Probe and associated system and method for facilitating planar osteotomy during arthoplasty

• US 6,514,259 B2
• Filed: 02/02/2001
• Issued: 02/04/2003
• Est. Priority Date: 02/02/2001
• Status: Expired due to Term

• Current Assignee: Carnegie Mellon University
• Original Assignee: Carnegie Mellon University
• Inventors: Picard, Frederic, Moody, James E., DiGioia, Anthony M. III, Jaramaz, Branislav
• Primary Examiner(s): Shaver, Kevin
• Assistant Examiner(s): Priddy, Michael B.
• Application Number:
  US09/776,497
• Publication Number:
  US 20020107522A1
• Time in Patent Office: 732 Days
• Field of Search: 606/130, 606/88, 606/87, 606/69-71, 606/79, 606/82, 600/414, 600/417, 600/426, 600/429, 703/11
• US Class Current: 606/88
• 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 17/157 Cutting tibia
• 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 2090/3983 Reference marker arrangements for use with image guided surgery
• 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

Abstract

A plate probe and associated system and method for facilitating the orientation of an osteotomy and the implantation of an artificial joint component during arthroplastic surgery requiring an osteotomy. The probe comprises a coupler and a plate. The coupler is configured so that it can be connected to a position tracker, such that the position and orientation of the plate can be determined from the position of the tracker. The plate is configured so that it can be inserted into an opening of a bone-cutting mechanical guide, which is generally designed for receiving and guiding a surgical saw blade during a cutting operation.

Claims

1. A probe for facilitating the orientation of an osteotomy, the probe comprising:

a coupler having a first end and a second end, the first end configured to be operatively coupled in use with a position tracker; and

a plate configured to be insertable in use into an opening of a bone-cutting guide, the opening defining the orientation of the osteotomy, wherein the plate is structurally attached to the coupler such that the orientation of the plate is determinable in reference to the position tracker, wherein the plate has a planar portion and a handle portion, the planar portion being configured to be insertable in use into the bone-cutting guide and being coplanar with the handle portion, and wherein the planar portion and the handle portion each have a longitudinal axis and the axes are at an angle relative to each other.

2. The probe of claim 1, wherein the plate is fixedly attached to the coupler such that the probe is substantially rigid.

3. The probe of claim 1, wherein the plate is integrally connected to the coupler.

4. The probe of claim 1, wherein the position tracker is in communication with a computer.

5. The probe of claim 1, wherein the handle portion is attached to the second end of the coupler.

6. The probe of claim 1, wherein the angle is selected to maximize visibility of the position tracker from an optical tracking device.

7. The probe of claim 1, wherein the planar portion includes at least one planar surface, two longitudinal edges and a distal transverse edge.

8. The probe of claim 7, wherein the planar portion has two substantially parallel planar surfaces, one on each side thereof.

9. The probe of claim 7, wherein the longitudinal edges are substantially parallel to each other.

10. A probe apparatus for facilitating the orientation of an osteotomy, the apparatus comprising:

a position tracker; and

a plate having a planar portion, a handle portion and a coupling portion coupled to the position tracker, such that the probe apparatus is substantially rigid and the planar orientation of the plate is determinable in reference to the position tracker, wherein the planar portion is configured to be insertable in use into a bone-cutting guide and is coplanar with the handle portion, wherein the handle portion and the planar portion each have a longitudinal axis and the axes are at an angle relative to each other.

11. A probe apparatus for facilitating the orientation of an osteotomy, the apparatus comprising:

a plate having a planar portion and a handle portion, the planar portion being configured to be insertable in use into a bone-cutting guide and being coplanar with the handle portion, wherein the handle portion and the planar portion each have a longitudinal axis and the axes are at an angle relative to each other; and

a position tracker coupled to the plate such that the probe apparatus is substantially rigid and the orientation of the plate is determinable in reference to the position tracker.

