Modelling for surgery

• US 20040102866A1
• Filed: 12/19/2003
• Published: 05/27/2004
• Est. Priority Date: 01/29/2001
• Status: Abandoned Application

• Current Assignee: The Acrobot Co. Ltd. (Stryker Corporation)
• Original Assignee: The Acrobot Co. Ltd. (Stryker Corporation)
• Inventors: Harris, Simon James, Davies, Brian Lawrence
• Application Number:
  US10/470,313
• Publication Number:
  US 20040102866A1
• Time in Patent Office: Days
• US Class Current: 700/117
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61F 2002/4633 for selection of endoprosthetic joints or for pre-operative planning
• CPC Class Codes: G06T 17/00 Three dimensional [3D] modelling, e.g. data description of 3D objects

Abstract

The invention in its various forms relates generally to surgical planning methods, and in particular to the planning of surgical operations to implant a prosthesis. In a first embodiment, the surgeon uses an interactive system to design both the shape of the prosthesis and the shape of the bone. In a second embodiment, a modified Marching Cubes algorithm is used to simulate cutting planes within bones. In a third embodiment, back-projection is used within a computer model to allow an integrated display of both bone and prosthesis. In a fourth embodiment, an interactive system is used to test the mobility of a proposed implant, prior to undertaking a surgical operation.

Claims

1. A method of modelling for use in surgical planning, the method comprising:

(a) generating a bone model including a NURBS surface describing a first fitting surface of a bone to which a prosthesis component is to be fitted;

(b) providing a prosthesis shell model describing a prosthesis component, the prosthesis component including a second fitting surface;

(c) displaying superimposed representations of the bone model and the prosthesis model;

(d) translating and/or rotating one or both of the bone model and the prosthesis model to represent one fit of the prosthesis component to the bone;

(e) modifying the prosthesis or bone model by re-modelling at least one of the respective fitting surfaces;

(f) generating a modified bone or prosthesis model;

(g) passing the bone model to a surgical robot; and

(h) using the prosthesis shell model to generate a prosthesis component.

2. A method as claimed in claim 1 in which the prosthesis shell model is used to generate a knee implant.

3. A method as claimed in claim 1 in which the prosthesis shell model is used to generate an osteotomy component.

4. A method as claimed in any one of claims 1 to 3 including splitting the bone model into bone-removed and bone-retained data sets, and visualizing the said data sets separately.

12. A method as claimed in claim 3 in which for any z co-ordinate, the cached image slices are slices z−

1, z and z+1.

5. A method of modelling for use in surgical planning, the method comprising:

(a) generating a bone model describing a first fitting surface of a bone to which a prosthesis component is to be fined;

(b) providing a prosthesis shell model describing a prosthesis component, the prosthesis component including a second fitting surface;

(c) displaying superimposed representations of the bone model and the prosthesis model;

(d) translating and/or rotating one or both of the bone model and the prosthesis model to represent one fit of the prosthesis component to the bone;

(e) modifying the prosthesis or bone model by re-modelling at least one of the respective fitting surfaces;

(f) generating a modified bone or prosthesis model;

(g) passing the bone model to a surgical robot; and

(h) outputting the prosthesis shell model for use in the generation of a prosthesis component.

6. A method as claimed in claim 5 in which the prosthesis shell model is used to generate a knee implant.

7. A method as claimed in claim 5 in which the prosthesis shell model is used to generate an osteotomy component.

8. A method as claimed in any one of claims 5 to 7 including splitting the bone model into bone-removed and bone-retained data sets, and visualizing the said data sets separately.

9. A surface modelling method for modelling a three-dimensional surface, comprising

(a) determining any polygon in one voxel and the voxels adjacent thereto of a surface to be modelled;

(b) determining the polygon vertices of each determined polygon;

(c) encoding the polygon vertices as bit patterns, comprising, for each polygon vertex, the steps of;

(c1) encoding the polygon vertex as a bit pattern;

(c2) scanning a vertex list for the bit pattern;

(c3) including the bit pattern in the vertex list where the pattern is not in the vertex list; and

(c4) including an index of the bit pattern in a polygon table;

(d) repeating steps (a) to (c) for the other voxels of the surface to be modelled; and

(e) generating a vertex list and associated polygon table.

10. A method as claimed in claim 9 in which each bit pattern includes x, y and z voxel co-ordinates and a direction code representing the direction relative to the voxel co-ordinates.

11. A method as claimed in claim 10, further comprising:

(f) determining the z co-ordinate from one of the bit patterns;

(g) obtaining data for the cached image slices around the determined z co-ordinate;

(h) interpolating between voxels based on grey level and the direction code;

(i) generating a true x, y and z co-ordinate for the vertex;

(j) repeating steps (f) to (I) for the other bit patterns; and

(k) generating an x, y and z co-ordinate table for the vertices.

