 a computer where information regarding dimensions of the at least one instrument tip is entered into the computer.   
     
     
       75. The instrument system of claim 71, wherein the tracking device is configured to allow determination of both position and trajectory information in three dimensional space. 
     
     
       76. The instrument system of claim 71, wherein the at least one instrument tip is at least one of a tap, an awl, a shaped tool, or a screw driver. 
     
     
       77. The instrument system of claim 71, further comprising:
 a monitor to display images;   a reference arc connected to a patient; and   a digitizer to triangulate the position of at least one of the tracking device or the reference arc.   
     
     
       78. A trackable medical instrument for use in a computer assisted image guided surgery system having a digitizer for tracking the position of the instrument in three dimensional space and a display providing an indication of the position of the instrument with respect to images of a body part taken preoperatively, the instrument comprising:
 a guide member having a tracking device mounted thereon for being tracked by a digitizer; and   a drive shaft contained within the guide member, the drive shaft having a longitudinal axis and a proximal and a distal end, the drive shaft being rotatable within the guide member while being fixable within the guide member in a direction of the longitudinal axis, the proximal end of the drive shaft having a first connector for interchangeably receiving at least one drive source for transmitting torque to the drive shaft causing rotation of the drive shaft relative to the guide member, and the distal end having a second connector for interchangeably receiving at least one instrument tip.