Haptic guidance method

• US 8,911,499 B2
• Filed: 06/23/2008
• Issued: 12/16/2014
• Est. Priority Date: 03/06/2002
• Status: Expired due to Term

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Kang, Hyosig, Moses, Dennis, Abovitz, Rony A., Ferre, Maurice, Hajaj, Binyamin, Roche, Martin, Illsley, Scott, Arata, Louis K., Mears, Dana C., Blackwell, Timothy, Mozes, Alon, Aly, Sherif, Dugal, Amardeep Singh, Hand, Randall, Glauser, Sandi, Salcedo, Juan, Ebbitt, Peter, Tapia, William, Quaid, Arthur E.
• Primary Examiner(s): Shay, Randy
• Application Number:
  US12/144,526
• Publication Number:
  US 20090000627A1
• Time in Patent Office: 2,367 Days
• Field of Search: None
• US Class Current: 623/18.11
• CPC Class Codes: A61B 17/1675 for the knee
• CPC Class Codes: A61B 17/1677 for the patella
• CPC Class Codes: A61B 17/1695 Trepans or craniotomes, i.e. specially adapted for drilling thin bones such as the skull
• CPC Class Codes: A61B 17/17 Guides or aligning means for drills , mills, pins or wires
• CPC Class Codes: A61B 17/1703 using imaging means, e.g. by X-rays
• CPC Class Codes: A61B 17/1739 specially adapted for particular parts of the body
• CPC Class Codes: A61B 17/1764 for the knee
• CPC Class Codes: A61B 17/1767 for the patella
• CPC Class Codes: A61B 2017/00115 with audible or visual output
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• 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 2034/108 Computer aided selection or customisation of medical implants or cutting guides
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/207 : Divots for calibration
• CPC Class Codes: A61B 2034/252 : indicating steps of a surgical procedure
• CPC Class Codes: A61B 2034/254 : being adapted depending on the stage of the surgical procedure
• CPC Class Codes: A61B 2034/305 : Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/08021 : of the patient or his organs
• CPC Class Codes: A61B 2090/365 : augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/3937 : Visible markers
• 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
• CPC Class Codes: A61B 34/25 : User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/35 : for telesurgery
• CPC Class Codes: A61B 34/37 : Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 : Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/74 : Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 5/1127 : using markers
• CPC Class Codes: A61B 5/745 : using a holographic display
• CPC Class Codes: A61B 90/14 : Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: A61F 2/30942 : for designing or making customized prostheses, e.g. using templates, CT or NMR scans, finite-element analysis or CAD-CAM techniques
• CPC Class Codes: A61F 2/38 : for elbows or knees
• CPC Class Codes: A61F 2002/4632 : using computer-controlled surgery, e.g. robotic surgery
• CPC Class Codes: A61F 2002/4633 : for selection of endoprosthetic joints or for pre-operative planning
• CPC Class Codes: A61N 1/0534 : Electrodes for deep brain stimulation
• CPC Class Codes: A61N 1/3605 : Implantable neurostimulators for stimulating central or peripheral nerve system
• CPC Class Codes: A61N 1/372 : Arrangements in connection with the implantation of stimulators
• CPC Class Codes: G05B 2219/36432 : By putting some constraints on some DOF, move within limited volumes, areas, planes, limits motion in x, y or z planes, virtual reality constraints
• CPC Class Codes: G05B 2219/39196 : Use of passive joint, no actuator but brake, brake on or off
• CPC Class Codes: G05B 2219/40478 : Graphic display of work area of robot, forbidden, permitted zone
• CPC Class Codes: G05B 2219/45117 : Medical, radio surgery manipulator
• CPC Class Codes: G05B 2219/45171 : Surgery drill
• CPC Class Codes: G06F 3/016 : Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/63 : for local operation
• CPC Class Codes: G16Z 99/00 : Subject matter not provided for in other main groups of this subclass

Abstract

A surgical planning method is provided. A representation of a bone of a joint is created. The joint is moved to a first position. A first point corresponding to a first location in the joint is identified when the joint is in the first position. The joint is moved to a second position. A second point corresponding to a second location in the joint is identified, when the joint is in the second position. Bone preparation for implanting an implant on the bone is planned based at least in part on the first and second points.

Claims

1. A method, comprising:

utilizing a computing system to create a representation of first and second bones of a physical joint comprising a pre-existing implant coupled to the first bone;

moving the physical joint to a first position;

placing a tip of a tracked probe on a reference point of the pre-existing implant when the joint is in the first position;

utilizing the computing system to identify a first point in the representation that corresponds to a first location of the reference point on the pre-existing implant in the joint when in the first position;

moving the physical joint to a second position that is different from the first position;

placing a tip of a tracked probe on the reference point of the pre-existing implant when the joint is in the second position;

utilizing the computing system to identify a second point in the representation that corresponds to a second location of the reference point on the pre-existing implant in the joint when in the second position; and

planning preparation of the second bone for implantation of a second implant of the joint on the second bone based at least in part on the first and second points.

2. The method of claim 1, wherein moving the physical joint to the first position includes moving the physical joint into one of flexion and extension.

3. The method of claim 1, wherein moving the physical joint to the second position includes moving the physical joint into one of flexion and extension.

4. The method of claim 1, wherein planning preparation of the second bone for implantation of the second implant includes aligning a centerline of a representation of the second implant with the first and second points.

5. The method of claim 1, wherein planning preparation of the second bone for implantation of the second implant includes displaying a representation of the second implant on the representation of the physical joint and adjusting at least one of a depth, a rotation, a medial/lateral position, an anterior/posterior position, an internal/external angle, a varus/valgus angle, a flexion angle, and a size of the representation of the second implant based at least in part on the first and second points on the representation of the physical joint.

6. The method of claim 1, further comprising utilizing the computing system to superimpose a representation of the second implant on the representation of the second bone.

7. The method of claim 1, further comprising:

sculpting the second bone with a surgical tool; and

constraining the surgical tool during sculpting based on the planned preparation of the second bone so that a tip of the surgical tool is constrained against penetrating a virtual boundary.

8. The method of claim 7, wherein at least a portion of the virtual boundary comprises a representation of the second implant.

9. The method of claim 7, wherein a shape of at least a portion of the virtual boundary corresponds to a shape of a surface of the second implant.

10. The method of claim 7, further comprising adjusting the virtual boundary in response to movement of the second bone.

11. The method of claim 1, wherein the first point is used, at least in part, to determine a size of the second implant.

12. The method of claim 1, wherein the pre-existing implant is a tibial component and the second implant is a femoral component.

13. The method of claim 12, wherein the size and position of the femoral component are determined at least in part by identifying the first point with the leg in extension and the second point with the leg in flexion.

14. The method of claim 13, wherein the first point corresponds to the reference point on a centerline on an anterior edge of the tibial component with the leg in extension.

15. The method of claim 14, wherein the second point corresponds to the reference point on the centerline on the anterior edge of the tibial component with the leg in flexion.

16. The method of claim 1, wherein the reference point is a point on a centerline of an anterior edge of the tibial component.