Inertial Sensor Based Surgical Navigation System for Knee Replacement Surgery
First Claim
1. ) A surgical navigation system comprising:
- a first inertial sensor capable of providing data relating to the position and orientation of said first inertial sensor;
said first inertial sensor being attached to a patient'"'"'s body;
a sensor processor capable of receiving said data from said first inertial sensor and calculating the X, Y, Z position and Yaw, Pitch, Roll orientation of said sensor;
a mapping processor capable of storing in memory the initial location of a pre-identified point on the patient'"'"'s body and determining the location of said pre-identified point based on the X, Y, Z position and Yaw, Pitch, Roll orientation of said sensor after the patient'"'"'s body has moved.
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Abstract
An inertial sensor based surgical navigation system for knee replacement surgery is disclosed. Inertial sensors composed of six-degree-of-freedom inertial chips, whose measurements are processed through a series of integration, quaternion, and kalman filter algorithms, are used to track the position and orientation of bones and surgical instruments. The system registers anatomically significant geometry, calculates joint centers and the mechanical axis of the knee, develops a visualization of the lower extremity that moves in real time, assists in the intra-operative planning of surgical cuts, determines the optimal cutting planes for cut guides and the optimal prosthesis position and orientation, and finally navigates the cut guides and the prosthesis to their optimal positions and orientations using a graphical user interface.
233 Citations
20 Claims
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1. ) A surgical navigation system comprising:
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a first inertial sensor capable of providing data relating to the position and orientation of said first inertial sensor;
said first inertial sensor being attached to a patient'"'"'s body;a sensor processor capable of receiving said data from said first inertial sensor and calculating the X, Y, Z position and Yaw, Pitch, Roll orientation of said sensor; a mapping processor capable of storing in memory the initial location of a pre-identified point on the patient'"'"'s body and determining the location of said pre-identified point based on the X, Y, Z position and Yaw, Pitch, Roll orientation of said sensor after the patient'"'"'s body has moved. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. ) A method of providing navigation to surgery comprising the steps of
attaching a first and second inertial sensor and to a patient'"'"'s femur and tibia bone respectively; - said first and second inertial sensors capable of determining and
providing its own position and orientation information; moving the patient'"'"'s leg through an arc of motion; tracking the location of said first and second inertial sensors throughout the movement of the patient'"'"'s leg; and calculating the center of the hip bone joint by finding a common radius to the locations of said first and second inertial sensors throughout the movement of the patient'"'"'s leg. - View Dependent Claims (17, 18, 19)
- said first and second inertial sensors capable of determining and
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20. ) A surgical navigation system comprising:
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an inertial sensor attached to the body of a patient;
said inertial sensor being capable of determining and providing its own position and orientation information;
said sensor comprising of two sensor chips and a processor that processes data from said sensor chips through a Kalman filter;a pointer being capable of determining and providing its own position and orientation information;
said pointer comprising of two sensor chips and a processor that processes data from said sensor chips through a Kalman filter;
said pointer being able to be placed on various location of the patient'"'"'s body.an inertial sensor hub capable of receiving the position and orientation information from said inertial sensor and pointer and storing said information into memory; a mapping processor capable of registering the location of said pointer when placed on an anatomical landmark of the patient'"'"'s body and tracking the location of the anatomical landmark based on the position and orientation information of said inertial sensor.
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Specification