Robotic method for use with orthopedic inserts

• US 8,838,205 B2
• Filed: 06/17/2003
• Issued: 09/16/2014
• Est. Priority Date: 06/17/2002
• Status: Active Grant

• Current Assignee: Mazor Robotics, Ltd (Medtronic Plc)
• Original Assignee: Mazor Robotics, Ltd (Medtronic Plc)
• Inventors: Shoham, Moshe, Joskowicz, Leo, Milgrom, Charles, Yaniv, Ziv, Simkin, Ariel
• Primary Examiner(s): REMALY, MARK DONALD
• Application Number:
  US10/517,846
• Publication Number:
  US 20060098851A1
• Time in Patent Office: 4,109 Days
• Field of Search: 600/407, 600/409, 600/410, 600/414, 600/415, 600/420, 600/421, 600/422, 600/423, 600/424, 600/427, 600/436, 600/437, 600/476, 606/88, 606/130, 128/908, 128/922, 128/923
• US Class Current: 600/424
• CPC Class Codes: A61B 17/1703 using imaging means, e.g. by X-rays
• CPC Class Codes: A61B 17/1721 for applying pins along or parallel to the axis of the femoral neck
• CPC Class Codes: A61B 17/1725 for applying transverse screws or pins through intramedullary nails or pins
• CPC Class Codes: A61B 17/1728 for holes for bone plates or plate screws
• CPC Class Codes: A61B 17/72 Intramedullary pins, nails or other devices A61B17/744 takes precedence
• CPC Class Codes: A61B 2017/681 Alignment, compression, or distraction mechanisms
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/304 including a freely orientable platform, e.g. so called 'Stewart platforms'
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• 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 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: G05B 19/402 characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/39011 Fixed camera detects deviation end effector from reference on workpiece, object
• CPC Class Codes: G05B 2219/40267 Parallel manipulator, end effector connected to at least two independent links
• CPC Class Codes: G05B 2219/45168 Bone prosthesis
• CPC Class Codes: G05B 2219/49113 Align elements like hole and drill, centering tool, probe, workpiece
• CPC Class Codes: Y10S 128/908 Patient protection from electric shock
• CPC Class Codes: Y10S 128/922 including image analysis
• CPC Class Codes: Y10S 128/923 : by comparison of patient data to other data

Abstract

A robot-guided system to assist orthopaedic surgeons in performing orthopaedic surgical procedures on pre-positioned inserts, including for the fixation of bone fractures, and especially for use in long bone distal intramedullary locking procedures. The system provides a mechanical guide for drilling the holes for distal screws in intramedullary nailing surgery. The drill guide is automatically positioned by the robot relative to the distal locking nail holes, using data derived from only a small number of X-ray fluoroscopic images. The system allows the performance of the locking procedure without trial and error, thus enabling the procedure to be successfully performed by less experienced surgeons, reduces exposure of patient and operating room personnel to radiation, shortens the intra-operative time, and thus reduces post-operative complications.

Claims

1. A method comprising:

providing a target orthopedic insert having at least one target hole for attaching said insert to a bone;

attaching a robot to said bone;

providing a target guide comprising a predetermined pattern of fiducial markers, and having at least one target guide hole;

mounting said target guide on said robot;

obtaining at least one image of at least part of said predetermined pattern of fiducial markers, such that the position of said target guide hole is localized from said at least one image;

obtaining at least one image of said at least one target hole, such that the axis of said at least one target hole can be localized from said at least one image thereof; and

registering said at least one image of said at least one localized target guide hole with said at least one image of said localized target hole such that the spatial relationship between said at least one target hole and said at least one target guide hole is determined; and

utilizing said robot to align the axes of said at least one target guide hole with said at least one target hole.

2. The method of claim 1, and also comprising the initial step of image distortion correction and calibration of the imaging system utilized to obtain said images of said target guide hole and said target hole.

