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OO5230338A
I
Umted States Patent [19] [11] Patent Number: _ 5,230,338
Allen et al. [45] Date of Patent: Jul. 27, 1993
[54] INTERACTIVE IMAGE-GUIDED SURGICAL 8907907 9/1989 PCT Int‘lAppl. .......... .. 128/600.03
SYSTEM FOR DISPLAYING IMAGES 2212371 7/1939 Umled Kingdom -
CORRESPONDING TO THE PLACEMENT
OF A SURGICAL TOOL OR THE LIKE _ OTHER PUBLICATIONS
_ J. Cran10-Max.-Fac. Surg. 15 (1987), George Thieme
[76] Inventors: George S. Allen, 628 Westv1ew Ave., verlag, Stuttgart, DE, & NY, N_Y_; Calvarial Growth
Nashville’ Tenn- 37205; Robert I“ after Linear Craniectomy in Scaphocephaly as Evalu
Galloway, Jr., 7736 Indian Springs ated by X-ray Stereophotogrammetry.
DR. Nashville, Tenn- 37221; Robert British Journal of Orthodontics, vol. 13, 1986, pp.
3- Maciuna§1 6320 Chickermg woods 151-157, B. Rune et al.: Roentgen Stereometry in the
Law Nashville’ Tenn- 37215; Charles Study of Craniofacial Anomalies—the State of the Art
A. Edwards, II, 2316 Erin La., in Sweden‘ '
Nashville’ Tenn- ,37221; MartinB- J. Neurosurg, vol. 60, Jan. 1984, pp. 166-173, Alberius
link, 1044 Berwlck Tm], Mad‘son’ et al.: Roentgen stereophotogrammetrie analysis of
Te'm- 37195 restricted periods of neurocranial sutures immobiliza
. tion in rabbits.
[2]] App!‘ NO“ 873535 J. Neurosurg, vol. 60, Jan. 1984, pp. 158-165, Alberius
[22] Filed: APF- 22, 1992 et al.: Roentgen stereophotogrammetric analysis of
neurocranial suturectomy in rabbits.
Related U.S, Application Data Acta Anat., vol. 117, 1983, pp. 170-180, S. Karger AG,
. . , , , . Basel, Switzerland, Alberius et al.: Roentgen Stereo
[63] googletzjrfua?zho?sszr' 3;;£333;lixrlggélg’oiggi'aaggt photogrammetric Analysis of Growth at Cranial Vault
119.353. Nov. 10. 1987, Pat. No. 4.991.579. Sutures m the Rabi)"
The American Journal of Anatomy, 1983, Alan R. Liss,
[51] Int. Cl.-‘ .............................................. .. A61B 6/00 Inc.’ VOL 163, pp‘ 321.330’ Alberius et 31'; Kinematics
[52] US. Cl. . . . . . . . . .. 128/653; 606/130 of Cranial Vault Growth in Rabbits_
[58] Field of Search ... ................ .. 128/6531; 606/ 130; Acta Radiologica Diagnosis, v01‘ 24, 1983, Pass. 4’ pp
901/2, 15, 41, 47 343, 352, G. Selvik et al.: A Roentgen Stereophoto
- rammetric System.
[56] References cued gAmerican Journal of Orthod., Jun. 1980, vol. 77, No. 6,
115- PATENT DOCUMENTS pp. 643-653, Rune et al.: Movement of maxillary seg
4,069,823 1/1978 Isakov et al. .. 606/19 mm after expansion and/Or Secondary bone grafting
454531 3 10/1985 Bani ,,,,,,,,,,,,,,, _, 606/19 in cleft lip and palate: A roentgen stereophotogrammet
4,583,539 4/ 1986 Karlin et al. . . . . . . . . . .. 606/19 ric study with the aid of metallic implants.
4,611,247 9/1986 Ishida et a1. 128/653 R Cleft Palate Journal, Apr, 1980, vol. 17, No. 2, pp.
