Patent Description:
Surgical navigation generally provides a surgeon with information useful for surgery. For example, a pose (i.e., at least one of a position and an orientation) of a surgical instrument (e.g., a chisel, a drill, a trocar, a screwdriver, a pointer or the like) can be visualized relative to patient image data. The patient image data may be two- or three-dimensional image data of a patient acquired using a medical image acquisition technique such as computed tomography or magnetic resonance imaging. A tracking system may be used to track the pose of the surgical instrument relative to a body of the patient by localizing trackers attached to the surgical instrument and the body, respectively.

In some cases, a pose of an implant (e.g., a bone plate, an artificial organ or the like) relative to at least one of the body and the surgical instrument may be of interest to the surgeon. For example, a bone plate may need to be screwed in a desired pose to a bone of a patient, by screwing fixation screws through respective holes in the bone plate. The bone to which the bone plate is to be attached may lie beneath (e.g., critical) anatomical structures of the body of the patient which shall not be injured during surgery. Especially in these cases, minimal-invasive surgery may be advantageous.

In such minimal-invasive surgery, the bone plate may be inserted through a narrow opening in the body of the patient and be positioned on the bone in the desired pose. The bone plate in the desired pose may not be visible to at least one of the surgeon and the tracking system. Thus, for positioning the bone plate relative to the body of the patient, a placement instrument, which may be attached relative to the bone plate in a predetermined spatial relationship, may be tracked by the tracking system. The placement instrument may be used by the surgeon to move the bone plate into the desired pose and may comprise a tracker.

After placement of the bone plate in the desired pose on the bone of the patient's body, fixation screws may need to be screwed through the respective holes in the bone plate to fix the bone plate onto the bone. As mentioned before, the implant, and, consequently, also the holes of the bone plate, may not be visible to at least one of the surgeon and the tracking system after placement of the bone plate in the desired pose. Nevertheless, the pose of the implant relative to the patient's body may still be determined by the tracking system by tracking at least one tracker attached to the placement instrument and at least one tracker attached to the patient's body.

In order to guide the surgeon, information of the relative pose between the surgical instrument and a hole in the bone plate may be advantageous. Providing such information requires determining a relative pose between the surgical instrument and the bone plate.

In some cases, simultaneous visibility of trackers attached to the placement instrument and the surgical instrument may be blocked, for example by an arm of the surgeon. It may therefore be advantageous to ensure a good visibility of these trackers at all times, for example when a screwdriver is being used to screw the fixation screws though the respective holes of the bone plate.

<CIT> discloses a medical data processing method for determining the spatial relationship of a first medical device relative to a second medical device, the method being constituted to be executed by a computer and comprising the following steps: acquiring first medical device position data comprising first medical device position information describing the position of the first medical device, wherein the first medical device position data is acquired based on reading, from a marker device having for example a fixed spatial relationship relative to the first medical device, the first medical device position information or information which allows access to the first medical device position information; acquiring second medical device position data comprising second medical position information describing the position of the second medical device; determining, based on the first medical device position data and the second medical device position data, relative position data comprising relative position information describing the spatial relationship of the second medical device relative to the first medical device.

There is a need for a technique of providing user guidance in surgical navigation that solves one or more of the aforementioned or other problems.

According to a first aspect, a method of providing user guidance for surgical navigation is provided. The method comprises obtaining implant data representative of a spatial relationship between an optical tracking pattern and a through-hole extending through an implant. The method also comprises obtaining image data representative of at least a part of the optical tracking pattern, the image data having been acquired by an imaging unit attached to a surgical instrument, and obtaining instrument data representative of a spatial relationship between the surgical instrument and the imaging unit at a point in time when the image data have been acquired. The method also comprises determining, based on the implant data, the image data and the instrument data, tracking data describing a spatial relationship between the surgical instrument and the through-hole, and obtaining guidance data describing a plurality of predefined spatial relationships between the surgical instrument and the through-hole. The method further comprises triggering, based on the tracking data and the guidance data, simultaneous display of an indication of the plurality of predefined spatial relationships and an indication of the spatial relationship between the surgical instrument and the through-hole.

The step of obtaining the guidance data may comprise or be followed by a step of determining a border with respect to the through-hole, the border separating a first region in space from a second region in space.

The border may be defined in one spatial dimension (e.g., as a line) or in two spatial dimensions (e.g., as a plane) or in three spatial dimensions (e.g., as at least a part of a surface of a three-dimensional body). That is, the border may be a one-dimensional border (e.g., a continuous straight line), a two-dimensional border (e.g., a closed line such as a ring) or a three-dimensional border (e.g., a closed surface such as a plane or a surface of a three-dimensional body such as a cylinder or a cone).

The border may be determined such that, when the surgical instrument is in any one of the plurality of predefined spatial relationships, it is located (e.g., at least one of positioned and oriented) in the first region and, when it is in another spatial relationship not corresponding to one of the plurality of predefined spatial relationships, it is located in the second region. The border may define more than one predefined spatial relationship. To this end, the border may limit, define, enclose or indicate an extended spatial region or volume within which the predefined spatial relationships are located.

