Acetabular cup prosthesis alignment system and method

• US 10,265,193 B2
• Filed: 03/07/2017
• Issued: 04/23/2019
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Depuy Synthes Products Incorporated (Johnson & Johnson)
• Original Assignee: Depuy Synthes Products Incorporated (Johnson & Johnson)
• Inventors: Sherman, Jason T., Birkbeck, Alec A., Freeman, Robert R.
• Primary Examiner(s): Lawson, Matthew J
• Application Number:
  US15/451,604
• Publication Number:
  US 20170172762A1
• Time in Patent Office: 777 Days
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61F 2/34 Acetabular cups
• CPC Class Codes: A61F 2/4609 of acetabular cups
• CPC Class Codes: A61F 2/4657 Measuring instruments used for implanting artificial joints for surgical instruments A61B90/06
• CPC Class Codes: A61F 2002/4629 connected to the endoprosthesis or implant via a threaded connection
• CPC Class Codes: A61F 2002/4632 using computer-controlled surgery, e.g. robotic surgery
• CPC Class Codes: A61F 2002/4668 for measuring angles

Abstract

Technologies for aligning an acetabular prosthetic component in a patient'"'"'s surgically prepared acetabulum include a reference sensor module securable to the patient'"'"'s bony anatomy, an inserter sensor module securable to an acetabular prosthetic component inserter, and a display module. Each sensor module generates sensor data indicative of the orientation of the sensor module and/or structures to which the sensor module is coupled. The display module receives the sensor data from the sensor modules, determines the orientation of the acetabular prosthetic component relative to the patient'"'"'s bony anatomy, and displays indicia of the determined orientation on a display.

Claims

1. A method for aligning an acetabular prosthetic component in a patient'"'"'s surgically-prepared acetabulum, the method comprising:

securing a reference sensor module to the patient'"'"'s bony anatomy;

securing an inserter sensor module to an acetabular prosthetic component inserter;

initializing the reference sensor module and the inserter sensor module to compensate for bias offset of corresponding generated sensor data, wherein initializing the reference sensor module and the inserter sensor module comprising mating a keyed feature of a housing of the reference sensor module with a corresponding keyed feature of a housing of the inserter sensor module;

generating, with the reference sensor module, first sensor data indicative of the orientation of the patient'"'"'s bony anatomy in three-dimensions;

generating, with the inserter sensor module, second sensor data indicative of the orientation of the acetabular prosthetic component inserter in three-dimensions;

receiving, with a display module, the first sensor data and the second sensor data;

determining, with the display module, an orientation of an acetabular prosthetic component coupled to the acetabular prosthetic component inserter relative to the patient'"'"'s bony anatomy based on the first sensor data and the second sensor data;

displaying, on the display module, indicia of the determined orientation of the acetabular prosthetic component on a display of the display module; and

transmitting a control signal from the display module to the inserter sensor module to activate an alignment indicator of the inserter sensor module in response to the determined orientation being within a threshold amount of a reference orientation.

2. The method of claim 1, wherein securing the reference sensor module to the patient'"'"'s bony anatomy comprises:

attaching the reference sensor module to a mounting frame; and

securing the mounting frame to the patient'"'"'s bony anatomy.

3. The method of claim 1, wherein initializing the reference sensor module and the inserter sensor module comprises transmitting identification data from each the reference sensor module and the inserter sensor module to the display module and displaying the identification data on the display of the display module.

4. The method of claim 1, further comprising registering the inserter sensor module to a patient coordinate system of the patient'"'"'s bony anatomy.

5. The method of claim 4, wherein registering the inserter sensor module to the patient coordinate system comprises:

aligning the inserter sensor module with a spine of the patient; and

aligning the inserter sensor module with an anatomical axis of the patient defined by the anterior superior iliac spine points of the patient'"'"'s bony anatomy.

6. The method of claim 5, further comprising:

generating, with the inserter sensor module, first alignment data indicative of the current orientation of the inserter sensor module while aligned with the spine of the patient;

generating, with the inserter sensor module, second alignment data indicative of the current orientation of the inserter sensor module while aligned with the anatomical axis of the patient; and

generating a coordinate system conversion factor based on the first and second alignment data to convert sensor data generated by the inserter sensor module from a coordinate system of the inserter sensor module to a patient coordinate system of the patient'"'"'s bony anatomy.

