Monitoring trajectory of surgical instrument during the placement of a pedicle screw

摘要

The present invention relates to a system and methods generally aimed at monitoring the trajectory of surgical instruments and especially for monitoring the trajectory of surgical instrument used during pedicle fixation to ensure the proper placement of pedicle screws.

主权项

1. A method for cannulating a vertebral pedicle in a body comprising the steps of:
a. coupling a first orientation sensor to an intraoperative imaging device, said first orientation sensor operable to determine a first angular relationship in a first plane between said first orientation sensor and a reference direction and operable to determine a second angular relationship in a second plane between said first orientation sensor and said reference direction, wherein said second plane is orthogonal to said first plane and said first orientation sensor is coupled to said intraoperative imaging device in a known orientation, said first orientation sensor being communicatively linked to a control unit, said control unit comprising a computer; b. capturing an image of said vertebral pedicle with said intraoperative imaging device, said intraoperative device being positioned in a first position during said image capture; c. using said control unit to measure a value representing an angular orientation of said vertebral pedicle; d. coupling a second orientation sensor to a surgical instrument, said second orientation sensor operable to determine a third angular relationship in said first plane between said second orientation sensor and a reference direction and operable to determine a fourth angular relationship in said second plane between said second orientation sensor, wherein said second orientation sensor is coupled to said surgical instrument in a known orientation, said second orientation sensor being communicatively linked to a control unit; e. adjusting the orientation of said surgical instrument until said second orientation sensor indicates that the surgical instrument is aligned with said measured value representing the angular orientation of said vertebral pedicle; and f. advancing a distal end of said surgical instrument through said body tissue and into said vertebral pedicle.