The indication of the plurality of predefined spatial relationships may comprise a visualization of at least a part of the border. The at least a part of the border may lie within a predetermined maximal distance from a center or center axis of the through-hole. The part of the border may lie within a predetermined maximal distance from a center or center axis of the through-hole. As such, the border may define more than one predefined spatial relationship. The border may be visualized as a one-dimensional border (e.g., as an optically continuous straight line), as a two-dimensional border (e.g., as an optionally closed line such as a ring) or as a three-dimensional border (e.g., as an optionally closed surface such as a cylinder or a cone). The visualization of the at least a part of the border may be a one-dimensional visualization such as a straight line, for example an optically continuous straight line. The visualization of the at least a part of the border may be a two-dimensional visualization such as a curved or closed line, for example an optionally closed line (e.g., a ring, an oval, a polygon or the like). The visualization of the at least a part of the border may be a three-dimensional visualization such as a (e.g., two-dimensional projection of a three-dimensional) surface, for example an optionally closed or continuous surface.

The step of triggering simultaneous display may comprise triggering display of a visualization representing a view along an (e.g., the) axis of the surgical instrument, wherein the visualization optionally further visualizes the at least a part of the border and, optionally, a (e.g., the) center axis of the through-hole. Additionally, or in the alternative, the step of triggering simultaneous display may comprise triggering display of a visualization representing a view along a (e.g., the) center axis of the through-hole, the visualization optionally further visualizing the at least a part of the border and, optionally, an (e.g., the) axis of the surgical instrument.

The indication of the plurality of predefined spatial relationships may comprise a different visualization of at least a part of the first region compared to the second region. The indication of the plurality of predefined spatial relationships may comprise a different visualization of at least a part of the second region compared to the first region. At least one of the at least a part of the first region and the at least a part of the second region may lie within a predetermined maximal distance from a center or center axis of the through-hole. At least one of the part of the first region and the part of the second region may lie within a predetermined maximal distance from a center or center axis of the through-hole.

The first region may be (e.g., essentially) rotationally symmetric. The first region may be (e.g., essentially) rotationally symmetric around a (e.g., the) center axis of the through-hole. The first region may be (e.g., essentially) conical. A tip of the first region may lie on a (e.g., the) center or center axis of the through-hole.

The indication of the spatial relationship between the surgical instrument and the through-hole may comprise a visualization of a pose (i.e., at least one of a position and an orientation) of an axis of the surgical instrument. The pose of the axis may be visualized relative to a (e.g., the) center axis of the through-hole. The axis of the surgical instrument may be a longitudinal axis or an axis parallel to an insertion direction of the surgical instrument.

The indication of the spatial relationship between the surgical instrument and the through-hole may comprise a visualization of an offset of a tip of the surgical instrument from a (e.g., the) center or center axis of the through-hole.

The instrument data may describe a predetermined spatial relationship between the surgical instrument and the imaging unit defined by a mechanical interface configured to (e.g., removably) attach the imaging unit relative to the surgical instrument. The mechanical interface may fix the imaging unit on or relative to the surgical instrument, or vice versa.

The method may further comprise simultaneously displaying (e.g., on a display device), based on the triggering, the indication of the plurality of predefined spatial relationships and the indication of the spatial relationship between the surgical instrument and the through-hole.

The method of the first aspect may be performed by a processor. The method is a computer-implemented method. The computer-implemented method may not comprise any surgical step. In particular, the computer-implemented method may not comprise any substantial physical interventions on a patient's body which require professional medical expertise to be carried out and which entail a substantial health risk even when carried out with the required professional care and expertise.

According to a second aspect, a processor is provided. The processor is configured to obtain implant data representative of a predetermined spatial relationship between an optical tracking pattern and a through-hole extending through an implant, obtain image data representative of at least a part of the optical tracking pattern, the image data having been acquired by an imaging unit attached to a surgical instrument, and obtain instrument data representative of a spatial relationship between the surgical instrument and the imaging unit at a point in time when the image data have been acquired. The processor is further configured to determine, based on the implant data, the image data and the instrument data, tracking data describing a spatial relationship between the surgical instrument and the through-hole, and obtain guidance data describing a plurality of predefined spatial relationships between the surgical instrument and the through-hole. The processor is further configured to trigger, based on the tracking data and the guidance data, simultaneous display of an indication of the plurality of predefined spatial relationships and an indication of the spatial relationship between the surgical instrument and the through-hole.

The processor may be configured to perform the method of the first aspect. The processor may be connected to a display device configured to simultaneously display, based on the triggering, the indication of the plurality of predefined spatial relationships and the indication of the spatial relationship between the surgical instrument and the through-hole.

According to a third aspect, a computer program is provided. The computer program comprises instructions which, when the program is executed by a processor (e.g., the processor of the second aspect), cause the processor to carry out the method of the first aspect.

According to a fourth aspect, a carrier is provided. The carrier contains the computer program of the third aspect. In other words, the carrier contains a computer program comprising instructions which, when the program is executed by a processor, cause the processor to: obtain implant data representative of a predetermined spatial relationship between an optical tracking pattern and a through-hole extending through an implant; obtain image data representative of at least a part of the optical tracking pattern, the image data having been acquired by an imaging unit attached to a surgical instrument; obtain instrument data representative of a spatial relationship between the surgical instrument and the imaging unit at a point in time when the image data have been acquired; determine, based on the implant data, the image data and the instrument data, tracking data describing a spatial relationship between the surgical instrument and the through-hole; obtain guidance data describing a plurality of predefined spatial relationships between the surgical instrument and the through-hole; and trigger, based on the tracking data and the guidance data, simultaneous display of an indication of the plurality of predefined spatial relationships and an indication of the spatial relationship between the surgical instrument and the through-hole. The carrier may be an electronic signal, an optical signal, a radio signal, or a (e.g., non-transitory) computer readable storage medium. The carrier may be a memory comprised in an apparatus, the apparatus further comprising the processor of the second aspect.

