Guidance for surgical interventions

• US 10,159,530 B2
• Filed: 12/19/2017
• Issued: 12/25/2018
• Est. Priority Date: 03/12/2016
• Status: Active Grant

• Current Assignee: Philipp K. Lang
• Original Assignee: Philipp K. Lang
• Inventors: Lang, Philipp K.
• Primary Examiner(s): Chang, Olivia C
• Application Number:
  US15/846,580
• Publication Number:
  US 20180125584A1
• Time in Patent Office: 371 Days
• CPC Class Codes: A61B 17/15 Guides therefor arrangements for guiding straight saw blades in general B23D51/025
• CPC Class Codes: A61B 17/155 Cutting femur
• CPC Class Codes: A61B 17/157 Cutting tibia
• CPC Class Codes: A61B 17/1666 for the acetabulum
• CPC Class Codes: A61B 17/17 Guides or aligning means for drills , mills, pins or wires
• CPC Class Codes: A61B 17/1703 using imaging means, e.g. by X-rays
• CPC Class Codes: A61B 17/1742 for the hip
• CPC Class Codes: A61B 17/1764 for the knee
• CPC Class Codes: A61B 17/1775 for the foot or ankle
• CPC Class Codes: A61B 17/1778 for the shoulder
• CPC Class Codes: A61B 2017/00216 with eye tracking or head position tracking control
• CPC Class Codes: A61B 2017/568 produced with shape and dimensions specific for an individual patient
• CPC Class Codes: A61B 2034/104 Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/368 changing the image on a display according to the operator's position
• CPC Class Codes: A61B 2090/372 Details of monitor hardware
• CPC Class Codes: A61B 2090/373 : using light, e.g. by using optical scanners
• CPC Class Codes: A61B 2090/374 : NMR or MRI
• CPC Class Codes: A61B 2090/376 : using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/3762 : using computed tomography systems [CT]
• CPC Class Codes: A61B 2090/502 : Headgear, e.g. helmet, spectacles
• CPC Class Codes: A61B 34/10 : Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/74 : Manipulators with manual electric input means
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: A61F 2/32 : for the hip
• CPC Class Codes: A61F 2/3859 : Femoral components
• CPC Class Codes: A61F 2/389 : Tibial components A61F2/3868 takes precedence
• CPC Class Codes: A61F 2002/4018 : Heads or epiphyseal parts of humerus
• CPC Class Codes: A61F 2002/4205 : Tibial components
• CPC Class Codes: A61F 2002/4207 : Talar components
• CPC Class Codes: H05K 999/99 : dummy group
• CPC Class Codes: Y02A 90/10 : Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

Devices and methods for performing a surgical step or surgical procedure with visual guidance using an optical head mounted display are disclosed.

Claims

1. A method of preparing a physical joint in a patient comprising:

generating, by a computer system, a virtual surgical guide, wherein the virtual surgical guide is a virtual plane, wherein the virtual plane is a three-dimensional digital representation indicating a predetermined position, predetermined orientation, or combination thereof, for aligning one or more physical surgical tools or physical surgical instruments; and

displaying, at the predetermined position, predetermined orientation, or combination thereof, using a see through optical head mounted display, the virtual surgical guide onto a surface of the physical joint visible directly through the see through optical head mounted display, so as to superimpose the virtual surgical guide onto the surface of the physical joint,

wherein the virtual surgical guide is configured to allow superimposition and alignment of the one or more physical surgical tools or physical surgical instruments with the virtual surgical guide,

wherein the display of the predetermined position, predetermined orientation, or combination thereof, of the virtual surgical guide is configured to be maintained on the surface of the physical joint by the computer system in relationship to one or more anatomic structures when the physical surgical tool or physical surgical instrument is moved in the field of view of a user, wherein the one or more anatomic structures are registered in a coordinate system,

wherein the physical joint of the patient, and the one or more physical surgical tools or physical surgical instruments are visible directly through the see through optical head mounted display,

wherein the one or more physical surgical tools or physical surgical instruments are configured to perform one or more bone cuts of the joint,

wherein the virtual surgical guide is registered in the coordinate system.

