Method and device for determining the position of a knee-joint endoprosthesis

• US 20050251148A1
• Filed: 04/26/2005
• Published: 11/10/2005
• Est. Priority Date: 11/05/2002
• Status: Abandoned Application

• Current Assignee: Aesculap AG (B. Braun Holding GmbH & Co. KG)
• Original Assignee: Aesculap AG (B. Braun Holding GmbH & Co. KG)
• Inventors: Leitner, Francois, Friedrich, Dirk
• Application Number:
  US11/116,104
• Publication Number:
  US 20050251148A1
• Time in Patent Office: Days
• US Class Current: 606/88
• CPC Class Codes: A61B 17/155 Cutting femur
• CPC Class Codes: A61B 2017/0268 for the knee
• 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: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/061 for measuring dimensions, e.g. length
• 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 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 5/103 Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes A61B5/08 takes precedence; measuring aids for tailors A41H1/00; measuring instruments specially adapted for dentistry A61C19/04
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• CPC Class Codes: A61B 5/6878 Bone
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61F 2/38 for elbows or knees
• CPC Class Codes: A61F 2/3859 Femoral components
• CPC Class Codes: A61F 2/389 Tibial components A61F2/3868 takes precedence
• CPC Class Codes: A61F 2/461 of knees
• CPC Class Codes: A61F 2/4657 Measuring instruments used for implanting artificial joints for surgical instruments A61B90/06
• CPC Class Codes: A61F 2002/4632 : using computer-controlled surgery, e.g. robotic surgery
• CPC Class Codes: A61F 2002/4658 : for measuring dimensions, e.g. length
• CPC Class Codes: A61F 2002/4668 : for measuring angles
• CPC Class Codes: G01S 5/186 : Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49
• CPC Class Codes: G06T 2207/30008 : Bone
• CPC Class Codes: G06T 7/73 : using feature-based methods

Abstract

To be able to determine the insertion position of the parts of an artificial knee joint without changing the original knee joint, a method is proposed for determining the position of the tibial part and/or the femoral part of a knee-joint endoprosthesis in relation to the proximal tibial head or to the distal femur in which the position of the femur and of the tibia are monitored by means of a navigation system, in which the distal femur and the proximal tibial head are laterally and medially displaced with a defined force into a spread position by means of a distraction appliance when the knee is straightened and bent, and the relative positions of the femur and the tibia, and consequently the size of the gap between the femur and the tibia, are thereby respectively determined, in which various virtual relative positions of the femur and the tibia are calculated according to geometrical data of the knee-joint endoprosthesis and to different assumed positions of the tibial part on the tibia and/or of the femoral part on the femur when the knee is straightened and bent, and in which an assumed position in which the virtual relative position of the femur and the tibia when the knee is straightened and bent differs from the spread position in a specified manner is determined as a selected position.

Claims

1. Method for determining the position of the tibial part and/or the femoral part of a knee-joint endoprosthesis in relation to the proximal tibial head or to the distal femur in which the position of the femur and of the tibia are monitored by means of a navigation system, in which the distal femur and the proximal tibial head are laterally and medially displaced with a defined force into a spread position by means of a distraction appliance when the knee is straightened and bent, and the relative positions of the femur and the tibia, and consequently the size of the gap between the femur and the tibia, are thereby respectively determined, in which various virtual relative positions of the femur and the tibia are calculated according to geometrical data of the knee-joint endoprosthesis and to different assumed positions of the tibial part on the tibia and/or of the femoral part on the femur when the knee is straightened and bent, and in which an assumed position in which the virtual relative position of the femur and the tibia when the knee is straightened and bent differs from the spread position in a specified manner is determined as a selected position.

2. Method according to claim 1, wherein a selected position is determined in such a way that the virtual relative position of the femur and the tibia coincides with the spread position when the knee is straightened and bent.

3. Method according to claim 1, wherein a selected position is determined in such a way that the size of the gap laterally and medially between the femur and the tibia in the bent position and/or the straightened position of the knee is at least approximately equal.

4. Method according to claim 1, wherein, for the calculation of various virtual relative positions, the assumed position of the femoral part is displaced by displacement of the femoral part perpendicularly to the longitudinal axis of the femur while remaining parallel to itself.

