Muscular-skeletal tracking system and method

• US 9,757,051 B2
• Filed: 12/07/2015
• Issued: 09/12/2017
• Est. Priority Date: 11/09/2012
• Status: Active Grant

• Current Assignee: Howmedica Osteonics Corp. (Stryker Corporation)
• Original Assignee: OrthoSensor, Inc (Stryker Corporation)
• Inventors: Stein, Marc, Vaughn, Glen
• Primary Examiner(s): Desta, Elias
• Application Number:
  US14/961,153
• Publication Number:
  US 20160081762A1
• Time in Patent Office: 645 Days
• CPC Class Codes: A61B 17/00 Surgical instruments, devices or methods, e.g. tourniquets A61B18/00 takes precedence; contraceptive devices, pessaries, or applicators therefor A61F6/00; eye surgery A61F9/007; ear surgery A61F11/00
• CPC Class Codes: A61B 2017/00473 Distal part, e.g. tip or head A61B2017/00464 takes precedence
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2560/063 Devices specially adapted for delivering implantable medical measuring apparatus
• 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 5/061 Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 5/066 Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
• CPC Class Codes: A61B 5/067 using accelerometers or gyroscopes
• CPC Class Codes: A61F 2/4611 of spinal prostheses

Abstract

At least one embodiment is directed to a tracking system for the muscular-skeletal system. The tracking system can identify position and orientation. The tracking system can be attached to a device or integrated into a device. In one embodiment, the tracking system couples to a handheld tool. The handheld tool with the tracking system and one or more sensors can be used to generate tracking data of the tool location and trajectory while measuring parameters of the muscular-skeletal system at an identified location. The tracking system can be used in conjunction with a second tool to guide the second tool to the identified location of the first tool. The tracking system can guide the second tool along the same trajectory as the first tool. For example, the second tool can be used to install a prosthetic component at a predetermined location and a predetermined orientation. The tracking system can track hand movements of a surgeon holding the handheld tool within 1 millimeter over a path less than 5 meters.

Claims

1. An orthopedic tracking system comprising:

a first tri-axial inertial sensing device;

a multiplexer (MUX) coupled to the first tri-axial inertial sensing device;

a capacitance to voltage converter coupled to the multiplexer;

a data packetizer coupled to the capacitance to voltage converter;

a transceiver coupled to the data packetizer configured to send measurement data from the orthopedic tracking system; and

control logic coupled to the first inertial sensing device, the multiplexer and the transceiver wherein the control logic is configured to support a measurement process wherein the orthopedic position tracking system is configured to track within 1 millimeter over a path length less of 5 meters or less.

2. The system of claim 1 further including a second tri-axial inertial sensing device coupled to the multiplexer and the control logic wherein the first and second inertial sensing devices are respectively located at a first position and a second position and wherein the system is configured to track orientation within 1 degree.

3. The system of claim 2 wherein the first and second tri-axial inertial sensing devices are tri-axial gyroscopes.

4. The system of claim 2 wherein the first tri-axial inertial sensing device is a tri-axial accelerometer and wherein the second tri-axial inertial sensing device is a tri-axial gyroscope.

5. The system of claim 1 further including an analog to digital converter (ADC) coupled between the capacitance to voltage converter and the data packetizer and wherein the control logic couples to the ADC.

6. The system of claim 3 where the ADC has a resolution of greater than 16 bits.

7. The system of claim 5 further including:

a quantization noise filter coupled to the analog to digital converter where the analog to digital converter is an over-sampling analog to digital converter; and

a decimator coupled between the quantization noise filter and the data packetizer.

8. The system of claim 1 wherein the orthopedic tracking system is configured to sample at greater than 40 times per second and wherein the orthopedic position tracking system is configured to track within 1 millimeter over a path length less of 5 meters or less.

9. The system of claim 1 where a low-pass anti-aliasing filter is configured to filter a signal from the first tri-axial inertial sensing devices and wherein the orthopedic tracking system is configured to apply dithering to the signal from the first tri-axial inertial sensing device.

10. The system of claim 1 further including feedback circuitry configured to counteract displacement of moveable capacitor plates of the first or second inertial sensing devices.

11. An orthopedic position tracking system comprising:

a first tri-axial inertial sensing device wherein the first tri-axial inertial sensing device couples to anti-alias low pass filters;

a sigma-delta analog to digital converter coupled to the anti-alias low pass filters;

a data packetizer coupled to the sigma-delta analog to digital converter;

a transceiver coupled to the data packetizer configured to send measurement data from the orthopedic tracking system; and

control logic coupled to the first tri-axial inertial sensing device, the sigma-delta analog to digital converter, data packetizer, the second tri-axial inertial sensing device, the multiplexer, and the transceiver wherein the control logic is configured to support a measurement process and wherein the orthopedic position tracking system is configured to track within 1 millimeter over a path length less of 5 meters or less.

12. The system of claim 11 further including:

a second tri-axial inertial sensing device coupled to the anti-alias low pass filters;

a multiplexer coupled to the anti-alias low pass filters wherein the control logic couples to the multiplexer and wherein the multiplexer is configured to couple one of the first or second tri-axial sensing devices to the sigma-delta analog to digital converter.

13. The system of claim 12 wherein the first and the second tri-axial inertial sensing devices couple to high pass filters, wherein the high pass filters couple to event detection, and wherein the event detection couples to the data packetizer.

14. The system of claim 11 wherein dithering is applied to the measurement data.

15. The system of claim 11 further including a quantization noise filter coupled between the sigma-delta analog to digital converter and the data packetizer.

16. The system of claim 15 further including a decimator coupled between the quantization noise filter and the data packetizer.

17. An orthopedic position tracking system comprising:

a first tri-axial inertial sensing device;

a capacitance to voltage converter coupled to the first tri-axial inertial sensing device;

a data packetizer coupled to the capacitance to voltage converter;

a transceiver coupled to the data packetizer configured to send measurement data from the orthopedic tracking system; and

control logic coupled to the first tri-axial inertial sensing device, the data packetizer, and the transceiver wherein the control logic is configured support a measurement process, and wherein the orthopedic position tracking system is configured to track position or rotational motion.

18. The system of claim 17 further including an analog to digital converter (ADC) coupled between the capacitance to voltage converter and the data packetizer and wherein the control logic couples to the ADC.

19. The system of claim 18 where the ADC has a resolution of greater than 16 bits.

20. The system of claim 18 further including a multiplexer (MUX) coupled between the first tri-axial inertial sensing device and the capacitance to voltage converter wherein the control logic couples to the MUX.

21. The system of claim 20 further including a second tri-axial inertial sensing device coupled to the multiplexer.

22. The system of claim 17 further including:

a quantization noise filter; and

a decimator wherein the quantization noise filter couples between the capacitance to voltage converter and the decimator and wherein the decimator couples between the quantization noise filter and the data packetizer.

23. The system of claim 17 wherein a low-pass anti-aliasing filter is configured to filter a signal from the first tri-axial inertial sensing devices and wherein the orthopedic tracking system is configured to apply dithering to the signal from the first tri-axial inertial sensing device.

24. The system of claim 21 wherein the first inertial sensing device is a tri-axial accelerometer or a tri-axial gyroscope and wherein the second inertial sensing device is a tri-axial accelerometer or a tri-axial gyroscope.