Computer-assisted surgery planner and intra-operative guidance system

• US 6,205,411 B1
• Filed: 11/12/1998
• Issued: 03/20/2001
• Est. Priority Date: 02/21/1997
• Status: Expired due to Term

• Current Assignee: Carnegie Mellon University
• Original Assignee: Carnegie Mellon University
• Inventors: Blackwell, Michael K., OʼToole, Robert V., Simon, David A., Kanade, Takeo, Morgan, Frederick M., Jaramaz, Branislav, DiGioia, Anthony M. III
• Primary Examiner(s): Teska, Kevin J.
• Assistant Examiner(s): FREJD, RUSSELL WARREN
• Application Number:
  US09/189,914
• Time in Patent Office: 859 Days
• Field of Search: 703/11, 703/7, 606/86, 606/89, 606/90, 606/91, 623/11, 623/16, 623/18, 623/19, 623/20, 623/21, 623/22, 623/23, 623/914
• US Class Current: 703/11
• CPC Class Codes: A61B 17/15 Guides therefor arrangements for guiding straight saw blades in general B23D51/025
• CPC Class Codes: A61B 17/155 Cutting femur
• CPC Class Codes: A61B 2017/00716 simulating physical properties
• 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 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/254 being adapted depending on the stage of the surgical procedure
• CPC Class Codes: A61B 2090/378 using ultrasound
• 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 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/1075 for measuring dimensions by non-invasive methods, e.g. for determining thickness of tissue layer A61B8/0858 takes precedence
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• CPC Class Codes: A61F 2/32 for the hip
• CPC Class Codes: A61F 2/34 Acetabular cups
• CPC Class Codes: A61F 2/36 Femoral heads ; Femoral endoprostheses
• CPC Class Codes: A61F 2/38 for elbows or knees
• CPC Class Codes: A61F 2/3804 for elbows
• CPC Class Codes: A61F 2/40 : for shoulders
• CPC Class Codes: A61F 2/4202 : for ankles
• CPC Class Codes: A61F 2/4225 : for feet, e.g. toes
• CPC Class Codes: A61F 2/4241 : for hands, e.g. fingers
• CPC Class Codes: A61F 2/4261 : for wrists
• CPC Class Codes: A61F 2/46 : Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
• CPC Class Codes: A61F 2/4657 : Measuring instruments used for implanting artificial joints for surgical instruments A61B90/06
• CPC Class Codes: A61F 2/468 : Testing instruments for artificial joints for testing non-implantable prostheses A61F2/76
• CPC Class Codes: A61F 2002/30943 : using mathematical models
• CPC Class Codes: A61F 2002/30948 : using computerized tomography, i.e. CT scans
• CPC Class Codes: A61F 2002/30952 : using CAD-CAM techniques or NC-techniques
• CPC Class Codes: A61F 2002/3611 : Heads or epiphyseal parts of femur
• CPC Class Codes: A61F 2002/3625 : Necks
• CPC Class Codes: A61F 2002/3631 : with an integral complete or partial peripheral collar or bearing shoulder at its base
• CPC Class Codes: A61F 2002/4633 : for selection of endoprosthetic joints or for pre-operative planning
• CPC Class Codes: A61F 2002/4668 : for measuring angles
• CPC Class Codes: G05B 2219/45166 : Tomography
• CPC Class Codes: G05B 2219/45168 : Bone prosthesis
• CPC Class Codes: Y10S 623/901 : Method of manufacturing prosthetic device

Abstract

An apparatus for facilitating the implantation of an artificial component in one of a hip joint, a knee joint, a hand and wrist joint, an elbow joint, a shoulder joint, and a foot and ankle joint. The apparatus includes a pre-operative geometric planner and a pre-operative kinematic biomechanical simulator in communication with the pre-operative geometric planner.

Claims

1. An apparatus for facilitating the implantation of an artificial component in one of a hip joint, a knee joint, a hand and wrist joint, an elbow joint, a shoulder joint, and a foot and ankle joint, comprising:

a pre-operative geometric planner; and

a pre-operative kinematic biomechanical simulator in communication with said pre-operative geometric planner wherein said pre-operative geometric planner outputs at least one geometric model of the joint and the pre-operative kinematic biomechanical simulator outputs a position for implantation of the artificial component.

2. The apparatus of claim 1, further comprising an intra-operative navigational module in communication with said pre-operative kinematic biomechanical simulator.

3. The apparatus of claim 2, further comprising a tracking device in communication with said intra-operative navigational module.

4. The apparatus of claim 1, wherein said pre-operative geometric planner is responsive to a skeletal data source.

5. The apparatus of claim 4, wherein said skeletal data source includes geometric data.

6. The apparatus of claim 4, wherein said pre-operative geometric planner outputs at least one geometric model of the component.

7. The apparatus of claim 6, wherein said pre-operative kinematic biomechanical simulator is responsive to said geometric model and outputs an implant position.

8. The apparatus of claim 7, wherein said implant position includes an angular orientation of the component.

9. The apparatus of claim 3, wherein said tracking device is selected from the group consisting of an acoustic tracking system, shape based recognition tracking system, video-based tracking system, mechanical tracking system, electromagnetic tracking system and radio frequency tracking system.

10. A system for facilitating an implant position for at least one artificial component in one of a hip joint, a knee joint, a hand and wrist joint, an elbow joint, a shoulder joint, and a foot and ankle joint, comprising:

a computer system including;

a pre-operative geometric planner; and

a pre-operative kinematic biomechanical simulator in communication with said pre-operative geometric planner wherein pre-operative geometric planner outputs at least one geometric model of the joint and the pre-operative kinematic biomechanical simulator outputs a position for implantation of the artificial component; and

a tracking device in communication with said computer system.

11. The system of claim 10, further comprising at least one display monitor in communication with said computer system.

12. The system of claim 10, further comprising at least one controller in communication with said computer system.

13. The system of claim 10, wherein said tracking device includes at least one camera.

14. The system of claim 10, wherein said tracking device includes at least one target.

15. The system of claim 10, wherein said computer system further includes an intra-operative navigational module in communication with said pre-operative kinematic biomechanical simulator.

16. The system of claim 10, further comprising:

a robotic device in communication with said computer system; and

a surgical tool connected to said robotic device.

17. A computerized method of facilitating the implantation of an artificial implant in one of a hip joint, a knee joint, a hand and wrist joint, an elbow joint, a shoulder joint, and a foot and ankle joint, comprising:

creating a three dimensional bone model based on skeletal geometric data of a bone and a bony cavity into which the artificial implant is to be implanted;

creating a three dimensional component model of the artificial implant;

simulating movement of the joint with the artificial implant in a test position;

calculating a range of motion of the artificial implant and the bones comprising the joint for the test position based on the simulated movement;

determining an implant position based on a predetermined range of motion and the calculated range of motion;

identifying the implant position in the bone model;

aligning the bone model with the patient'"'"'s bone and placing the implant based on positional tracking data providing the position of the implant and the bone; and

tracking the implant and the bone to maintain alignment of the bone model and to determine the position of the implant relative to the bone.