7. The method of claim 6, wherein determining the orientation of the acetabular prosthetic component comprises determining the orientation of the acetabular prosthetic component relative to the patient'"'"'s bony anatomy based on the first sensor data and the coordinate system conversion factor.

8. The method of claim 6, wherein registering the inserter sensor module to the patient coordinate system comprises:

placing an alignment frame on the patient in a position such that a first contact foot of the alignment frame confronts a first anterior superior iliac spine point of the patient, a second contact foot of the alignment frame confronts a second anterior superior iliac spine point of the patient, and a third contact foot of the alignment frame confronts a pubic symphysis of the patient, and

coupling the inserter module to the alignment frame.

9. The method of claim 1, wherein determining the orientation of the acetabular prosthetic component comprises determining an inclination angle and an anteversion angle of the acetabular prosthetic component relative to the patient'"'"'s bony anatomy, and

wherein displaying indicia of the determined orientation of the acetabular prosthetic component comprises displaying the inclination angle and the anteversion angle on the display of the display module.

10. A method for aligning an acetabular prosthetic component in a patient'"'"'s surgically-prepared acetabulum, the method comprising:

securing a reference sensor module to the patient'"'"'s bony anatomy;

securing an inserter sensor module to an acetabular prosthetic component inserter;

registering the inserter sensor module to a patient coordinate system of the patient'"'"'s bony anatomy, wherein registering the inserter sensor module to the patient coordinate system comprises aligning the inserter sensor module with a spine of the patient and aligning the inserter sensor module with an anatomical axis of the patient defined by the anterior superior iliac spine points of the patient'"'"'s bony anatomy;

generating, with the reference sensor module, first sensor data indicative of the orientation of the patient'"'"'s bony anatomy in three-dimensions;

generating, with the inserter sensor module, second sensor data indicative of the orientation of the acetabular prosthetic component inserter in three-dimensions;

receiving, with a display module, the first sensor data and the second sensor data;

determining, with the display module, an orientation of an acetabular prosthetic component coupled to the acetabular prosthetic component inserter relative to the patient'"'"'s bony anatomy based on the first sensor data and the second sensor data;

displaying, on the display module, indicia of the determined orientation of the acetabular prosthetic component on a display of the display module; and

transmitting a control signal from the display module to the inserter sensor module to activate an alignment indicator of the inserter sensor module in response to the determined orientation being within a threshold amount of a reference orientation.

11. The method of claim 10, further comprising:

generating, with the inserter sensor module, first alignment data indicative of the current orientation of the inserter sensor module while aligned with the spine of the patient;

generating, with the inserter sensor module, second alignment data indicative of the current orientation of the inserter sensor module while aligned with the anatomical axis of the patient; and

generating a coordinate system conversion factor based on the first and second alignment data to convert sensor data generated by the inserter sensor module from a coordinate system of the inserter sensor module to a patient coordinate system of the patient'"'"'s bony anatomy.

12. The method of claim 11, wherein determining the orientation of the acetabular prosthetic component comprises determining the orientation of the acetabular prosthetic component relative to the patient'"'"'s bony anatomy based on the first sensor data and the coordinate system conversion factor.

13. The method of claim 11, wherein registering the inserter sensor module to the patient coordinate system comprises:

placing an alignment frame on the patient in a position such that a first contact foot of the alignment frame confronts a first anterior superior iliac spine point of the patient, a second contact foot of the alignment frame confronts a second anterior superior iliac spine point of the patient, and a third contact foot of the alignment frame confronts a pubic symphysis of the patient, and

coupling the inserter module to the alignment frame.

14. The method of claim 10, wherein determining the orientation of the acetabular prosthetic component comprises determining an inclination angle and an anteversion angle of the acetabular prosthetic component relative to the patient'"'"'s bony anatomy, and

wherein displaying indicia of the determined orientation of the acetabular prosthetic component comprises displaying the inclination angle and the anteversion angle on the display of the display module.