A surgical system may be provided comprising at least the processor of the second aspect and one or more of the surgical instrument, the optical tracking pattern, the imaging unit and the implant described herein. The surgical system may further comprise one or more of attachment members (as detailed below) and a tracking system configured to track a pose of at least one of the patient's body, the surgical instrument and the optical tracking pattern. The surgical system may further comprise a display device. The display device may be configured to simultaneously display, based on the triggering described with reference to the first aspect, the indication of the plurality of predefined spatial relationships and the indication of the spatial relationship between the surgical instrument and the through-hole.

In the following description, exemplary embodiments of a surgical navigation system, a surgical navigation method and a visualization technique will be explained with reference to the drawings. The same reference numerals will be used to denote the same or similar structural features.

<FIG> schematically shows an exemplary embodiment of surgical system <NUM> in accordance with the present disclosure. The surgical system <NUM> comprises an apparatus <NUM> comprising a processor <NUM>, a memory <NUM> and an interface <NUM>. The apparatus <NUM> may be connected (e.g., by a wireless or a wired connection) to a database <NUM>. The processor <NUM> may obtain data from the memory <NUM> and the database <NUM>. The apparatus <NUM> may be configured as a computer terminal located, for example, on a medical cart.

In the shown example, the apparatus <NUM> is connected to a stereo-camera <NUM>, which may be part of a surgical tracking system. The stereo-camera <NUM> comprises two sensor units <NUM>, <NUM>. The tracking system may, using the stereo-camera <NUM>, be configured to track poses of trackers <NUM>, <NUM> and <NUM>. The trackers <NUM>, <NUM> and <NUM> may each be a passive or an active optical marker. A passive optical marker may be realized by an arrangement of one or more reflective elements or by a graphical pattern, and an active optical marker may be realized by an arrangement of one or more light emitting diodes (LED). Note that one or more of the trackers <NUM>, <NUM> and <NUM> may be of a different type than the other of the trackers <NUM>, <NUM> and <NUM>.

The tracker <NUM> may be removably coupled to or relative to an implant <NUM> (only indicated by dashed lines in <FIG>). The tracker <NUM> may be removably attached to or relative to the implant <NUM> by one or more attachment members such as one or more attachment arms. The tracker <NUM>, and, optionally, the one or more attachment members, may form a placement instrument. The placement instrument may be configured to enable a movement of the implant <NUM> into a desired pose by manually moving the placement instrument. The placement instrument, for example the one or more attachment members, may form or comprise a handle.

The tracker <NUM> comprises or consists of an optical tracking pattern. The optical tracking pattern of the tracker <NUM> may be provided or disposed on, or attached to, a flat surface of the tracker <NUM>. The optical tracking pattern of the tracker <NUM> may comprise or consist of a two-dimensional or three-dimensional pattern. The optical tracking pattern of the tracker <NUM> is configured to be detected or localized in an image comprising at least a part of the optical tracking pattern. The optical tracking pattern of the tracker <NUM> may comprise or consist of a graphical code pattern such as a one-dimensional (e.g., bar-) code or a two-dimensional (e.g., quick response, QR) code. In some variants, the optical tracking pattern does not encode (e.g., comprise or describe) information about the implant <NUM> (e.g., a dimension and location of the through-hole, a type or geometry of the implant <NUM>, or the like). The optical tracking pattern may not encode any predetermined information. The optical tracking pattern may in particular not encode a spatial relationship between the optical tracking pattern of the tracker <NUM> relative to (e.g., a portion of) another component of the surgical system <NUM>, such as the implant <NUM> or a through-hole extending through the implant <NUM>.

Like the tracker <NUM>, also the trackers <NUM> and <NUM> may be active optical markers or passive (e.g., reflective) markers such as passive marker spheres. The tracker <NUM> is attached in a fixed spatial relationship relative to a patient's body <NUM>, for example a leg or the spine of the patient. The tracker <NUM> is attached in a fixed spatial relationship relative to the implant <NUM> (shown only in dashed lines in <FIG>). The tracking system may be configured to track only the trackers <NUM> and <NUM>. The tracking system may alternatively be configured to track all of the trackers <NUM>, <NUM> and <NUM>.

The implant <NUM> shown in dashed lines in <FIG> may be embedded within the patient's body. The implant <NUM> may be positioned underneath a surface of the patient's body <NUM>. In other words, the implant <NUM> may be configured to be implanted into the body <NUM> of the patient such that it is not visible from an outside of the body <NUM> after implantation. In the following, a bone plate <NUM> is described as an example of the implant. Alternative variants of the implant are possible, for example a bone nail or an artificial organ. The features of the bone plate <NUM> described herein also apply to such variants.

In the example shown in <FIG>, the tracker <NUM> is attached in a fixed spatial relationship relative to the bone plate <NUM>. The bone plate <NUM> comprises at least one through-hole <NUM>, <NUM> extending through the bone plate <NUM>. The at least one through-hole <NUM>, <NUM> may be configured as a fixation hole for fixing the bone plate <NUM> relative to the body <NUM>, for example relative to a bone of the patient's body <NUM>. The bone plate <NUM> may comprise a plurality of (e.g., non-parallel) through holes <NUM>, <NUM>. The surfaces or centers of the through-holes <NUM> and <NUM> may lie in different planes, the planes being orthogonal to the central axis of the respective through-hole <NUM> or <NUM>. The bone plate <NUM> may be configured for minimal invasive surgery.

