Systems and methods for placement of surgical instrumentation

• US 10,687,829 B2
• Filed: 03/24/2016
• Issued: 06/23/2020
• Est. Priority Date: 03/24/2015
• Status: Active Grant

• Current Assignee: Mirus LLC
• Original Assignee: Mirus LLC
• Inventors: Singh, Angad, Fitzsimons, Philip Matthew, Boumenir, Yasser
• Primary Examiner(s): Boles, Sameh R
• Application Number:
  US15/558,352
• Publication Number:
  US 20180085135A1
• Time in Patent Office: 1,552 Days
• CPC Class Codes: A61B 17/1707 using electromagnetic effects, e.g. with magnet and external sensors
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2090/067 for measuring angles
• 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 90/06 Measuring instruments not otherwise provided for
• CPC Class Codes: A61F 2/32 for the hip
• CPC Class Codes: A61F 2/46 Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor

Abstract

A system and method is provided for estimating orientation and position of surgical instrumentation or tools relative to a patient'"'"'s bone structure. The system and/or method may include registering an axis and/or plane associated with a patient'"'"'s bone. The system and/or method may further include receiving, from magnetic and orientation sensors, information indicative of orientation and position of the surgical instrument or tool relative to the registered axis and/or plane.

Claims

1. A system for estimating an orientation, the system comprising:

a base attached to a bone of a patient;

a surgical instrument mechanically coupled to the base;

a mechanism configured to adjust a relative position of the surgical instrument with respect to the base;

a first orientation sensor coupled to the base and configured to detect information indicative of an orientation of the bone;

a second orientation sensor coupled to the surgical instrument and configured to detect information indicative of an orientation of the surgical instrument; and

a processor communicatively coupled to the first and second orientation sensors and configured to;

receive information indicative of an orientation of an anatomic axis or plane of the bone; and

estimate an angle between the surgical instrument and the anatomic axis or plane.

2. The system of claim 1, wherein at least one of the first and second orientation sensors comprise an inertial measurement unit that includes at least one of a gyroscope, an accelerometer, or a magnetometer.

3. The system of claim 1, wherein the mechanism comprises a ball and socket that allows for relative rotation between the surgical instrument and the base around at least one axis.

4. The system of claim 1, wherein the mechanism comprises a sliding mechanism that allows for relative motion between the surgical instrument and the base along a connecting shaft.

5. The system of claim 1, further comprising a depth gauge, wherein the surgical instrument is coupled to the depth gauge.

6. The system of claim 1, wherein the mechanism comprises a geared connection.

7. A system for estimating a position, the system comprising:

a base attached to a bone of a patient;

a surgical instrument mechanically coupled to the base;

a mechanism configured to adjust a relative position of the surgical instrument with respect to the base;

a magnetic field generator attached to one of the surgical instrument or the base;

one or more magnetic sensors coupled to the other of the base or the surgical instrument and configured to detect information indicative of a position of the surgical instrument; and

a processor communicatively coupled to the magnetic sensors and configured to;

receive information indicative of a first position of the surgical instrument relative to an anatomic surface of the bone; and

estimate change in position of the surgical instrument relative to the anatomic surface of the bone.

8. The system of claim 7, wherein the magnetic field generator is a permanent magnet.

9. The system of claim 7, wherein the magnetic field generator is a solenoid.

10. The system of claim 7, wherein each of the one or more magnetic sensors comprises one or more magnetometers.

11. The system of claim 7, wherein the mechanism comprises a ball and socket that allows for relative rotation between the surgical instrument and the base around at least one axis.

12. The system of claim 7, wherein the mechanism comprises a sliding mechanism that allows for relative motion between the surgical instrument and the base along a connecting shaft.

13. The system of claim 7, further comprising a depth gauge, wherein the surgical instrument is coupled to the depth gauge.

14. The system of claim 7, wherein the mechanism comprises a geared connection.

15. A system for automated positioning, the system comprising:

a base attached to a bone of a patient;

a surgical instrument mechanically coupled to the base;

a mechanism configured to adjust a relative position of the surgical instrument with respect to the base;

a orientation sensor coupled to the base and configured to detect information indicative of an orientation of the bone; and

a processor communicatively coupled to the orientation sensor and the surgical instrument and configured to;

receive information indicative of an orientation of an anatomic axis or plane of the bone; and

control the surgical instrument to a target position with respect to the anatomic axis or plane of the bone.

16. The system of claim 15, wherein the surgical instrument comprises one or more robotic actuators coupled to the mechanism, wherein the one or more robotic actuators are configured to move the surgical instrument with respect to the base.

17. The system of claim 15, wherein the mechanism comprises a geared connection having a rotary encoder.

18. The system of claim 16, wherein the one or more robotic actuators are stepper motors.

19. The system of claim 16, wherein the one or more robotic actuators are servo motors.