12. A system for tracking and verifying the orientation of planar cuts in bone during surgery, the system comprising:

a computer navigation system;

a position tracker in operative communication with the computer navigation system; and

a probe operatively connected with the position tracker, the probe comprising;

a plate having a planar portion integral with a handle portion, wherein the planar portion is structurally configured to be insertable in use into an opening in a bone-cutting guide, the opening defining the orientation of one of said planar cuts in bone; and

a coupler having a first end and a second end, the first end configured to be operatively connected to the position tracker and the second end structurally configured for attachment to the handle portion such that the planar orientation of the plate relative to a reference is determinable through the position tracker.

13. The system of claim 12 wherein the position of the planar portion relative to a reference is determinable through the position tracker.

14. A system for facilitating the implantation of an artificial component in a joint during arthroplastic surgery requiring an osteotomy, the system comprising:

a computer system including;

a pre-operative geometric planner; and

a pre-operative kinematic biomechanical simulator in communication with the preoperative geometric planner wherein the pre-operative kinematic biomechanical simulator outputs a position for implantation of the artificial component and a position and orientation for the osteotomy;

a position tracker in communication with the computer system through an intra-operative navigational module; and

a probe comprising a coupler and a plate, wherein the coupler is configured to be connected to the position tracker such that position and orientation of the plate are determinable from the position and orientation of the tracker, and wherein the plate is configured to be insertable into a bone-cutting guide.

15. An apparatus for facilitating an osteotomy procedure in preparation for the implantation of an artificial component in a joint using a bone-cutting guide, the apparatus comprising:

a tracking device configured to collect positional and orientational tracking data;

a probe comprising a coupler and a plate, wherein the coupler is configured to be connected to the tracking device such that position and planar orientation of the plate are tracked, and wherein the plate is configured to be insertable into the bone-cutting guide;

a computer system in communication with the tracking device comprising,

means for creating a joint model of the joint;

means for creating a component model of the component;

means for simulating movement of the joint with the artificial component in a test position using the component model and the joint model;

means for calculating a range of motion of the joint for the test position based on the simulated movement;

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

means for identifying the determined implant position in the joint model;

means for aligning the joint model with the joint and the artificial component model with the component based on the positional tracking data; and

means for aligning an osteotomy plane based on the orientation tracking data of the plate of the probe.

16. A method for facilitating the implantation of an artificial component in a joint during arthroplastic surgery that requires a planar osteotomy, the method comprising:

creating a model of the joint and a model of the artificial component;

calculating a range of motion based on a simulated movement of the joint with the artificial component in a test position;

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

aligning said model of the joint with the joint and the model of the artificial component with the artificial component;

tracking the artificial component and the joint;

modeling the plane of the osteotomy; and

tracking the plane of the osteotomy.

17. A method of facilitating a planar osteotomy on a joint during computer-aided arthroplastic surgery, the method comprising:

positioning a bone-cutting guide having an opening therein, on a portion of the joint prior to the osteotomy;

attaching a probe having a planar portion to a position tracker;

inserting the planar portion into the opening in the bone-cutting guide;

tracking the plane of the planar portion; and

verifying the orientation of the plane of the osteotomy before performing the osteotomy.

18. The method of claim 17, wherein verifying the orientation of the plane of the osteotomy further comprises correcting the orientation of the plane of the osteotomy.

19. The method of claim 17 further comprising:

verifying the orientation of the plane, of the osteotomy after performing the osteotomy.

20. A system comprising:

a computer system comprising;

a surgical navigation module;

a pre-operative geometric planner; and

a pre-operative kinematic biomechanical simulator in communication with the preoperative geometric planner wherein the pre-operative kinematic biomechanical simulator outputs a position for implantation of an artificial component and a position and orientation for the osteotomy;

a position tracker in operative communication with the computer system; and

a probe comprising a planar portion, wherein the probe is removably connected to the position tracker such that the position and orientation of the planar portion are determinable, and wherein the planar portion is configured to be insertable in use into an opening in a cutting guide for an osteotomy during arthroplastic surgery.