APPARATUS AND METHOD FOR
PLANNING A STEREOTACTIC SURGICAL
PROCEDURE USING COORDINATED
 Inventors: Michael A. Peshkin. Skokie; Julio J.
Santos-Munne , Evanston, both of HI.
 Assignee: Northwestern University, Evanston, HI.
 Appl. No.: 649,798
 Filed: May 17,1996
Related U.S. Application Data
 Continuation-in-part of Ser. No. 648,313, May 15, 1996, abandoned.
 Int CI.6 A61B 6/02
 U.S. CI 378/42; 606/130
 Field of Search 128/653.1; 378/41,
378/42, 62; 606/130
 References Cited
U.S. PATENT DOCUMENTS
4,955,891 9/1990 Carol 606/130
5^65,610 11/1993 Darrowetal 128/653.1
5,389,101 2/1995 Heilbrun et al 606/130
Finlay, "Orthosista An active surgical localiser for assisting orthopaedic fracture fixation", pp. 203-207, date unknown. P. Potamianos et al., 'Tntra-Operative Registration for Percutaneous Surgery", pp. 156-164. date unknown.
Viant et al.. "A Computer Assisted Orthopaedic Surgical System for Distal Locking of Intramedullary Nails", University of Hull. 8 pages, date unknown. Lavallee et al., "Computer-Assisted Spine Surgery: A Technique for Accurate Transpedicular Screw Fixation Using CT Data and a 3-D Optical Localizer." Journal of Image Guided Surgery, 1:65-73. pp. 65-73. 1995.
Lavallee et al.. "Computer Assisted Spine Surgery: a technique for accurate transpedicular screw fixation using CT data and a 3-D optical localizer". Proceedings of the 1st International Symposium on Medical Robotics and Computer Assisted Surgery, vol. 2. Sep. 1994, pp. 315-321. Canny, "A Computational Approach to Edge Detection". IEEE Transaction on Pattern Analysis and Machine Intelligence, vol. PAMI-8, No. 6, Nov. 1986. pp. 679-698. Nolte et al.. "A Novel Approach to Computer Assisted Spine Surgery", Proceedings of the 1st International Symposium on Medical Robotics and Computer Assisted Surgery, vol. 2. Sep. 1994. pp. 323-328.
Munne. Peshkin, et al., "A Stereotactic/Robotic System for
Pedicle Screw Placement", Interactive Technology and the
New Paradigm for Healthcare. 1995, pp. 326-333.
Primary Examiner—David P. Porta
Assistant Examiner—David Vernon Bruce
Attorney, Agent, or Firm—Barnes & Thornburg
An apparatus and method is provided for coordinating two fluoroscope images, which permits accurate computer-based planning of the insertion point and angle of approach of a needle, drill, screw, nail, wire or other surgical instrumentation into the body of a patient, and subsequently guides the surgeon in performing the insertion in accordance with the plan.
32 Claims, 28 Drawing Sheets