Implant planning using areas representing cartilage

• US 9,364,291 B2
• Filed: 12/11/2008
• Issued: 06/14/2016
• Est. Priority Date: 12/11/2008
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Bellettre, Alexandra, Arata, Louis, Van Vorhis, Robert, Otto, Jason, Wojcik, Jason
• Primary Examiner(s): Stout, Michael C
• Application Number:
  US12/333,119
• Publication Number:
  US 20100153076A1
• Time in Patent Office: 2,742 Days
• Field of Search: 703/11, 600/595
• US Class Current: 1/1
• 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 2034/2055 Optical tracking systems
• 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 5/4504 Bones A61B5/4547 takes precedence
• CPC Class Codes: A61B 5/4514 Cartilage
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• CPC Class Codes: A61B 5/745 using a holographic display
• CPC Class Codes: G06T 17/20 Finite element generation, e.g. wire-frame surface description, tesselation
• CPC Class Codes: G06T 19/00 Manipulating 3D models or images for computer graphics
• CPC Class Codes: G06T 2200/24 involving graphical user interfaces [GUIs]
• CPC Class Codes: G06T 2207/10081 Computed x-ray tomography [CT]
• CPC Class Codes: G06T 2207/30008 Bone
• CPC Class Codes: G06T 7/33 using feature-based methods
• 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 30/20 for handling medical images, e.g. DICOM, HL7 or PACS
• 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

Described are computer-based methods and apparatuses, including computer program products, for implant planning using areas representing cartilage. A predetermined number of control points for generating a predetermined number of areas representing cartilage are determined, wherein the predetermined number of control points are based on an implant component. Measurements corresponding to a plurality of measured cartilage points are received, wherein each cartilage point is based on an associated control point from the predetermined number of control points. A plurality of areas representing cartilage are generated, wherein each area representing cartilage is larger than and projects to an associated control point from the plurality of control points. A representation of the implant component is positioned based on a representation of a bone, the representation of the bone comprising representations of the plurality of areas representing cartilage.

Claims

1. A surgical planning computerized method comprising:

determining, using a computer programmed to perform the steps of the method, a predetermined number of control points for generating a predetermined number of areas representing cartilage, wherein the predetermined number of control points are associated with specified locations on a first implant component of a multiple-component implant;

receiving measurements corresponding to a plurality of measured cartilage points, wherein each cartilage point is based on an associated control point from the predetermined number of control points;

generating a plurality of areas representing cartilage, based on and in proximity to each cartilage point, wherein each area representing cartilage is associated with a control point, and wherein each area representing cartilage is larger than and projects to an associated control point from the predetermined number of control points;

selecting a properly-sized multiple-component implant by computing a distance between two or more measured cartilage points and selecting a multiple-component implant having a distance between the two or more associated control points of the first implant that best matches the computed distance between the two or more cartilage points;

positioning a representation of a first implant component of the properly-sized multiple-component implant by aligning the control points for the first implant with the associated measured cartilage points;

automatically positioning a representation of a second implant component of the properly-sized multiple-component implant based on the position of the representation of the first implant component; and

generating at least one virtual cutting boundary based on the position of the representation of a first implant component and the position of the representation of the second implant component, wherein the virtual cutting boundary is configured to provide perceptible feedback to guide a surgical tool during preparation of a bone to receive the first implant component and the second implant component.

2. The method of claim 1 wherein the representation of the implant component is automatically aligned to fit the plurality of areas representing cartilage.

3. The method of claim 1 wherein generating the plurality of areas representing cartilage comprises:

transforming the predetermined number of control points to a coordinate space of the representation of the bone; and

transforming the plurality of cartilage points to the coordinate space of the representation of the bone.

4. The method of claim 3 wherein generating the plurality of areas representing cartilage comprises, for each area representing cartilage from the plurality of areas:

calculating a distance between a point of the representation of the bone and an associated transformed cartilage point;

calculating a direction between a closest point of the representation of the bone to an associated transformed control point;

determining a plurality of points of the representation of the bone that are within a second distance from the associated transformed control point; and

adjusting the plurality of points based on the second distance and direction to form the plurality of areas representing cartilage.

5. The method of claim 4 wherein each of the plurality of points of the representation of the bone corresponds to a set of polygons from a superset of polygons, the representation of the bone comprising the superset of polygons.

6. The method of claim 5 wherein adjusting comprises adjusting a vertex of each polygon from the set of polygons.

7. The method of claim 5 wherein the superset of polygons comprises triangles.

8. The method of claim 4 wherein calculating the distance between the point of the representation of the bone and the associated transformed cartilage point comprises selecting a closest point of the representation of the bone to the associated transformed cartilage point.

9. The method of claim 3 further comprising, for each area representing cartilage of the plurality of areas representing cartilage, registering a control point from the transformed predetermined number of control points to a closest point in the area representing cartilage.

10. The method of claim 9, wherein the registered control point is constrained to automatically adjust a position of the representation of the implant component.