The tracker <NUM> is attached in a fixed spatial relationship relative to a surgical instrument <NUM>. The instrument <NUM> may be a chisel, a drill, a bur, a trocar, a screwdriver, a pointer or the like. The instrument <NUM> has a longitudinal axis <NUM> and a distal tip <NUM>. The surgical instrument <NUM> may be referred to as surgical tool. The surgical instrument <NUM> is configured to be inserted into the patient's body <NUM> by a surgeon during surgery.

An imaging unit <NUM>, e.g., comprising or consisting of a camera, is attached in a fixed spatial relationship (e.g., rigidly) to the surgical instrument <NUM>, preferably in a removable manner. The imaging unit <NUM> may be attached to the surgical instrument <NUM> via one or more connecting means such as a coupling. The imaging unit <NUM> is configured to acquire an image containing at least a part of the optical tracking pattern of the tracker <NUM>. The imaging unit <NUM> may be configured to acquire a plurality of images and only provide the images as image data which contain at least a part of the optical tracking pattern of the tracker <NUM>. The tracker <NUM> may be arranged externally to the patient's body <NUM>, even if the implant (e.g., the bone plate <NUM>) lies underneath the surface of or is embedded in the patient's body <NUM>, as illustrated in <FIG>. This configuration may enable surgical navigation even in case of minimal invasive surgery. In particular, this may enable localizing the optical tracking pattern of the tracker <NUM> in an image acquired by the imaging unit <NUM> to determine a relative pose between the implant and the imaging unit <NUM>.

For example, the imaging unit <NUM> may be removably coupled to the surgical instrument <NUM> in a predetermined fixed relationship. The imaging unit <NUM> is communicatively connected to the apparatus <NUM> via a wireless or a wired connection. By attaching the imaging unit <NUM> relative to the surgical instrument <NUM>, a compact surgical setup may be provided. Still further, using the localization of the optical pattern in the image acquired by the imaging unit <NUM>, the need for additional tracking systems apart from the imaging unit <NUM> described herein may be avoided. In other words, the imaging unit <NUM> may be used as a tracking unit of a tracking system.

By tracking poses of the trackers <NUM> and <NUM> by the tracking system (e.g., using the camera <NUM> or the imaging unit <NUM>), a relative spatial relationship between the surgical instrument <NUM> and the patient's body <NUM> can be determined. Note that a relative spatial relationship between the surgical instrument <NUM> and the patient's body <NUM> may be determined by localizing the tracker <NUM> in the image acquired by the imaging unit <NUM>. By tracking poses of the trackers <NUM> and <NUM> by the tracking system, or by localizing the trackers <NUM> and <NUM> in one or more images acquired by the imaging unit <NUM>, a relative spatial relationship between the implant and the patient's body <NUM> can be determined. For instance, a relative spatial relationship between the longitudinal axis <NUM> of the surgical instrument <NUM> and a central axis <NUM> of the through-hole <NUM> of the bone plate <NUM> can be determined based on at least one of the tracking and localizing.

In case patient image data, for example computed tomography (CT) or magnetic resonance (MR) image data of the patient's body <NUM>, has been obtained and registered relative to the tracker <NUM>, a pose of the surgical instrument <NUM> may be determined in coordinates of or relative to the patient image data.

The apparatus <NUM> is connected to a display <NUM> (e.g., via the interface <NUM>), and may trigger output of certain indications and visualizations on the display <NUM>. For example, the processor <NUM> of the apparatus <NUM> may trigger output of an indication of the determined pose of the surgical instrument <NUM> relative to the patient image data on the display <NUM>.

<FIG> shows first examples of parts of the surgical system <NUM>. As can be seen, the tracker <NUM> has an elongated, bar-like shape. The tracker <NUM> in this example comprises a flat (e.g., essentially planar) surface. An graphical tracking pattern of the tracker <NUM> has been provided on the flat surface (e.g., has been etched into, painted, sprayed or glued onto the flat surface).

In the shown arrangement, the tracker <NUM> is coupled to the bone plate <NUM> via two arms <NUM>, <NUM>. The tracker may be removably attached to each of the arms <NUM>, <NUM>. Each of the arms <NUM>, <NUM> is removably attached to the bone plate <NUM>. For example, the tracker <NUM> is fixed to each of the arms <NUM>, <NUM> by respective screws <NUM>, <NUM>. Each of the arms <NUM>, <NUM> may be attached to the bone plate by respective screws <NUM>, <NUM>. At least one of the optical pattern of the tracker <NUM> and the essentially planar surface of the tracker <NUM> may be arranged essentially parallel or essentially orthogonal to the bone plate <NUM>, depending on the relative pose between the imaging unit <NUM> and the surgical instrument <NUM>. At least one of the optical pattern and the essentially planar surface may be arranged essentially orthogonal to a central axis of a through-hole of the implant (e.g., the central axis <NUM> of the through-hole <NUM> of the bone plate <NUM>). This may ensure visibility of the optical tracking pattern of the tracker <NUM> for the imaging unit <NUM>.