4638.798 1/1987 Shelden BI 81' - 125/653 R 155-174, Rune eta1.: Movement of The Cleft Maxilla in
433931775 10/1987 Koch 9‘ a1- ‘ - - - ~ ' ' - - -' 901/47 Infants Relative to the Frontal Bone. A Roentgen
4791-934 12/1988 Bmm‘e" 128/653 R Stereophotogrammetric Study with the Aid of Metallic
4,808,064 2/1989 Bartholel .... .. 901/47
4 818173 4/1929 Khusro 901/47 Implants" . .
4’828’453 5/1989 Martin e, a]_ _____ " 901/15 Dentomaxillofac. Rad1ol., vol. 8, pp. 5-13, 1979, Rune
4’945’9l4 8/1990 Anen _________ " 123/653 R et al.: Motion of vone segments after surgicalorthodon
4:998:533 3/1991 Winkelman . 128/653 R tic correction of craniofacial deformities.
5,050,608 9/1991 Watanabe et a1. ................ .. 606/ 130 Acta Radiologica Diagnosis, vol. 19, 1978, Fasc. 3, pp.
423-432, Claesson et al.: Roentgen Stereo hoto
FOREIGN PATENT DOCUMENTS grammetry for Evaluation of Liver Volume and lShape.
WO88/09151 1/1988 PCT Int‘l Appl. . Annales Chirurgiae et Gynaecologiae, v01. 67, pp.
,O4\ Coret1 ta... [106 [112
"8831119? 1 W Catarina.
5,230,338
Page 2
82-84, 1978, Trope et a1.: Antineoplastic-Drug Effect
Ryd et a1.: Migration of the Tibial Component in Suc
Evaluated with a New X-Ray Stereophotographic cessful Unicompartmental Knee Arthtoplasty.
Measurement of the Tumour Volume.
8215 Robotics Age, v01. 7, No. 6, Jun. 1985 pp. 17-22,
The Anatomical Record, vol. 213, pp. 207-214, 1985
Peterborough, New Hampshire, US; Y. Kwoh et al.: A
Alberius et a1.: Volumetric Changes in the Developing
new computerized tomographic-aided robotic stereo
Rabbit Calvarium.
The Journal of Bone and Joint Surgery, v01. 68B, No. 5, taxis system .
Nov. 1986, pp. 770-774, Mjoeberg et a1.: Mechanical
Primary Examiner-Ruth S. Smith
Loosening of Total Hip Prostheses. '
Attorney, Agent, or Firm—-Kenyon & Kenyon
Acta Radiologica Diagnosis, vol. 27, 1986, Fasc. 6, pp.
619-627, Herrlin et a1.: Space Orientation of Total Hip
[57] ABSTRACT
Prosthesis-A method for three-dimensional determi
nation. An interactive system for guiding the use of a surgical
The Journal of Bone and Joint Surgery, vol. 66A, No. 8, tool uses at least one imaging technique, such as CT
Oct. 1984, pp. 1198-1210, Karrholm et a1.: Changes in scanning. A mechanical arm has a ?xed base at a ?rst
Tibio?bular Relationships due to Growth Disturbances end and a tool holder that holds the surgical tool at a
after Ankle Fractures in Children. second end. A display displays one or more images from
Spine, vol. 14, No. 2, 1989, pp. 162-165, Bengt Stures
the image space of a patient’s anatomy. A computer is
son et a1.: Movement of the Sacroiliac Joints-a Roent
coupled to the display and the mechanical arm. The
gen Stereophotogrammetric Analysis.
computer tracks the location of the surgical tool
American Journal of Orthod., vol. 81, No. 1, Rune et
through‘ physical space, performs a transforming rota
211., Jan. 1982, pp. 65-70, Rune et a1.: Posteroanterior
tion of the physical space to the image space, and causes
traction in maxillonasal dysplasia (Binder Syndrome).
the display to display the location of the surgical tool
Clinical Orthopedics and Related Research, No. 191,
within the image space.
Dec. 1984, pp. 129-135, Walheim et a1.: Mobility of the
Pubic Symphysis. ‘
Acta Orthop, Scan., vol. 54, pp. 408-416, Jun. 1983, 24 Claims, 12 Drawing Sheets
US. Patent July 27, 1993 Sheet 1 of 12 5,230,338
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US. Patent July 27, 1993 Sheet 3 of 12 5,230,338
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US. Patent July 27, 1993 7 Sheet 8 of 12 5,230,338
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