5. Method according to claim 1, wherein, for the calculation of various virtual relative positions, the assumed position of the femoral part is changed by its displacement in the anterior-posterior direction.

6. Method according to claim 4, wherein, for the calculation of various virtual relative positions, the assumed position of the femoral part is changed by its displacement in the anterior-posterior direction.

7. Method according to claim 1, wherein, for the calculation of various virtual relative positions, the assumed position of the femoral part is changed by its pivoting about an anterior-posterior extending axis.

8. Method according to claim 1, wherein, for the calculation of various virtual relative positions, the assumed position of the femoral part is changed by its pivoting about a medial-lateral extending axis.

9. Method according to claim 1, wherein differently dimensioned tibial parts and/or femoral parts are taken as a basis for the calculation of various virtual relative positions.

10. Method according to claim 4, wherein differently dimensioned tibial parts and/or femoral parts are taken as a basis for the calculation of various virtual relative positions.

11. Method according to claim 5, wherein differently dimensioned tibial parts and/or femoral parts are taken as a basis for the calculation of various virtual relative positions.

12. Method according to claim 1, wherein, in the determination of the spread position, the gap between the femur and the tibial head is widened to the maximum extent.

13. Method according to claim 1, wherein, to determine the size of the gap between the femur and the tibia, the contour of the proximal tibial head and the contour of the distal femur are determined by the engagement of at least one navigated engaging element on these contours.

14. Method according to claim 13, wherein an engaging element has a contacting tip, with which various points of the contours are sensed.

15. Method according to claim 13, wherein an engaging element has a planar engagement surface, which is placed against the contour to be determined.

16. Method according to claim 15, wherein an engaging element has two mutually perpendicular engagement surfaces, which are jointly placed against the contour to be determined.

17. Method according to claim 1, wherein the size of the medial and lateral gaps in the straightened and bent positions of the knee in the respectively calculated virtual relative positions are shown on a display.

18. Method according to claim 1, wherein the position of the femoral part assumed for the determination of various virtual relative positions is displayed on a display in relation to geometrical data of the femur.

19. Method according to claim 1, wherein, before spreading open the gap between the femur and the tibial head, the proximal joint surface of the tibial head is recessed along a plane which is perpendicular to the longitudinal axis of the tibia.

20. System for determining the position of the tibial part and/or the femoral part of a knee-joint endoprosthesis in relation to the proximal tibial head or to the distal femur with a navigation system for monitoring the position of the femur and the tibia by means of marking elements which can be fixed on the femur and tibia, with a distraction appliance, which displaces the distal femur and the proximal tibial head laterally and medially with a defined force into a spread position when the knee is straightened and bent, with a data processing system, which determines the relative position of the femur and the tibia during the distraction, and consequently the size of the gap between the femur and the tibia, and calculates various virtual relative positions of the femur and the tibia according to geometrical data of the knee-joint endoprosthesis and different assumed positions of the tibial part on the tibia and/or of the femoral part on the femur when the knee is straightened and bent.

21. System according to claim 20, wherein a display which displays data corresponding to the relative position of the femur and the tibia during the distraction and data corresponding to the virtual relative positions for the purpose of their comparison is associated with the data processing system.

22. System according to claim 21, wherein the data processing system shows on the display the size of the medial and lateral gaps in the straightened and bent positions of the knee in the respectively calculated virtual relative positions.

23. System according to claim 20, wherein the data processing system displays on the display the position of the femoral part assumed for the determination of various virtual relative positions in relation to geometrical data of the femur.

24. System according to claim 20, characterized in that it comprises at least one navigated engaging element, which can be placed against the contour of the proximal tibial head and the contour of the distal femur to determine the size of the gap between the femur and the tibia.

25. System according to claim 24, wherein an engaging element has a contact tip, with which various parts of the contours are sensed.

26. System according to claim 24, wherein an engaging element has a planar engagement surface, which is placed against the contour to be determined.

27. System according to claim 26, wherein an engaging element has two mutually perpendicular engagement surfaces which are jointly placed against the contour to be determined.