Implant planning using captured joint motion information

• US 9,913,692 B2
• Filed: 03/22/2017
• Issued: 03/13/2018
• Est. Priority Date: 04/19/2007
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Arata, Louis, Mozes, Alon, Otto, Jason, Vorhis, Robert Van
• Primary Examiner(s): Stout, Michael C
• Application Number:
  US15/465,797
• Publication Number:
  US 20170189120A1
• Time in Patent Office: 356 Days
• CPC Class Codes: A61B 2034/101 Computer-aided simulation of surgical operations
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/104 Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
• 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 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/252 indicating steps of a surgical procedure
• 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 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61F 2/3859 Femoral components
• CPC Class Codes: A61F 2/389 Tibial components A61F2/3868 takes precedence
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass

Abstract

The description relates to surgical computer systems, including computer program products, and methods for implant planning using captured joint motion information. Data is captured representative of a range of motion of a joint associated with a particular individual, where the joint includes a first bone and a second bone. The first bone of the joint is represented and a first implant model is associated with the representation of the first bone. Based on the captured data, a relationship is determined between the first implant model and a representation of the second bone or a second implant model through at least a portion of the range of motion of the joint. Information is displayed representative of the determined relationship.

Claims

1. A surgical planning method comprising:

capturing data as a native joint is moved within a range of motion of the joint using a tracking system associated with a computing system, the joint comprising a first bone and a second bone;

using the computing system to perform the steps of;

representing the first bone of the joint;

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

representing a second bone of the joint;

based on the captured data, determining, at a plurality of flexion angles within the range of motion of the joint, a distance from at least one point on a surface of the first implant model to at least one of;

(1) at least one point on a surface of the representation of the second bone or (2) at least one point on a surface of a second implant model associated with the representation of the second bone; and

displaying information representative of the determined distances at the plurality of flexion angles in a graphical representation indicating at least one of the plurality of flexion angles and the determined distance for the at least one of the plurality of flexion angles.

2. The method of claim 1, further comprising receiving an input from a user to change a position of the first implant model.

3. The method of claim 2, further comprising updating the determined distances based on the changed position of the first implant model.

4. The method of claim 2, further comprising:

associating the first implant model with the representation of the first bone based on the changed position; and

based on the captured data, determining a distance between at least one point on the surface the first implant model at its changed position and at least one point on the surface of the second bone or at least one point on the surface on the second implant model through at least a portion of the range of motion of the joint.

5. The method of claim 1, further comprising:

adjusting a size, a shape, a position, or any combination thereof of the first implant model, the second implant model, or both based on the determined distances; and

updating the display of the respective determined distances based on the adjusted first implant model, second implant model, or both.

6. The method of claim 1, further comprising:

determining a desired position of a first implant, a second implant, or both based on the determined distances; and

implanting the first implant, the second implant, or both in the desired position.

7. The method of claim 1, wherein capturing comprises:

tracking a position of the first bone and a position of the second bone; and

recording the positions as the joint is moved to different flexion angles within in the range of motion.

8. The method of claim 1, further comprising:

representing a position of the first implant model relative to a position of the second implant model or the representation of the second bone; and

comparing the positions at a selected flexion angle within the range of motion of the joint.

9. The method of claim 1, wherein determining a distance comprises identifying an overlap, a gap, or both between the first implant model and the second implant model or the representation of the second bone at one or more flexion angles within the range of motion of the joint.

10. The method of claim 9, wherein displaying comprises displaying a calculated measurement of the overlap or the gap at a selected flexion angle.

11. The method of claim 9, wherein displaying comprises displaying of the overlap, the gap, or both in a representation of at least a portion of the joint at one or more flexion angles within the range of motion of the joint.

12. The method of claim 1, wherein the graphical representation is a chart.

13. The method of claim 1, wherein capturing further comprises capturing data representative of a manipulation of the joint to achieve a desired internal/external angle, varus/valgus angle, flexion angle, or any combination thereof.

14. The method of claim 13, further comprising receiving an input from a user to manipulate placement of at least one implant model corresponding to at least a portion of an actual implant so that the determined distance through at least a portion of the range of motion of the joint achieves the desired internal/external angle, varus/valgus angle, flexion angle, or any combination thereof.

15. A surgical computing system comprising:

a processor configured to;

capture data as a native joint is moved within a range of motion of a joint;

represent a first bone of the joint;

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

represent a second bone of the joint;

based on the captured data, determine, at a plurality of flexion angles within the range of motion of the joint, a distance from at least one point on a surface of the first implant model to at least one of;

(1) at least one point on a surface of the representation of the second bone or (2) at least one point on a surface of a second implant model associated with the representation of the second bone;

display information representative of the determined distances at the plurality of flexion angles in a graphical representation indicating at least one of the plurality of flexion angles and the determined distance for the at least one of the plurality of flexion angles.

16. The surgical computing system of claim 15, further comprising a tracking system in communication with the computer, the tracking system including a detection device and one or more trackers configured to couple to a bone of the joint.

17. The surgical computing system of claim 15, further comprising a display in communication with the computer and configured to display the information received from the computer that is representative of the determined distances.

18. The surgical computing system of claim 15, wherein the graphical representation is a chart.

19. The surgical computing system of claim 15 wherein the computer is further configured to generate a user interface that enables a user to select a flexion angle at which the determined distances are calculated, displayed, or both.

20. The surgical computing system of claim 15 wherein the computer is further configured to generate a user interface that enables a user to change a position of the first implant model and to update the determined distances based on the changed position of the first implant model.

21. A surgical planning method comprising:

capturing data, using a tracking system associated with a computing system, as a native joint is moved within a range of motion the joint comprising a first bone and a second bone;

wherein the computing system is further used to perform the steps of;

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

based on the captured data, determining, at a plurality of flexion angles within the range of motion of the joint, a distance between at least one point on a surface of the first implant model and one of (1) at least one point on a surface of a representation of the second bone or (2) at least one point on a surface of a second implant model associated with a representation of the second bone; and

displaying information representative of the determined distances at the plurality of flexion angles in a graphical representation indicating at least one of the plurality of flexion angles and the determined distance for the at least one of the plurality of flexion angles.

22. The method of claim 21, wherein displaying comprises displaying the representation of the first bone, the representation of the second bone, or both.

23. The method of claim 21, wherein displaying comprises displaying the first implant model, the second implant model, or both.

24. The method of claim 21, further comprising:

determining a desired position of a first implant, a second implant, or both based on the determined distances; and

implanting the first implant, the second implant, or both in the desired position.

25. The method of claim 21, wherein the graphical representation is a chart.