As can be seen, the tracker <NUM> may be part of or attached to the imaging unit <NUM>. The imaging unit <NUM> and, optionally, the tracker <NUM>, may be formed as a disposable device for single use. A field of view of the imaging unit <NUM> may comprise at least a part of the surgical instrument <NUM>, for example, the distal tip <NUM>. The imaging unit <NUM> may be arranged such that a (e.g., central) viewing axis of the imaging unit <NUM> lies essentially parallel to the longitudinal axis <NUM> of the surgical instrument <NUM>. In the shown example, the surgical instrument <NUM> is a soft tissue sleeve attached to a handle <NUM> (e.g., for use as a surgical drill guide). Note that the handle <NUM> may be part of the surgical instrument <NUM> or removably coupled to the surgical instrument <NUM>.

<FIG> shows second examples of parts of the surgical system <NUM>. In this case, the imaging unit <NUM> is part of a housing forming a handle <NUM>, the surgical instrument <NUM>, in this exemplary case a trocar, being (e.g., removably) attached to the housing. A field of view <NUM> of the imaging unit <NUM> covers a front portion of the surgical instrument <NUM> including the distal tip <NUM>. In addition, in the shown configuration, the field of view <NUM> of the imaging unit <NUM> comprises or covers at least a part of a graphical tracking pattern of the tracker <NUM>. Similar to the example shown in <FIG>, the tracker <NUM> is removably connected via a set of arms <NUM>, <NUM> to the bone plate <NUM>. The central axis <NUM> of through-hole <NUM> of the bone plate <NUM> is also shown in <FIG>. As can be seen, the longitudinal axis <NUM> of the surgical instrument <NUM> is in the given pose of the surgical instrument <NUM> relative to the bone plate <NUM> not parallel to the central axis <NUM> of the through-hole <NUM>.

<FIG> also schematically illustrates a cone <NUM>, which defines a virtual border between a first region (inside the cone) and a second region (outside the cone). It will be appreciated that the virtual border could also be defined by other geometric bodies, such as a cylinder.

The cone <NUM> illustrated in <FIG> has a tip and a linearly tapered form. The first region may be referred to as a first volume and the second region may be referred to as a second volume. The border is determined such that, when the surgical instrument <NUM> is in any one of a plurality of predefined (e.g., preferred) spatial relationships relative to the through-hole <NUM>, it is positioned or oriented in the first region and, when it is in another spatial relationship not corresponding to one of the plurality of predefined spatial relationships, it is positioned or oriented in the second region. At least the first region may be a region in an operating space in which the surgical instrument <NUM> is capable of being positioned.

The surgical instrument <NUM> may be positioned in a region if a point on the longitudinal axis <NUM> of the surgical instrument <NUM>, for example the distal tip <NUM> of the surgical instrument <NUM>, lies within (i.e., inside of) the region. The surgical instrument <NUM> may be oriented in a region if a line coinciding with the longitudinal axis <NUM> of the surgical instrument <NUM> lies (e.g., completely or only) within the region or does not intersect the border. This may allow a fast and easy determination or definition of preferred poses of the surgical instrument <NUM> in three spatial dimensions.

In the example shown in <FIG>, the first region is essentially rotationally symmetric around a center axis <NUM> of the through-hole <NUM>. The first region is essentially conical and a tip of the first region (corresponding to the tip of the cone <NUM>) lies on a center axis <NUM> of the through-hole <NUM>. This location is be advantageous in case of the through-hole <NUM> being configured to fix the bone plate <NUM> to the patient's body <NUM> using a poly-axial fixation screw (or any other bone fixation member) capable of being inserted in the through-hole <NUM> in a range of angles. In other words, the cone <NUM> may define advantageous poses of the surgical instrument <NUM> relative to the through-hole <NUM>.

For example, a screw may be capable of being inserted into the through-hole at an angle within an angular range defined by a geometry of at least one of the through-hole <NUM> and the bone plate <NUM>. This angular range may define the opening angle of the cone <NUM>. The geometry (e.g., at least one of shape and size) of the first region may depend on a type of the implant, geometrical properties of the implant, a type of the through-hole <NUM> (e.g., for mono-axial screws or for poly-axial screws), a type of the surgical instrument <NUM> (e.g., a trocar or a screwdriver to screw screws through the through-hole <NUM> and into the bone), and anatomical properties of the patient's body (e.g., poses of critical anatomical elements, poses of bones, poses of organs, or the like) for example derived from the patient image data.

<FIG> shows a flow diagram of an exemplary method embodiment in accordance with the present disclosure. The method may be performed by a processor, such as the processor <NUM> shown in <FIG>. In the following, the method will be described with reference to <FIG>, although the method may equally apply to other variants of the components (e.g., the bone plate <NUM>, the imaging unit <NUM>, the tracker <NUM> etc.) described with reference to these drawings.

In a step <NUM>, the implant data is obtained. The implant data comprises, describes or is representative of a (e.g., predetermined, fixed, known or stationary) spatial relationship between an optical tracking pattern (e.g., the optical tracking pattern of the tracker <NUM>) and a through-hole (e.g., the through-hole <NUM>) extending through an implant (e.g., the bone plate <NUM>). This spatial relationship may comprise or consist of a pose (i.e., at least one of a position and an orientation) of the optical tracking pattern of the tracker <NUM> relative to the through-hole <NUM>.

