Computer assisted knee arthroplasty instrumentation, systems, and processes
First Claim
1. Apparatus for adjustably positioning surgical instrumentation relative to bone, comprising:
- a. a structural member adapted to fasten to bone;
b. instrumentation adapted to guide surgical devices;
c. an alignment module connecting the structural member and the instrumentation, comprising;
i. a first member connected to the instrumentation;
ii. a second member connected to the structural member and connected to the first member in a fashion that allows the second member and the first member to be varied in orientation relative to each other about at least two substantially orthogonal axes;
iii. adjustment structure for controlling motion of the second member relative to the first member and for fixing the position of the second member relative to the first member; and
d. a fiducial connected at least indirectly to the instrumentation, which fiducial is capable of being tracked in position and orientation in at least three dimensions by a surgical navigation system.
2 Assignments
0 Petitions
Accused Products
Abstract
Instrumentation, systems, and processes for tracking anatomy, instrumentation, trial implants, implants, and references, and rendering images and data related to them in connection with surgical operations, for example total knee arthroplasties (“TKA”). These instrumentation, systems, and processes are accomplished by using a computer to intraoperatively obtain images of body parts and to register, navigate, and track surgical instruments. Disclosed in this document are also alignment modules and other structures and processes which allow for coarse and fine alignment of instrumentation and other devices relative to bone for use in connection with the tracking systems of the present invention.
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Citations
20 Claims
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1. Apparatus for adjustably positioning surgical instrumentation relative to bone, comprising:
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a. a structural member adapted to fasten to bone;
b. instrumentation adapted to guide surgical devices;
c. an alignment module connecting the structural member and the instrumentation, comprising;
i. a first member connected to the instrumentation;
ii. a second member connected to the structural member and connected to the first member in a fashion that allows the second member and the first member to be varied in orientation relative to each other about at least two substantially orthogonal axes;
iii. adjustment structure for controlling motion of the second member relative to the first member and for fixing the position of the second member relative to the first member; and
d. a fiducial connected at least indirectly to the instrumentation, which fiducial is capable of being tracked in position and orientation in at least three dimensions by a surgical navigation system. - View Dependent Claims (2, 3, 4, 5, 6)
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7. Apparatus for adjustably positioning surgical instrumentation relative to bone, comprising:
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a. a structural member adapted to fasten to bone;
b. surgical instrumentation adapted to guide surgical devices; and
c. an alignment module, comprising;
i. a structural member retention component adapted to connect to the structural member;
ii. a surgical instrumentation retention component adapted to connect to the surgical instrumentation; and
iii. an intermediate component adapted to connect to the structural member retention component in a fashion that allows the structural member retention component and the intermediate component to rotate relative to each other about at least one axis, and adapted to connect to the surgical instrumentation retention component in a fashion that allows the surgical instrumentation retention component and the intermediate component to rotate relative to each other about at least one axis;
iv. an adjustment mechanism connecting the intermediate component and the structural member retention component, the adjustment mechanism adapted to control and fix orientation of the intermediate component relative to the structural member retention component; and
v. an adjustment mechanism connecting the intermediate component and the surgical instrumentation retention component, the adjustment mechanism adapted to control and fix orientation of the intermediate component and the surgical instrumentation retention component. - View Dependent Claims (8, 9, 10, 11, 12)
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13. Apparatus for adjustably positioning surgical instrumentation relative to bone, comprising:
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a. a rod adapted to fasten to bone;
b. surgical instrumentation adapted to guide surgical devices; and
c. an alignment module, comprising;
i. a rod retention component adapted to connect to the rod;
ii. a surgical instrumentation retention component adapted to connect to the surgical instrumentation; and
iii. an intermediate component adapted to connect to the rod retention component in a fashion that allows rod retention component and intermediate component to rotate relative to each other about at least one axis, and adapted to connect to the surgical instrumentation retention component in a fashion that allows surgical instrumentation retention component and intermediate component to rotate relative to each other about at least one axis;
iv. a geared mechanism connecting the intermediate component and the rod retention component, the geared mechanism adapted to control and fix orientation of the intermediate component relative to the rod retention component; and
v. a geared mechanism connecting the intermediate component and the surgical instrumentation retention component, the geared mechanism adapted to control and fix orientation of the intermediate component and the surgical instrumentation retention component.
