System and Method For Shaping an Anatomical Component

• US 20080281335A1
• Filed: 11/09/2006
• Published: 11/13/2008
• Est. Priority Date: 11/09/2005
• Status: Active Grant

• Current Assignee: Barry M. Fell
• Original Assignee: Barry M. Fell
• Inventors: Fell, Barry M.
• Granted Patent: US 8,956,367 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 17/00491 Surgical glue applicators surgical adhesives A61L24/00; two-component delivery syringes A61M5/19
• CPC Class Codes: A61B 17/1675 for the knee
• CPC Class Codes: A61B 17/32 Surgical cutting instruments A61B18/042 takes precedence; suture cutters A61B17/0467; instruments for ligaturing or cutting A61B17/128; instruments for rupturing the amniotic membrane A61B17/4208; specially adapted knives for eye surgery A61F9/0133
• CPC Class Codes: A61B 17/32002 with continuously rotating, oscillating or reciprocating cutting instruments
• CPC Class Codes: A61B 17/8805 for introducing fluid filler into bone or extracting it A61B17/7097, A61B17/8833 take precedence
• CPC Class Codes: A61B 2017/005 hardenable using external energy source, e.g. laser, ultrasound
• CPC Class Codes: A61B 2017/3447 Linked multiple cannulas
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A system and method for shaping an anatomical component having an existing shape and a desired reconstructed shape include an applicator for depositing material on the anatomical component and a controller in communication with the applicator, the controller controlling the deposition of material by the applicator based on a relationship between the applicator and the existing shape of the anatomical component to create the desired reconstructed shape.

Claims

1. A system for shaping an anatomical component having an existing shape and a desired reconstructed shape, the system comprising:

an applicator for depositing material on the anatomical component; and

a controller in communication with the applicator, the controller controlling the deposition of material by the applicator based on a relationship between the applicator and the existing shape of the anatomical component to create the desired reconstructed shape.

2. The system according to claim 1, further comprising a tracking system in communication with the applicator, the controller, and the anatomical component for obtaining tracking data indicating the relationship between the applicator and the anatomical component.

3. The system according to claim 2, wherein the tracking system obtains tracking data using at least one first marker associated with the anatomical component and at least one second marker associated with the applicator.

4. The system according to claim 2, wherein the relationship between the applicator and the anatomical component is based on at least one of position data and angle data.

5. The system according to claim 4, wherein the tracking system obtains tracking data based on at least three positions and at least three angles.

6. The system according to claim 1, further comprising an image acquisition system in communication with the controller that utilizes at least one image associated with the anatomical component and at least one image associated with the applicator to control material deposition by the applicator, the at least one anatomical component image including an image associated with the existing shape and an image associated with the desired reconstructed shape.

7. The system according to claim 6, wherein the at least one anatomical component image is registered to the anatomical component, and the at least one applicator image is registered to the applicator.

8. The system according to claim 6, further comprising a display in communication with the image acquisition system for displaying the at least one anatomical component image and the at least one applicator image.

9. The system according to claim 1, wherein the applicator is handheld.

10. The system according to claim 1, wherein the applicator is under robotic control.

11. The system according to claim 1, wherein the applicator includes a material deposition element for depositing material on the anatomical component.

12. The system according to claim 1, wherein the applicator includes a surface preparation element for preparing the anatomical component for material deposition.

13. The system according to claim 1, wherein the applicator includes at least one energy source.

14. The system according to claim 1, wherein the applicator is arranged to bond or cure the deposited material.

15. The system according to claim 1, wherein the applicator includes a mixing device for mixing the materials to be deposited.

16. The system according to claim 1, wherein the applicator includes a lubricated coating to facilitate displacement.

17. The system according to claim 1, wherein the applicator includes one or more channels arranged to receive material to be deposited.

18. The system according to claim 1, wherein the applicator includes a suction port.

19. A method for shaping an anatomical component having an existing shape and a desired reconstructed shape, the method comprising:

providing an applicator for depositing material on the anatomical component;

controlling the deposition of material by the applicator based on a relationship between the applicator and the existing shape of the anatomical component to create the desired reconstructed shape.

20. The method according to claim 19, further comprising obtaining tracking data indicating the relationship between the applicator and the anatomical component.

21. The method according to claim 20, wherein obtaining tracking data includes using at least one first marker associated with the anatomical component and at least one second marker associated with the applicator.

22. The method according to claim 20, wherein obtaining tracking data includes determining at least one position and at least one angle associated with at least one of the anatomical component and the applicator.

23. The method according to claim 22, wherein obtaining tracking data includes obtaining data based on at least three positions and at least three angles.

24. The method according to claim 19, further comprising utilizing at least one image associated with the anatomical component and at least one image associated with the applicator to control material deposition by the applicator, the at least one anatomical component image including an image associated with the existing shape and an image associated with the desired reconstructed shape.

25. The method according to claim 24, further comprising displaying the at least one anatomical component image and the at least one applicator image.

26. The method according to claim 24, further comprising registering the at least one anatomical component image to the anatomical component, and registering the at least one applicator image to the applicator.

27. The method according to claim 24, further comprising superimposing the image of the desired reconstructed shape over the image of the existing shape, resulting in an integrated anatomical component image that can be used to determine where material is to be deposited on the anatomical component.

28. The method according to claim 19, further comprising using kinematic and range of motion information to create the desired reconstructed shape.

29. The method according to claim 19, wherein controlling the applicator includes extending and retracting a surface preparation/material deposition element associated with the applicator.

30. The method according to claim 19, wherein controlling the applicator includes changing the speed or deposition rate of a surface preparation/material deposition element associated with the applicator.

31. The method according to claim 19, wherein controlling the applicator includes turning the applicator on and off to control the deposition of material based on the position of the applicator relative to the anatomical component.

32. The method according to claim 19, further comprising co-depositing active materials with materials for creating the desired reconstructed shape.

33. The method according to claim 19, wherein controlling the applicator includes incrementally building upon successive layers of materials to create the desired reconstructed shape.

34. The method according to claim 19, further comprising preparing the anatomical component for material deposition.

35. The method according to claim 19, further comprising bonding or curing the deposited material using the applicator.

36. The method according to claim 19, further comprising mixing the materials to be deposited using the applicator.

37. The method according to claim 19, further comprising implanting a pre-manufactured component or organ replacement.

38. The method according to claim 19, further comprising using the applicator to prepare and assemble pre-manufactured sub-assemblies into a larger finished component.

39. The method according to claim 19, further comprising using the applicator to prepare and transplant complete or partial organ replacements.

40. A method for shaping an anatomical component having an existing shape and a desired reconstructed shape, the method comprising:

providing an applicator for depositing material on the anatomical component;

providing an image associated with the anatomical component and an image associated with the applicator;

associating markers with the anatomical component and the applicator;

registering the anatomical component with the anatomical component image and registering the applicator with the applicator image;

tracking at least one of the anatomical component and the applicator to determine a relationship between the anatomical component and the applicator; and

based on the relationship, providing a control to the applicator to deposit material on the existing shape of the anatomical component to create the desired reconstructed shape.