The implant data may be obtained (e.g., received or retrieved by the processor <NUM>) from the memory <NUM> or from the database <NUM>. The implant data is in one variant not encoded in the optical tracking pattern of the tracker <NUM>. This approach may enable using different implants with the same optical tracking pattern, thereby saving costs in surgical procedures. In addition, this approach may avoid having to extract information from the pattern, thereby saving computing resources and time. Still further, this approach may avoid incorrect information being extracted from low quality images of the optical tracking pattern, for example images comprising only small portions (e.g., less than <NUM>%) of the optical tracking pattern of the tracker <NUM>.

In a step <NUM>, image data is obtained. The image data is representative of at least a part of the optical tracking pattern (e.g., the optical tracking pattern of the tracker <NUM>). For example, the image data may comprise or consist of an image of the at least a part of the optical tracking pattern of the tracker <NUM>. The image data may comprise at least one or exactly one image representative of (e.g., containing, depicting or describing) the at least a part of the optical tracking pattern of the tracker <NUM>. The image data has been acquired by an imaging unit (e.g., the imaging unit <NUM>) attached (e.g., stationarily or in a fixed pose relative) to a surgical instrument (e.g., the surgical instrument <NUM>).

The step of acquiring the image (e.g., by the imaging unit <NUM>) in one example may not be part of the method described herein. The image data may be obtained from the memory <NUM> or from the database <NUM>. The step <NUM> may be performed after, simultaneously with, or before the step <NUM>. For example, the implant data may be obtained before any image is acquired by the imaging unit <NUM>.

In a step <NUM>, instrument data is obtained. The instrument data is representative of a (e.g., predetermined, known, fixed or stationary) spatial relationship between the surgical instrument (e.g., the surgical instrument <NUM>) and the imaging unit (e.g., the imaging unit <NUM>) at a point in time when the image data have been acquired, for example by describing, comprising or consisting of a relative pose between the surgical instrument <NUM> and the imaging unit <NUM> at the point in time.

The instrument data may be obtained from the memory <NUM> or from the database <NUM>. The step <NUM> may be performed after, simultaneously with, or before any of the steps <NUM> and <NUM>.

In a further step <NUM>, based on the implant data, the image data and the instrument data, tracking data is determined. The tracking data describes a spatial relationship (e.g., a relative pose) between the surgical instrument (e.g., the surgical instrument <NUM>) and the through-hole (e.g., the through-hole <NUM>). For example, based on the image data, a spatial relationship between the imaging unit <NUM> and the optical tracking pattern of the tracker <NUM> may be determined by localizing at least a part of the optical tracking pattern of the tracker <NUM> in an image of the image data.

The method may comprise determining the tracking data by calculating an aggregate transformation or a chain of transformations as the spatial relationship between the surgical instrument <NUM> and the through-hole <NUM>. The aggregate transformation may be determined as a sum of the spatial relationship between the surgical instrument <NUM> and the imaging unit <NUM>, the spatial relationship between the imaging unit <NUM> and the optical tracking pattern of the tracker <NUM>, and the spatial relationship between the optical tracking pattern of the tracker <NUM> and the through-hole <NUM> of the bone plate <NUM>. This may enable reliably determining the relative pose between the surgical instrument <NUM> and the through-hole <NUM> using image data acquired by the imaging unit <NUM> (e.g., removably) attached to the surgical instrument <NUM>.

In a step <NUM>, guidance data is obtained. The guidance data describes a (e.g., the) plurality of predefined (e.g., preferred) spatial relationships between the surgical instrument (e.g., the surgical instrument <NUM>) and the through-hole (e.g., the through-hole <NUM>). The guidance data may pre-operatively be determined by a surgeon. Also, the guidance data may automatically be determined by the processor <NUM> or by a different processor. The guidance data may be obtained from the memory <NUM> or from the database <NUM>. For example, the predefined spatial relationships may be determined based on at least one of (e.g., geometrical or material) properties of the implant, (e.g., geometrical or material) properties of the surgical instrument <NUM>, a type of the surgical instrument <NUM> such as a trocar, a screwdriver or the like, and the patient image data.

As explained with reference to <FIG>, the plurality of predefined spatial relationships between the surgical instrument <NUM> and the through-hole <NUM> may also be referred to as a plurality of preferred or advantageous spatial relationships. For example, the predefined spatial relationships may avoid harm of (e.g., critical) anatomical structures of the patient's body <NUM> by the surgical instrument <NUM>. The predefined spatial relationships may enable a reliable fixation of the bone plate <NUM> to the body <NUM> using fixation screws when the surgical instrument <NUM> is used to place the fixation screws. The predefined spatial relationships may be defined as a continuous range or volume of such relationships.

In a step <NUM>, based on the tracking data and the guidance data, simultaneous display of an indication of the plurality of predefined (e.g., preferred) spatial relationships and an indication of the spatial relationship between the surgical instrument (e.g., the surgical instrument <NUM>) and the through-hole (e.g., the through-hole <NUM>) is triggered. For example, the indications are triggered by the processor <NUM> to be simultaneously displayed (e.g., in a same rendered image) on the display <NUM>. The step of triggering, based on the tracking data and the guidance data, the simultaneous display means that both the indication of the plurality of predefined spatial relationships and the indication of the spatial relationship between the surgical instrument <NUM> and the through-hole <NUM> are triggered to be displayed simultaneously (i.e., at the same time). The simultaneous display may comprise displaying the respective indications on a same display, for example in a same rendered image. The simultaneous display may comprise displaying the respective indications in an overlaid or overlapped manner with one another. For example, a trigger signal may be transmitted to the display <NUM> to configure the display <NUM> to simultaneously display both the indication of the plurality of predefined spatial relationships and the indication of the spatial relationship between the surgical instrument <NUM> and the through-hole <NUM>.