13. A method as claimed in any one of claims 9 to 12 in which the polygons comprise triangles.

14. A method as claimed in claim 9 further including, in a second pass, calculating the co-ordinate of vertex positions based on grey-scale values.

19. A method as claimed in claim 14 in which the vertices are re-positioned by back-projection onto the said fitting surface.

15. A modelling method, comprising:

(a) generating a bone model of a surface of a bone to which a prosthesis component is to be fitted by generating at least one polygon for each voxel on the surface of the bone as imaged;

(b) providing a prosthesis model describing a prosthesis component, the prosthesis component including a fitting surface;

(c) displaying superimposed representations of the bone model and the prosthesis model;

(d) translating and/or rotating one or both of the bone model and the prosthesis model to represent one fit of the prosthesis component to the bone;

(e) determining the relative translation and/or rotation of the fitting surface of the prosthesis component;

(f) generating a modified bone model by repositioning the vertices of the polygons of the bone model onto the fitting surface of the prosthesis component; and

(g) displaying the modified bone model.

16. A method as claimed in claim 15 in which the bone surface is an outer surface of the bone.

17. A method as claimed in claim 15 in which the bone surface is a surface of a cavity in the bone.

18. A method as claimed in any one of claims 15 to 17 in which the polygons comprise triangles.

20. A method of enabling the optimization of the fit of first and second relatively-moveable prosthesis components, comprising:

(a) positioning a prosthesis model of the first prosthesis component with respect to a first bone model, and a prosthesis model of the second prosthesis component with respect to a second bone model, to define respective first and second fitting models;

(b) simulating relative movement between the prosthesis components by moving one fitting model with respect to the other, subject to a constraint model;

(c) indicating any interference between the first and second fitting models;

(d) re-positioning the respective models of the first and second prostheses to define new first and second fitting models, and re-simulating movement;

(e) repeating (d) until a desired fit is achieved; and

(f) generating position data representative of the first and second fitting models for use in subsequent operation.

21. A method as claimed in claim 20 including displaying superimposed representations of the first and second fitting models.

22. A method as claimed in claim 21 in which any interference between the fitting models is indicated visually.

23. A method as claimed in claim 22 in which the visual indication comprises colour-coding.

24. A method as claimed in any one of claims 20 to 23 including generating cutting data from the position data for use in subsequent bone-cutting.

25. A method as claimed in any one of claims 20 to 24 in which the constraint model includes ligament length constraints.

26. A method as claimed in any one of claims 20 to 25 including providing an indication if the ligaments would be unduly stretched.

27. A method as claimed in any one of claims 20 to 26 including providing an indication of the likely wear on the prostheses due to tightness.

28. A method as claimed in any one of claims 20 to 27 including providing an indication of the typical gait of a patient having the prostheses in place.

29. A method as claimed in any one of claims 20 to 28 in which the first prosthesis component is a femoral prosthesis and the second prosthesis component is a tibial prosthesis.

36. A method as claimed in an) one of claims 20 to 35 in which the first fitting model is a model of the prosthesis and of the cut bone surface onto which it is to fit.

37. A method as claimed in claim 36 in which the second fitting model is of the further prosthesis and of the cut bone surface onto which the further prosthesis is to fit.

38. A method as claimed in claim 36 in which the second fitting model is of an uncut bone surface against which the prosthesis is to bear and move.

39. A method as claimed in claim 36 in which the second fitting model is of the further prosthesis.

30. A method of enabling the optimization of the fit of a prosthesis component for a joint, comprising:

(a) Defining a first fitting model including a model of the prosthesis and a second fitting model including a model of a further prosthesis or bone with which the prosthesis is to co-operate;

(b) simulating relative movement by moving one fitting model with respect to the other, subject to a constraint model;

(c) indicating any interference between the first and second fitting models;

(d) re-defining the first model and re-simulating movement; and

;

(e) repeating (d) until a desired fit is achieved.

31. A method as claimed in claim 30 including displaying superimposed representations of the first and second fitting models.

32. A method as claimed in claim 31 in which any interference between the fitting models is indicated visually.

33. A method as claimed in claim 32 in which the visual indication comprises colour-coding.

34. A method as claimed in any one of claims 30 to 33 including generating cutting data for use in subsequent bone-cutting.

35. A method as claimed in any one of claims 30 to 34 in which the constraint model includes ligament length constraints.

40. A method as claimed in claims 30 to. 35 in which the first fitting model is a model of the prosthesis.

41. A method as claimed in claim 40 in which the second fitting model is of the further prosthesis and of the cut bone surface onto which the further prosthesis is to fit.

42. A method as claimed in claim 40 in which the second fitting model is of the further prosthesis.

43. A method as claimed in claim 40 in which the second fitting model is of an uncut bone surface against which the prosthesis is to bear and move.

44. A method as claimed in claims 30 to 39 including generating position data representative of the first and second fitting models for use in subsequent operation.