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14. A system for performing knee surgery comprising:
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(a) an imager for obtaining an image of at least portions of the knee joint, wherein the imager and at least one bone forming part of the knee joint are each attached to a fiducial capable of being tracked by a position sensor;
(b) at least one position sensor adapted to track position of said fiducials;
(c) a computer adapted to store at least one image of at least portions of the knee joint and to receive information from said at least one sensor in order to track position and orientation of said fiducials and thus the knee joint;
(d) a rod adapted to be fastened to bone in the vicinity of the knee joint;
(e) surgical instrumentation adapted to guide devices adapted to cut bone in the vicinity of the knee joint;
(f) a variable alignment module connecting the rod and the surgical instrumentation, and adapted to allow adjustment and fixation of angular orientation of the surgical instrumentation relative to the rod about at least two axes;
(g) a fiducial at least indirectly connected to the surgical instrumentation in order to allow position and orientation of the instrumentation to be tracked by the system; and
(h) a monitor adapted to receive information from the computer in order to display at least one image of the surgical instrumentation, positioned and oriented relative to the knee joint for navigation and positioning of the surgical instrumentation relative to the knee joint.
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15. A process for conducting knee surgery, comprising:
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a. exposing bones in the vicinity of knee joint;
b. fastening a rod to bone in the vicinity of the knee joint in a manner intended at least coarsely to align the rod to a desired axis relative to the bone;
c. attaching a rod retention component of an alignment module to the rod, the alignment module comprising;
i. a rod retention component adapted to connect to the rod;
ii. a surgical instrumentation retention component adapted to connect to surgical instrumentation; and
iii. an intermediate component adapted to connect to the rod retention component in a fashion that allows the rod retention component and intermediate component to rotate relative to each other about at least one axis, and adapted to connect to the surgical instrumentation retention component in a fashion that allows the surgical instrumentation retention component and the intermediate component to rotate relative to each other about at least one axis;
iv. an adjustment mechanism connecting the intermediate component and the rod retention component, the adjustment mechanism adapted to control and fix orientation of the intermediate component relative to the rod retention component; and
v. an adjustment mechanism connecting the intermediate component and the surgical instrumentation retention component, the adjustment mechanism adapted to control and fix orientation of the intermediate component and the surgical instrumentation retention component;
d. attaching instrumentation to the alignment module;
e. adjusting at least one of the adjustment mechanisms in order to finely align the instrumentation relative to the bone;
f. resecting bone using the instrumentation;
g. attaching a surgical implant to the resected bone;
h. reassembling the knee; and
i. closing the exposed knee. - View Dependent Claims (16, 17, 18)
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19. A process for conducting knee surgery, comprising:
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a. exposing bones in the vicinity of knee joint;
b. fastening a structural member to bone in the vicinity of the knee joint in a manner intended at least coarsely to align the structural member to a desired axis relative to the bone;
c. attaching a second member of an alignment module to the structural member, the alignment module comprising;
i. a first member adapted to be connected to instrumentation;
ii. a second member connected to the first member in a fashion that allows the second member and the first member to be varied in orientation relative to each other about at least two substantially orthogonal axes;
iii. adjustment structure for controlling motion of the second member relative to the first member and for fixing the position of the second member relative to the first member;
d. attaching instrumentation to the first member;
e. attaching at least one fiducial to the instrumentation, at least indirectly;
f. tracking orientation of the instrumentation relative to bone using the fiducial and a surgical navigation system;
g. adjusting the adjustment structure in order to finely align the instrumentation relative to the bone;
f. resecting bone using the instrumentation;
g. attaching a surgical implant to the resected bone;
h. reassembling the knee; and
i. closing the exposed knee. - View Dependent Claims (20)
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Specification