Accordingly, an image acquired by the imaging unit <NUM> attached to the surgical instrument <NUM> is used to determine the spatial relationship between the surgical instrument <NUM> and the through-hole <NUM>. This approach may provide a reliable determination of the spatial relationship, as a visibility of the optical tracking pattern of the tracker <NUM> to the imaging unit <NUM> may be ensured for many relative poses between the surgical instrument <NUM> and the bone plate <NUM>, in particular for the predefined or preferred spatial relationships between the surgical instrument <NUM> and the bone plate <NUM>. By triggering simultaneous display of the indication of the plurality of (e.g., preferred) predefined spatial relationships and of the indication of the spatial relationship between the surgical instrument <NUM> and the through-hole <NUM>, surgical navigation may be improved. For example, not only a momentary relative pose between the surgical instrument <NUM> and the through-hole <NUM> is provided, but also a comparison thereof with the (e.g., preferred) predefined spatial relationships is possible. A surgeon may thus change a pose of the surgical instrument <NUM> advantageously to correspond or match with the (e.g., preferred) predefined spatial relationships, yielding improved surgical results.

The provision of the plurality of (e.g., preferred) predefined spatial relationships instead of just one predefined spatial relationship may enable a surgeon to choose which predefined relationship best suits the surgical task at hand (e.g., inserting a mono-axial or a poly-axial fixation screw into the through-hole <NUM>). Therefore, surgical navigation may be improved, which may also yield improved surgical results.

The method may further comprise a step of selecting one of a plurality of through-holes comprised in the implant, for example selecting the through-hole <NUM> of the through-holes <NUM> and <NUM> of the bone plate <NUM> (not illustrated in <FIG>). The selection may be based on a spatial relationship between the surgical instrument <NUM> and the through-hole <NUM> or based on the tracking data. For example, a through-hole, which is closest to the longitudinal axis <NUM> of the surgical instrument <NUM>, may be selected. The selected through-hole may then be used as the through-hole in (e.g., a further execution of) steps <NUM>, <NUM>, <NUM> and <NUM>.

Note that the indication of the plurality of predefined (e.g., preferred) spatial relationships and the indication of the spatial relationship between the surgical instrument <NUM> and the through-hole <NUM> may be used by the processor <NUM> to determine a surgical treatment plan. That is, the method may comprise a step of determining, based on the indication of the plurality of predefined (e.g., preferred) spatial relationships and the indication of the spatial relationship between the surgical instrument <NUM> and the through-hole <NUM>, a treatment plan for use in surgical navigation (not illustrated in <FIG>). The treatment plan may define at least one of an optimized trajectory of the surgical instrument <NUM> to the through-hole <NUM> and an optimized relative pose between the longitudinal axis <NUM> of the surgical instrument <NUM> and the central axis <NUM> of the through-hole <NUM>. In one variant, the step of determining the treatment plan may be performed alternatively to the step of triggering simultaneous display. The treatment plan may provide guidance for a surgeon in surgical navigation, which may improve surgical results.

The indication of the plurality of predefined spatial relationships may comprise a visualization of at least a part of the border, for example a (e.g., perspective or three-dimensional) visualization of the cone <NUM> as shown in <FIG>. The visualization may comprise or consist of a two-dimensional projection of the at least the part of the border into a viewing plane. This may enable a fast and reliable determination of how the surgical instrument <NUM> shall be moved relative to the bone plate <NUM>, thereby improving surgical efficiency.

The indication of the plurality of predefined spatial relationships may comprise a different visualization of at least a part of the first region compared to the second region or a different visualization of at least a part of the second region compared to the first region. As an example, the visualizations may differ from one another by at least one representational property chosen from color, contrast, brightness, hue, saturation, optical pattern or the like. The visualizations may differ from one another by a time-dependent change of the at least one representational property (e.g., blinking, color change or pattern change). In other words, the first region may be highlighted with respect to the second region or vice versa. This may allow a fast differentiation between the preferred spatial relationships and other spatial relationships between the surgical instrument <NUM> and the through-hole <NUM>.

At least one of the visualized part of the border and the part of the first or second region with a different visualization may lie within a predetermined maximal distance from a center or center axis <NUM> of the through-hole <NUM>. The center may be a point on the center axis <NUM> of the through-hole and be positioned (e.g., in the middle) between an upper surface and a lower surface of the bone plate <NUM>, wherein the through-hole extends between the upper surface and the lower surface. The center may be a point on the center axis <NUM> of the through-hole <NUM> and be positioned in a plane defined by the upper surface or the lower surface of the bone plate <NUM>, wherein the through-hole <NUM> extends between the upper surface and the lower surface. The part of the first or second region may lie between a first plane in which the center of the through-hole <NUM> lies and which is parallel to at least one of the upper and the lower surface of the bone plate <NUM>, and a second plane parallel to the first plane, wherein a distance between the first plane and the second plane corresponds to the predetermined maximal distance. This may be advantageous as surgical navigation is especially useful for positions of the distal tip <NUM> of the surgical instrument <NUM>, which are in close proximity to the surgical target, e.g., the through-hole <NUM>. This may also avoid determining or obtaining large amounts of spatial positions as falling into the first region or the second region, thereby decreasing the amount of required computing time and resources.

