Implant planning using corrected captured joint motion information

• US 9,665,686 B2
• Filed: 02/20/2009
• Issued: 05/30/2017
• Est. Priority Date: 02/20/2008
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Blackwell, Timothy, Van Vorhis, Robert
• Primary Examiner(s): Stout, Michael C
• Application Number:
  US12/390,046
• Publication Number:
  US 20090209884A1
• Time in Patent Office: 3,021 Days
• Field of Search: 600587, 600595, 606130-131, 606 88- 89
• CPC Class Codes: A61B 2034/101 Computer-aided simulation of surgical operations
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2090/061 for measuring dimensions, e.g. length
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61F 2/38 for elbows or knees
• 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 50/50 for simulation or modelling of medical disorders

Abstract

The description relates to surgical computer systems, including computer program products, and methods for implant planning using corrected captured joint motion information. Data representative of a corrected limb pose at a plurality of poses within a range of motion of a joint associated with a particular individual is captured, the joint comprising a first bone and a second bone, while the first bone, the second bone, or both are subject to a corrective force aligning the first and second bones in a desired alignment. The first bone of the joint is represented. The second bone of the joint is represented. A first implant model is associated with the representation of the first bone. A second implant model is associated with the representation of the second bone. Based on the captured data, a relationship is determined between the first implant model and the second implant model at one or more poses of the plurality of poses within the range of motion of the joint. Information representative of the determined relationship is displayed.

Claims

1. A surgical planning method comprising:

tracking, using a tracking system, a first position tracker affixed to a first bone of a native joint while the first bone, a second bone, or both bones of the native joint are subject to a corrective force aligning the first and second bones in a desired alignment;

capturing pose data, obtained from the first position tracker, of the native joint subject to the corrective force at a plurality of poses within a range of motion of the native joint, the data representative of a corrected limb pose at the plurality of poses within the range of motion of the native joint;

using the computing system to;

represent the first bone of the joint;

represent the second bone of the joint;

associate a first implant model with the representation of the first bone;

associate a second implant model with the representation of the second bone;

based on the captured data, determine, an amount of an overlap between the first implant model and the second implant model at one or more poses of the plurality of poses within the range of motion of the joint; and

displaying on a display device information representative of the determined amount of the overlap.

2. The method of claim 1 wherein the desired alignment is based on a mechanical axis of the first and second bones, an anatomic axis of the first bone, an anatomic axis of the second bone, a tension of one or more ligaments associated with the joint, or any combination thereof.

3. The method of claim 1 further comprising applying the corrective force to induce a moment on the joint, the induced moment correcting a tension of one or more ligaments associated with the joint.

4. The method of claim 3 further comprising, prior to applying the corrective force, surgically neutralizing an influence of one or more defects of the joint associated with a disease pathology, wherein the one or more defects prevent the first and second bones from achieving the desired alignment.

5. The method of claim 4 wherein the disease pathology comprises osteoarthritis and the one or more defects comprises an osteophyte, a capsular adhesion, an osteochonral defect, or any combination thereof.

6. The method of claim 1 wherein the plurality of poses comprises a full extension of the joint, a full flexion of the joint, a pose of the joint between full extension and full flexion, or any combination thereof.

7. The method of claim 1 further comprising:

applying a corrective force of a first magnitude at a first pose of the plurality of poses to correct a tension of one or more ligaments associated with the joint; and

applying a corrective force of a second magnitude at a second pose of the plurality of poses to correct the tension of the one or more ligaments.

8. The method of claim 1 wherein the displaying the information comprises displaying, for one or more poses of the plurality of poses within the range of motion of the joint, a relationship between the pose and a distance between the first implant model and the second implant model.

9. The method of claim 8 wherein the distance is a gap between the first implant model and the second implant model, an overlap of the first implant model and the second implant model, or both.

10. The method of claim 8 wherein displaying comprises displaying one or more points, one or more bar graphs, one or more pie charts, a measured quantity, a value, or any combination thereof.

11. The method of claim 1 further comprising enabling a user to change a pose of the first implant model, a pose of the second implant model, or both.

12. The method of claim 11 wherein enabling comprises enabling the user to change the pose of the first implant model, the pose of the second implant model, or both to preserve a distance between the first implant model and the second implant model through at least a portion of the range of motion of the joint.