2. The method of claim 1, wherein the see through optical head mounted display is registered in the coordinate system.

3. The method of claim 1, wherein the virtual plane is a placement indicator of the one or more physical surgical tools or physical surgical instruments, wherein the placement indicator is a three-dimensional digital representation corresponding to at least one portion of the one or more physical surgical tools or physical surgical instruments.

4. The method of claim 1, wherein the method is for preparing a joint for a prosthesis.

5. The method of claim 4, wherein the prosthesis is for a knee replacement, hip replacement, shoulder joint replacement or ankle joint replacement.

6. The method of claim 1, wherein the virtual surgical guide is configured to guide removal of bone or removal of cartilage or removal of bone and cartilage.

7. The method of claim 1, wherein the display of the predetermined position, predetermined orientation, or combination thereof, of the virtual surgical guide is configured to be maintained on the surface of the physical joint by the computer when the physical surgical tool or physical surgical instrument is superimposed or aligned with the virtual surgical guide.

8. The method of claim 1, wherein the predetermined position comprises a predetermined start position, a predetermined start point, a predetermined end position, a predetermined end point, or combinations thereof.

9. The method of claim 1, wherein the predetermined orientation comprises a predetermined angle, a predetermined start orientation, a predetermined start alignment, a predetermined end orientation, a predetermined end alignment, or combinations thereof.

10. The method of claim 1, wherein the predetermined position, predetermined orientation, or combination thereof, of the virtual plane determines a position, orientation, or combination thereof of a femoral component in a hip joint replacement.

11. The method of claim 1, wherein the predetermined position, predetermined orientation, or combination thereof, of the virtual plane determines a leg length in a hip joint replacement.

12. The method of claim 1, wherein the predetermined position, predetermined orientation, or combination thereof, of the virtual plane determines a position, orientation, varus or valgus angle, flexion, rotation, or combination thereof of a femoral component in a knee joint replacement.

13. The method of claim 1, wherein the predetermined position, predetermined orientation, or combination thereof, of the virtual plane determines a position, orientation, varus or valgus angle, slope, rotation, or combination thereof of a tibial component in a knee joint replacement.

14. The method of claim 1, wherein the predetermined position, predetermined orientation, or combination thereof, of the virtual plane determines a position, orientation, or combination thereof a humeral component in a shoulder joint replacement.

15. The method of claim 1, wherein the predetermined position, predetermined orientation, or combination thereof, of the virtual plane determines a position, orientation, rotation, or combination thereof a tibial or talar component in an ankle joint replacement.

16. The method of claim 1, wherein the one or more physical surgical tools are one or more bone saws.

17. The method of claim 1, wherein the one or more physical surgical instruments are a cut block, a saw guide, a pin guide, a tibial drill tower, or a tibial keel punch or combinations thereof.

18. The method of claim 1, wherein the one or more physical surgical instruments are one or more patient specific instruments.

19. The method of claim 1, wherein x, y, and z coordinates of the one or more anatomic structures are obtained by the computer using at least one of an infrared marker, an RF marker, an IMU, an LED, an optical marker, a geometric pattern, a surgical navigation system, a camera, a video system, an image capture system, a depth sensor, a laser scanner, a 3D scanner, a patient specific marker, a patient specific template, an x-ray, an imaging system, or combinations thereof and wherein the x, y, and z coordinates are registered in the coordinate system.

20. The method of claim 1, wherein the one or more anatomic structures comprise an anatomic landmark, an anatomic plane, a surface, one or more surface points, an anatomic axis, a biomechanical axis, a mechanical axis or combinations thereof.