The indication of the spatial relationship between the surgical instrument <NUM> and the through-hole <NUM> may comprise a visualization of an orientation of the axis <NUM> of the surgical instrument <NUM> relative to the center axis <NUM> of the through-hole <NUM>. Such a relative orientation is also indicated in <FIG>. This may enable a fast determination of the indication triggered to be displayed. In addition, an advantageous relative pose between the through-hole <NUM> and the surgical instrument <NUM> can be provided in a fast manner, thereby enabling a precise and real-time surgical navigation.

The indication of the spatial relationship between the surgical instrument <NUM> and the through-hole <NUM> may, alternatively or additionally, comprise a visualization of an offset of the tip <NUM> of the surgical instrument <NUM> from the center axis <NUM> of the through-hole <NUM>. The step <NUM> may comprise triggering display of a visualization representing a view along the axis <NUM> of the surgical instrument <NUM>, the visualization further visualizing the at least a part of the border and, optionally, the center axis <NUM> of the through-hole <NUM>. Alternatively or additionally, the step <NUM> may comprise triggering display of a visualization representing a view along the center axis <NUM> of the through-hole <NUM>, the visualization further visualizing the at least a part of the border and, optionally, the axis <NUM> of the surgical instrument <NUM>. This may provide views capable of being intuitively understood by a surgeon. That is, movement of the surgical instrument <NUM> in these cases may be directly represented in the visualization, which minimizes the coordinative capabilities a surgeon needs to employ when using the visualization for surgical navigation. In other words, these visualizations are tailored to the cognitive and coordinative capabilities of a human brain.

As noted above, patient image data may be registered relative to the tracker <NUM>. That is, a transformation between a coordinate system of the patient image data and a coordinate system of the tracker <NUM> may be known or determined (e.g., using a commonly known surgical registration technique). In this case, a visualization of the patient data may be triggered to be displayed, preferably simultaneously with the indication of the plurality of predefined spatial relationships and the indication of the spatial relationship between the surgical instrument <NUM> and the through-hole <NUM>. These indications may be displayed, e.g., overlaid on or superimposed onto the (e.g., rendering or visualization of the) patient image data.

<FIG> shows an exemplary simultaneous display view by the display <NUM>. As can be seen, a first pair of crosshairs <NUM>, <NUM> may be displayed by the display <NUM>. An intersection point <NUM> of the first pair of crosshairs <NUM>, <NUM> in a first variant lies on the axis <NUM> of the surgical instrument <NUM>. In this variant, the shown visualization represents a view along the axis <NUM>. Also indicated is a two-dimensional projection of the cone <NUM> into a viewing plane orthogonal to the axis <NUM>. A point <NUM> indicates the tip of the cone <NUM>. A plurality of lines <NUM> further helps in understanding the orientation of the cone <NUM> relative to the axis <NUM>. The lines <NUM> are straight lines on the surface of the cone <NUM> intersecting at the point <NUM> on the tip of the cone, which have been projected into the viewing plane.

In a second variant, the shown visualization represents a view along the center axis <NUM>. The intersection point <NUM> of the first pair of crosshairs <NUM>, <NUM> in this case lies on the center axis <NUM> of the through-hole <NUM>. In the second variant, a two-dimensional projection of a cone into a viewing plane orthogonal to the center axis <NUM> is shown. The tip of the cone in this case is fixed relative to the distal tip <NUM> of the surgical instrument <NUM>, wherein the cone represents the border described herein. The point <NUM> indicates the tip of this cone. The plurality of lines <NUM> further helps in understanding the orientation of the cone relative to the center axis <NUM>. As in the first variant, the lines <NUM> are straight lines on the surface of the cone intersecting at the tip of the cone, which have been projected into the viewing plane.

As will be apparent from the above, the present disclosure provides an advantageous technique for surgical navigation. In particular, even if the implant is not visible to a tracking system placed remote from the patient, a relative position between the surgical instrument and the implant may be determined and provided to a surgeon for guidance.

Also, by using the imaging unit attached relative to the surgical instrument, a visibility of the optical tracking pattern may be ensured, at least once the surgical instrument is roughly aligned in an insertion direction.

Not only a relative pose between the surgical instrument, but also a plurality of preferred spatial relationships between the surgical instrument and the implant may be provided, thereby further improving the surgical navigation.

Claim 1:
A computer-implemented method of providing user guidance for surgical navigation, the method comprising:
obtaining (<NUM>) implant data representative of a spatial relationship between an optical tracking pattern and a through-hole extending through an implant;
obtaining (<NUM>) image data representative of at least a part of the optical tracking pattern, the image data having been acquired by an imaging unit attached to a surgical instrument;
obtaining (<NUM>) instrument data representative of a spatial relationship between the surgical instrument and the imaging unit at a point in time when the image data have been acquired;
determining (<NUM>), based on the implant data, the image data and the instrument data, tracking data describing a spatial relationship between the surgical instrument and the through-hole, characterized in that the method further comprises:
obtaining (<NUM>) guidance data describing a plurality of predefined spatial relationships between the surgical instrument and the through-hole; and
triggering (<NUM>), based on the tracking data and the guidance data, simultaneous display of an indication of the plurality of predefined spatial relationships and an indication of the spatial relationship between the surgical instrument and the through-hole.