11. The method of claim 1 further comprising:

displaying the representation of the bone; and

displaying the representation of the implant component with respect to the representation of the bone.

12. The method of claim 11 further comprising:

displaying a representation of a second implant component, wherein the implant component and the second implant component are components of a multiple component implant.

13. The method of claim 12 further comprising determining if a positioning of the representation of the second implant component violates at least one positioning constraint.

14. The method of claim 13 wherein the at least one positioning constraint is based on the representation of the bone, the representation of the implant component, or any combination thereof.

15. A surgical planning system comprising:

a computer programmed to;

determine a predetermined number of control points for generating a predetermined number of areas representing cartilage, wherein the predetermined number of control points are associated with specified locations on a first implant component of a multiple-component implant; and

a probe configured to measure a plurality of cartilage points, wherein each cartilage point is based on an associated control point from the predetermined number of control points;

wherein the computer is further programmed to;

generate a plurality of areas representing cartilage based on and in proximity to each cartilage point, wherein each area representing cartilage is associated with a control point, and wherein each area representing cartilage is larger than and projects to an associated control point from the predetermined of control points; and

select a properly-sized multiple-component implant by computing a distance between two or more measured cartilage points and selecting a multiple-component implant having a distance between the two or more associated control points of the first implant that best matches the computed distance between the two or more cartilage points;

position a representation of a first implant component of the properly-sized multiple-component implant by aligning the control points for the first implant with the associated measured cartilage points;

automatically position a representation of a second implant component of the properly-sized multiple-component implant based on the position of the representation of the first implant component; and

generate at least one virtual cutting boundary based on the position of the representation of a first implant component and the position of the representation of the second implant component, wherein the virtual cutting boundary is configured to provide perceptible feedback to guide a surgical tool during preparation of a bone to receive the first implant component and the second implant component.

16. The surgical planning system of claim 15 wherein the computer is further configured to generate a display of a second implant component, wherein the implant component and second implant component are components of a multiple component implant.

17. The surgical planning system of claim 16 wherein the computer is further configured to determine if a positioning of the representation of the second implant component violates at least one positioning constraint.

18. The surgical planning system of claim 17 wherein the at least one positioning constraint is based on the representation of the bone, the representation of the implant component, or both.

19. The surgical planning system of claim 15 wherein the computer is further configured to generate a user interface that enables a positioning of either the representation of the implant component, the representation of the second implant component, or any combination thereof.

20. A non-transitory tangible computer-readable storage medium having instructions embodied thereon that, when executed by a computing device, cause the computing device to perform operations comprising:

determining a predetermined number of control points for generating a predetermined number of areas representing cartilage, wherein the predetermined number of control points are associated with specified locations on a first implant component of a multiple-component implant;

receiving measurements corresponding to a plurality of measured cartilage points, wherein each cartilage point is based on an associated control point from the predetermined number of control points;

generating a plurality of areas representing cartilage based on and in proximity to each cartilage point, wherein each area representing cartilage is associated with a control point, and wherein each area representing cartilage is larger than and projects to an associated control point from the predetermined number of control points;

selecting a properly-sized multiple-component implant by computing a distance between two or more measured cartilage points and selecting a multiple-component implant having a distance between the two or more associated control points of the first implant that best matches the computed distance between the two or more cartilage points;

positioning a representation of a first implant component of the properly-sized multiple-component implant by aligning the control points for the first implant with the associated measured cartilage points;

automatically positioning a representation of a second implant component of the properly-sized multiple-component implant based on the position of the representation of the first implant component; and

generating at least one virtual cutting boundary based on the position of the representation of a first implant component and the position of the representation of the second implant component, wherein the virtual cutting boundary is configured to provide perceptible feedback to guide a surgical tool during preparation of a bone to receive the first implant component and the second implant component.

21. A system comprising:

means for determining a predetermined number of control points for generating a predetermined number of areas representing cartilage, wherein the predetermined number of control points are associated with specified locations on a first implant component of a multiple-component implant;

means for receiving measurements corresponding to a plurality of measured cartilage points, wherein each cartilage point is based on an associated control point from the predetermined number of control points;

means for generating a plurality of areas representing cartilage based on and in proximity to each cartilage point, wherein each area representing cartilage is associated with a control point, and wherein each area representing cartilage is larger than and projects to an associated control point from the predetermined number of control points;

means for selecting a properly-sized multiple-component implant by computing a distance between two or more measured cartilage points and selecting a multiple-component implant having a distance between the two or more associated control points of the first implant that best matches the computed distance between the two or more cartilage points;

means for positioning a representation of a first implant component of the properly-sized multiple-component implant by aligning the control points for the first implant with the associated measured cartilage points;

means for automatically positioning a representation of a second implant component of the properly-sized multiple-component implant based on the position of the representation of the first implant component; and

means for generating at least one virtual cutting boundary based on the position of the representation of a first implant component and the position of the representation of the second implant component, wherein the virtual cutting boundary is configured to provide perceptible feedback to guide a surgical tool during preparation of a bone to receive the first implant component and the second implant component.