3. The method of claim 1, wherein said localizing the position of said target guide hole from said at least one image of at least part of said predetermined pattern of fiducial markers comprises the steps of:

(i) detecting the positions of said fiducial markers and inferring a template from their positions;

(ii) generating a new image of said target guide, comprising said at least one image of said target guide from which said positions of said fiducial markers have been morphologically removed;

(iii) computing a normalized cross correlation value of said template at pixel locations with negative values to determine the centers of said fiducial markers;

(iv) searching for fiducials in a small area around local maxima of said normalized cross correlation; and

(v) determining the position of said targeting guide from the locations of said fiducials determined in step (iv).

4. The method of claim 3, wherein said step of detecting the positions of said fiducial markers is performed using a Hough transform.

5. The method of claim 3, wherein said step of determining the position of said targeting guide from the locations of said fiducials is performed using a principal component analysis procedure.

6. The method of claim 1, wherein said localizing the axis of said target hole from at least one image thereof is performed by the steps of:

(i) locating the longitudinal contours of said target using an edge detection routine;

(ii) searching for a hole in an area between said longitudinal contours in an image of said target by detecting regions with the maximal number of edge elements in windows of dimensions similar to that of said hole moved over said contour; and

(iii) fitting an ellipse to said edge elements in each of said regions detected.

7. The method of claim 6 wherein said edge detection routine is a Canny edge detector with sub-pixel edge localization.

8. The method of claim 1, wherein said registering said at least one image of said at least one target guide hole with said at least one image of said target hole is performed by the steps of:

adjusting the imaging system used to obtain said images to a fronto-parallel configuration such that said at least one image of said target hole has a minimal elliptic shape;

aligning said target guide such that said at least one image of said target guide hole has a minimal elliptic shape; and

translating said target guide laterally so that the positions of the axes of said target guide hole and said target hole coincide.

9. A method comprising:

providing a target orthopedic insert having at least one predrilled hole for attaching said insert to a bone;

attaching a robot to said bone;

providing a drill guiding jig having an array of fiducial markers arranged in a predetermined pattern, and at least one guide hole for guiding a drill into said bone and through said at least one predrilled hole;

mounting said drill guiding jig on said robot;

obtaining at least one image of said drill guiding jig and said insert, said at least one image including at least part of said array of fiducial markers on said drill guiding jig, and said at least one predrilled hole in said insert;

determining the pose of said robot from information regarding said array of fiducial markers in said at least one image;

determining the position of said at least one predrilled hole from said at least one image; and

directing said robot such that the axis of said at least one guide hole is aligned essentially collinearly with the axis of said at least one predrilled hole in said insert.

10. The method of claim 9, wherein said robot aligns said axis of said at least one guide hole with the axis of said at least one predrilled hole in said insert both laterally and in angular orientation.

11. The method of claim 9, wherein said robot system aligns said drill guiding jig such that it images said drill guiding jig in a fronto-parallel orientation.

12. The method of claim 9, wherein said at least one image is aligned such that said at least one predrilled hole is in a fronto-parallel orientation.

13. The method of claim 9, wherein said robot is attached to said bone by means of said insert.

14. The method of claim 9, wherein said attachment of said robot to said bone ensures that said robot maintains its position relative to said bone such that neither tracking of said bone position nor immobilization of said bone is required.

15. The method of claim 9, wherein said bone is a long bone, said orthopedic insert is an intramedullary nail, and said at least one predrilled hole is a distal locking hole.

16. The method of claim 9, wherein said orthopedic insert is an externally attached connector plate, and said at least one predrilled hole is a connecting hole.

17. The method of claim 16, wherein said bone is a femur, said connector plate is a percutaneous compression plate, and said connecting hole accommodates a screw for connecting said plate to the shaft of said femur.

18. The method of claim 16, wherein said bone is a femur, said connector plate is a percutaneous compression plate, and said connecting hole accommodates a screw for connecting a fractured head of said femur to its shaft.