METHOD AND SYSTEM FOR PLANNING/GUIDING ALTERATIONS TO A BONE

• US 20090248044A1
• Filed: 03/25/2009
• Published: 10/01/2009
• Est. Priority Date: 03/25/2008
• Status: Active Grant

• Current Assignee: ORTHOsoft ULC. (Zimmer Biomet Holdings, Inc.)
• Original Assignee: Orthosoft Inc. (Zimmer Biomet Holdings, Inc.)
• Inventors: Jansen, Herbert Andre, Richard, Alain, Pelletier, Benoit, Amiot, Louis-Philippe, Zuhars, Joel, Proulx, Catherine, Valin, Myriam, Duval, Karine, Boutin, Yannick, Breton, Yonik
• Granted Patent: US 8,265,790 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 17/155 Cutting femur
• CPC Class Codes: A61B 17/157 Cutting tibia
• CPC Class Codes: A61B 2017/00115 with audible or visual output
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: G06F 30/17 Mechanical parametric or variational design

Abstract

A computer-assisted surgery system for planning/guiding alterations to a bone in surgery, comprises a trackable member adapted to be secured to the bone. The trackable member has a first inertial sensor unit producing orientation-based data for at least two degrees of freedom in orientation of the trackable member A positioning block is adapted to be secured to the bone, with at least an orientation of the positioning block being adjustable once the positioning block is secured to the bone to reach a selected orientation at which the positioning block is used to guide tools in altering the bone. The positioning block has a second inertial sensor unit producing orientation-based data for at least two degrees of freedom in orientation of the positioning block. A processing system providing an orientation reference associating the bone to the trackable member comprises a signal interpreter for determining an orientation of the trackable member and of the positioning block from the orientation-based data. A parameter calculator calculates alteration parameters related to an actual orientation of the positioning block with respect to the bone as a function of the orientation reference and of the orientation of the positioning block.

Claims

1. A computer-assisted surgery system for planning/guiding alterations to a bone in surgery, comprising:

a trackable member adapted to be secured to the bone, the trackable member having a first inertial sensor unit producing orientation-based data for at least two degrees of freedom in orientation of the trackable member;

a positioning block adapted to be secured to the bone, with at least an orientation of the positioning block being adjustable once the positioning block is secured to the bone to reach a selected orientation at which the positioning block is used to guide tools in altering the bone, the positioning block having a second inertial sensor unit producing orientation-based data for at least two degrees of freedom in orientation of the positioning block;

a processing system providing an orientation reference between the bone and the trackable member and comprising;

a signal interpreter for determining an orientation of the trackable member and of the positioning block from the orientation-based data; and

a parameter calculator for calculating alteration parameters related to an actual orientation of the positioning block with respect to the bone as a function of the orientation reference and of the orientation of the positioning block.

2. The computer-assisted surgery system according to claim 1, wherein the orientation reference is a plane incorporating a mechanical axis of the bone.

3. The computer-assisted surgery system according to claim 2, wherein the bone is a tibia, and further comprising an axis-digitizing member adapted to be oriented against an anterior crest of the tibia, the axis-digitizing member having a third inertial sensor unit producing orientation-based data used by the processing system to define at least the mechanical axis of the tibia when the axis-digitizing member is against the anterior crest.

4. The computer-assisted surgery system according to claim 2, wherein the bone is a tibia, and further comprising axis-digitizing member adapted to be secured to the tibia and comprising an alignment bar aligned with at least one of the anterior crest of the medial third of the tibial tubercle, the 2^nd metatarsal bone, the center of the tibial plateau and the center of the ankle joint, the axis-digitizing member having a third inertial sensor unit producing orientation-based data used by the processing system to define at least the mechanical axis of the tibia.

5. The computer-assisted surgery system according to claim 2, wherein the bone is a femur, and further comprising an axis-digitizing member adapted to be secured to the femur at an entry point of the mechanical axis, the axis-digitizing member having a third inertial sensor unit producing at least orientation-based data used by the processing system to define the mechanical axis of the femur.

6. The computer-assisted surgery system according to claim 1, wherein the positioning block is secured to the bone so as to be in alignment with an anterior-posterior axis of the bone.

7. The computer-assisted surgery system according to claim 6, wherein the positioning block has joints between the bone and the second inertial sensor unit such that the alteration parameters are a varus-valgus of the bone as altered, and a flexion-extension of the bone as altered.

8. The computer-assisted surgery system according to claim 7, wherein knobs are provided on the joints of the positioning block for the adjustment of the alteration parameters.

9. The computer-assisted surgery system according to claim 1, wherein the processing system is mounted on any one of the trackable member and the positioning block.

10. The computer-assisted surgery system according to claim 1, wherein the trackable member is provided on a portion of the positioning block fixed to the bone.

11. A method for planning/guiding alterations to a bone comprising:

providing a trackable member secured to a bone, the trackable member having a first inertial sensor producing orientation-based data for at least two degrees of freedom in orientation for the trackable member;

providing a positioning block secured to the bone, the positioning block having an inertial sensor unit producing orientation-based data for at least two degrees of freedom in orientation for the positioning block, an orientation of the positioning block being adjustable with respect to the bone;

determining an orientation reference of the bone at least from the orientation-based data of the trackable member; and

calculating bone alteration parameters from the orientation-based data of the positioning block with respect to the orientation reference of the bone.

12. The method according to claim 11, wherein providing the trackable member secured to the bone comprises providing the trackable member on a portion of the positioning block fixed to the bone, whereby providing a trackable member and providing a positioning block are performed simultaneously.

13. The method according to claim 11, wherein determining an orientation reference of the bone comprises digitizing a coordinate system aligned with a mechanical axis of the bone.

14. The method according to claim 13, wherein the bone is a tibia and digitizing a plane incorporating the mechanical axis comprises tracking an orientation of a tool on the tibia with respect to an orientation of the trackable member.

15. The method according to claim 13, wherein the bone is a femur and digitizing the mechanical axis comprises tracking an orientation of a tool secured to an entry point of the mechanical axis with respect to at least an orientation of the trackable member.

16. The method according to claim 11, wherein providing a positioning block secured to a bone comprises providing a positioning block, and wherein calculating bone alteration parameters comprises calculating at least one of a varus-valgus and flexion-extension and rotation of planes of the bone.

17. The method according to claim 11, wherein providing a positioning block secured to a bone comprises providing a positioning block aligned with an anterior-posterior axis of the bone, and wherein calculating bone alteration parameters comprises calculating at least one of a varus-valgus and flexion-extension and rotation of planes of the bone.

18. The method according to claim 11, further comprising calculating an orientation of cut planes with an orientation of at least one of the positioning block and an instrument having an inertial sensor unit, laid on cut surfaces of the bone as a function of the orientation reference.

19. The method according to claim 11, further comprising adjusting an orientation of the positioning block as a function of the tracking of the positioning block and of the orientation reference.

20. The method according to claim 19, wherein adjusting an orientation comprises adjusting at least one of a varus-valgus orientation and a flexion-extension orientation and rotation of the positioning block with respect to the bone.

21. A caliper for determining a dimension of an object, comprising:

a base having a known base length;

arms pivotally mounted to ends of the base, the arms each having a known arm length, and each having a free end used to identify a limit point of the object to measure;

an inertial sensor unit secured to at least the arms, the inertial sensor unit producing orientation data pertaining to at least one degree of freedom in orientation of the arms in a plane in which the arms and the base lie;

whereby the dimension between limit points is calculated from the known base length and arm lengths and from the orientation data of the arms.