Surgical tracking methods and fiber optic shape sensing devices thereof
Inventors
NETRAVALI, Nathan Anil • Torrie, Paul Alexander
Assignees
Smith and Nephew Orthopaedics AG • Smith and Nephew Asia Pacific Pte Ltd • Smith and Nephew Inc
Publication Number
US-12303216-B2
Publication Date
2025-05-20
Expiration Date
2041-04-28
Interested in licensing this patent?
MTEC can help explore whether this patent might be available for licensing for your application.
Abstract
Methods, non-transitory computer readable media, surgical tracking devices, and systems that facilitate improved tracking in surgical environments are disclosed. With this technology, a fiber optic shape sensing (FOSS) device is rigidly attached to patient anatomy and/or surgical instrument(s) to facilitate location and/or flexibility tracking. The data provided by the FOSS device can be analyzed and registered to preoperative or intraoperative 3D anatomy model(s). The FOSS device can be attached to a surgical instrument to provide intraoperative guidance, used to locate a hollow needle for tracking bones in a minimally invasive manner, and/or used to detect bending in an instrument such as an arthroscope or tissue removing burr shaft, for example. The tracked location and/or flexibility data provided by the FOSS device can also be used to automatically control the location and/or operation of a surgical instrument during a surgical proceeding to facilitate improved surgical accuracy and patient outcomes.
Core Innovation
The invention provides methods, systems, and devices that facilitate improved tracking in surgical environments using a fiber optic shape sensing (FOSS) device. This FOSS device, consisting of an optical fiber with distributed strain sensors such as fiber Bragg grating (FBG) sensors, can be rigidly attached to patient anatomy and/or surgical instruments. The device generates reflectivity or strain data in response to introduced light, which enables precise determination of the shape and location of the fiber—and by extension, the anatomy or instrument to which it is attached—within a predefined coordinate system.
The technology addresses challenges in current surgical tracking techniques, such as the need for line-of-sight in optical tracking systems and susceptibility to interference or limited accuracy volumes in electromagnetic tracking systems. By eliminating the reliance on line-of-sight and immunity to metal interference, the FOSS device can track both rigid and flexible structures, including the flexibility and shape of surgical instruments during minimally invasive procedures. The tracking data is registered to preoperative or intraoperative 3D anatomical models, and graphical displays are accordingly adjusted to represent the real-time positions and orientations.
Additionally, the system enables advanced functionalities such as intraoperative guidance for surgical instruments, detection and prevention of imminent collisions (particularly in robotic arms), and the possibility for automated or assisted control of surgical tools based on precise shape and location information. Applications include placing guidewires, tracking and controlling shavers or ablators for tissue removal, and facilitating minimally invasive anatomy tracking through hollow needles or other attachments.
Claims Coverage
The patent includes six independent claims, each disclosing distinct inventive features related to the use of distributed strain sensors for tracking surgical instruments or anatomical structures, and systems implementing such tracking.
Tracking a flexible portion of a drill guide with a shape sensor for guidewire placement
A method comprises generating strain data with a shape sensor attached to a surgical instrument (specifically, a flexible portion of a drill guide), determining the shape of the shape sensor from the distributed strain sensors, tracking the location of the distal end of the surgical instrument based on the sensor’s shape, adjusting a graphical display to output a representation based on the tracked location, and placing a guidewire for a femoral tunnel based on this tracked location to define its trajectory or orientation.
Tracking location of a limb or joint of a robotic arm with collision prevention
A method includes generating strain data using a shape sensor attached to a surgical instrument (a limb or joint of a robotic arm), determining the shape from distributed strain sensors, tracking the distal end location, adjusting the graphical display to show at least part of the instrument based on the tracked location, determining when a collision is imminent with another tracked object, and preventing the collision through control of the limb or joint location.
Automatic control of a shaver based on tracked location
A method involves generating strain data using a shape sensor attached to a shaver, determining shape from distributed strain sensors, tracking the distal end based on the sensor shape, adjusting a graphical display to represent the instrument, and automatically controlling the shaver based on the tracked location to remove portions of an anatomical structure.
Automatic control of an ablator based on tracked location
A method comprises generating strain data using a shape sensor attached to a surgical instrument (an ablator), determining the shape, tracking the distal end’s location, and adjusting a graphical display, with the additional step of automatically controlling the ablator based on the tracked location to remove anatomical structures.
Anatomical structure location tracking with graphical adjustment
A method entails attaching a shape sensor to an anatomical structure, generating strain data from distributed strain sensors, determining the shape, tracking the location based on the sensor’s shape, and adjusting a graphical display to represent at least part of the anatomical structure based on the tracked location.
Surgical tracking system implementing shape sensor-based tracking and display
A surgical tracking system consists of a surgical instrument, a shape sensor with distributed strain sensors along its length, a surgical tracking device (with processor, memory, and display), and instructions that, when executed, generate strain data, determine the shape, track the instrument location, and adjust the display to represent the instrument based on the tracked location. The instrument may include a flexible portion of a drill guide, a shaver, or an ablator.
Collectively, the claims protect methods and systems using distributed strain sensors—particularly fiber optic sensing—to track shape and location of surgical instruments or anatomical structures, produce corresponding graphical representations, support collision avoidance or guidewire placement, and enable automated instrument control.
Stated Advantages
Eliminates the need for line-of-sight, enabling tracking in challenging or minimally invasive surgical environments where optical systems fail.
Immune to metal interference that affects electromagnetic tracking systems, allowing accurate tracking even in environments with significant metallic equipment or implants.
Provides the ability to track both rigid and flexible components, facilitating accurate registration and real-time tracking of surgical instruments and anatomy, including tracking instrument flexion.
Allows for simultaneous tracking of multiple anatomical structures and/or instruments with a single device.
Enables automatic or assisted control of surgical instruments based on precise, real-time tracking data, enhancing surgical accuracy and outcomes.
Permits minimally invasive attachment to anatomy or instruments due to the small size and flexibility of the fiber optic device.
Documented Applications
Tracking the location and flexibility of surgical instruments during orthopedic and sports medicine procedures.
Guiding and controlling robotic arms or joints to prevent collisions in a surgical environment.
Locating a hollow needle or guidewire for minimally invasive tracking of bones.
Detecting and compensating for bending in surgical instruments such as arthroscopes or tissue-removing burr shafts.
Providing intraoperative guidance for instrument positioning using real-time shape and location data.
Automatically controlling shavers or ablators to remove specified portions of anatomical structures based on tracking data.
Interested in licensing this patent?