21. The method of claim 20, wherein the one or more anatomic structures comprise at least a portion of one or more of an osteophyte, a cartilage surface, a cortical bone surface, a subchondral bone surface, a cut bone surface, a reamed bone surface, a milled bone surface, an impacted bone surface, a burred articular surface, a surgically altered surface, a skin, an acetabulum, an edge of an acetabulum, an iliac wall, a pubic bone, an ischial bone, an anterior superior iliac spine, an anterior inferior iliac spine, a symphysis pubis, a greater trochanter, a lesser trochanter, a femoral shaft, a femoral neck, a femoral head, a fovea capitis, a transverse acetabular ligament, a pulvinar, a ligamentum teres, a labrum, a femoral condyle, a femoral notch, a trochlea, an anterior cortex of the femur, an epicondylar eminence, a medial tibial plateau, a lateral tibial plateau, a tibial spine, a cortex of the tibia, a patella, an anterior cruciate ligament, a posterior cruciate ligament, a medial collateral ligament, a lateral collateral ligament, a meniscus, a glenoid, a coracoid process, an acromion, a clavicle, a humeral head, a humeral neck, a humeral shaft, a glenoid labrum, or a shoulder ligament.

22. The method of claim 21, wherein the predetermined position, predetermined orientation, predetermined version, or combination thereof, of the virtual surgical guide is maintained on the surface of the physical joint by the computer in relationship to the one or more anatomic structures.

23. A method of preparing a physical joint in a patient comprising:

generating, by a computer system, a virtual surgical guide, wherein the virtual surgical guide is a virtual plane, wherein the virtual plane is a three-dimensional digital representation indicating a predetermined position, predetermined orientation, or combination thereof, for aligning one or more physical surgical tools or physical surgical instruments; and

displaying, at the predetermined position, predetermined orientation, or combination thereof, using a see through optical head mounted display, the virtual surgical guide onto a surface of the physical joint visible directly through the see through optical head mounted display, so as to superimpose the virtual surgical guide onto the surface of the physical joint,

wherein the virtual surgical guide is configured to allow superimposition and alignment of the one or more physical surgical tools or physical surgical instruments with the virtual surgical guide,

wherein the display of the predetermined position, predetermined orientation, or combination thereof, of the virtual surgical guide is configured to be maintained on the surface of the physical joint by the computer system in relationship to one or more anatomic structures when the physical joint of the patient moves, wherein the one or more anatomic structures are registered in a coordinate system,

wherein the physical joint of the patient, and the one or more physical surgical tools or physical surgical instruments are visible directly through the see through optical head mounted display,

wherein the one or more physical surgical tools or physical surgical instruments are configured to perform one or more bone cuts of the joint,

wherein the virtual surgical guide is registered in the coordinate system.

24. The method of claim 23, wherein the virtual plane is a placement indicator of the one or more physical surgical tools or physical surgical instruments, wherein the placement indicator is a three-dimensional digital representation corresponding to at least one portion of the one or more physical surgical tools or physical surgical instruments.

25. The method of claim 23, wherein the method is for preparing a joint for a prosthesis and wherein the prosthesis is for a knee replacement, hip replacement, shoulder joint replacement or ankle joint replacement.

26. The method of claim 23, wherein the virtual surgical guide is configured to guide removal of bone or removal of cartilage or removal of bone and cartilage.

27. The method of claim 23, wherein the display of the predetermined position, predetermined orientation, or combination thereof, of the virtual surgical guide is configured to be maintained on the surface of the physical joint by the computer when the physical surgical tool or physical surgical instrument is superimposed or aligned with the virtual surgical guide.

28. The method of claim 23, wherein the one or more physical surgical tools are one or more bone saws and wherein the one or more physical surgical instruments are a cut block, a saw guide, a pin guide, a tibial drill tower, or a tibial keel punch or combinations thereof.

29. The method of claim 23, wherein the predetermined position, predetermined orientation, or combination thereof, of the virtual surgical guide is configured to be maintained on the surface of the physical joint by the computer system when a first articular surface, a second, opposing articular surface or a first articular surface and a second, opposing articular surface moves.

30. The method of claim 23, wherein one or more markers are attached to a first articular side and/or a second articular side, and wherein the position and/or orientation of the one or more markers on the first articular side and/or the second articular side is tracked during movement of the joint.