13. The method of claim 12 wherein preserving the distance comprises maintaining the distance in a desired range.

14. The method of claim 13 wherein the desired range is a range between 0 mm to 1.25 mm, inclusive.

15. The method of claim 1 further comprising enabling a user to select a third implant model with a different size than the first implant model, wherein the third implant model is automatically associated with the representation of the first bone at a position of the first implant model.

16. The method of claim 1 further comprising:

mapping at least one point on a surface of the first implant model at a plurality of poses within the range of motion of the joint, inclusive; and

aligning at least one of the mapped points with the second implant model.

17. The method of claim 1 further comprising enabling a user to change a pose of at least one of the first implant model and the second implant model to preserve a distance between the first implant model and the second implant model through at least a portion of the range of motion of the joint.

18. The method of claim 1 further comprising adjusting a pose of at least one of the first implant model and the second implant model to achieve a desired relationship between the first implant model and the second implant model through at least a portion of the corrected range of motion of the joint.

19. A surgical planning system comprising:

a tracking system, comprising a first position tracker configured to be affixed to a first bone of a native joint; and

a computer configured to;

track, using the tracking system, the first position tracker while the first bone, a second bone, or both bones of the native joint are subject to a corrective force aligning the first and second bones in a desired alignment;

capture pose data, obtained by tracking the first position tracker, of the native joint subject to the corrective force at a plurality of poses within a range of motion of the native joint, representative of a corrected limb pose at the plurality of poses within the range of motion of the native joint;

represent the first bone of the joint;

represent the second bone of the joint;

associate a first implant model with the representation of the first bone;

associate a second implant model with the representation of the second bone;

based on the captured data, determine an amount of an overlap between the first implant model and the second implant model at one or more poses of the plurality of poses within the range of motion of the joint; and

display information representative of the determined amount of the overlap.

20. The surgical computing system of claim 19 wherein the computer is further configured to enable a user to change a pose of at least one of the first implant model and the second implant model to preserve a distance between the first implant model and the second implant model through at least a portion of the range of motion of the joint.

21. The surgical computing system of claim 20 wherein preserving the distance comprises maintaining the distance in a desired range.

22. The surgical computing system of claim 19 wherein the computer is further configured to:

based on the captured data, determine a relationship between the first implant model and the second implant model through at least a portion of the range of motion of the joint; and

generate a user interface that enables a user to select a pose at which the determined relationship is calculated, displayed, or both.

23. A computer program product, tangibly embodied in a non-transitory computer readable medium, the computer program product including instructions being operable to cause a data processing apparatus to:

capture pose data of a native joint, obtained from a first position tracker affixed to a first bone of the native joint, while the first bone, a second bone, or both bones of the native joint are subject to a corrective force aligning the first and second bones in a desired alignment, the data captured at a plurality of poses within a range of motion of the native joint, representative of a corrected limb pose at the plurality of poses within the range of motion of the native joint;

represent the first bone of the joint;

represent the second bone of the joint;

associate a first implant model with the representation of the first bone;

associate a second implant model with the representation of the second bone;

based on the captured data, determine an amount of at least one of a gap or an overlap between the first implant model and the second implant model at one or more poses of the plurality of poses within the range of motion of the joint; and

display information representative of the determined amount of at least one of the gap or the overlap.

24. A system comprising:

means for tracking a first position tracker affixed to a first bone of a native joint while the first bone, a second bone, or both bones of the native joint are subject to a corrective force aligning the first and second bones in a desired alignment;

means for capturing, from the means for tracking, pose data of the native joint subject to the corrective force at a plurality of poses within a range of motion of the native joint, representative of a corrected limb pose at the plurality of poses within the range of motion of the native joint;

means for representing the first bone of the joint;

means for representing the second bone of the joint;

means for associating a first implant model with the representation of the first bone;

means for associating a second implant model with the representation of the second bone;

based on the captured data, means for determining an amount of at least one of the gap or the overlap between the first implant model and the second implant model at one or more poses of the plurality of poses within the range of motion of the joint; and

means for displaying information representative of the determined amount of at least one of the gap or the overlap.