Implant planning using corrected captured joint motion information

• US 9,916,421 B2
• Filed: 05/25/2017
• Issued: 03/13/2018
• Est. Priority Date: 02/20/2008
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Vorhis, Robert Van, Blackwell, Timothy
• Primary Examiner(s): Stout, Michael C
• Application Number:
  US15/605,737
• Publication Number:
  US 20170262595A1
• Time in Patent Office: 292 Days
• 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 system, comprising:

a tracking system;

an input device;

a display device; and

a computing system configured to;

capture, using the tracking system, corrected bone pose data for a native joint of a patient at a plurality of poses within a range of motion of the joint, wherein a corrective force is applied to the joint while the data is captured;

associate the corrected bone pose data with a representation of the joint;

receive, using the input device, an input from a user comprising a proposed pose of an implant component relative to the joint;

associate a representation of the implant component with a representation of a first bone in the representation of the joint in the proposed pose;

evaluate the proposed pose using the corrected bone pose data, wherein evaluating the proposed pose comprises determining a distance from a first point on a surface of the representation of the implant component to a second point, wherein the second point is one of;

(1) a point on a surface of a representation of a second bone of the joint or (2) a point on a surface of a representation of a second implant component associated with the representation of the second bone; and

display the evaluation to the user on the display device.

2. The surgical system of claim 1, wherein the computing system is further configured to capture the corrected bone pose data by tracking, using the tracking system, a first position tracker affixed to a first bone of the native joint while the first bone, a second bone of the joint, or both bones of the native joint are subject to the corrective force.

3. The surgical system of claim 1, wherein the computing system is further configured to evaluate the proposed pose by determining an amount of gap or an amount of overlap between the representation of the implant component on a first bone of the joint and a representation of a second bone of the joint, or between the representation of the implant component on the first bone of the joint and a representation of a second implant component on the representation second bone of the joint, at one or more poses of the plurality of poses within the range of motion of the joint.

4. The surgical system of claim 1, wherein the evaluation is displayed in the form of a graph.

5. The surgical system of claim 1, wherein the computing system is further configured to:

receive, using the input device, a second input from the user comprising an adjusted proposed pose of the implant component relative to the joint;

evaluate the adjusted proposed pose using the corrected bone pose data; and

display the adjusted evaluation to the user on the display device.

6. The surgical system of claim 1, wherein the computing system is further configured to:

receive, using the input device, a second input from the user comprising a selected flexion angle of the joint within the range of motion of the joint; and

display the evaluation to the user for the selected flexion angle.

7. A surgical method, comprising:

capturing, using a tracking system associated with a computing system, corrected bone pose data for a native joint of a patient at a plurality of poses within a range of motion of the joint, wherein a corrective force is applied to the joint while the data is captured;

associating, by the computing system, the corrected bone pose data with a representation of the joint;

receiving, at an input device associated with the computing system, an input from a user comprising a proposed pose of an implant component relative to the joint;

associating, by the computing system, a representation of the implant component with a representation of a first bone in the representation of the joint in the proposed pose;

evaluating, by the computing system, the proposed pose using the corrected bone pose data, wherein evaluating the proposed pose comprises determining a distance from a first point on a surface of the representation of the implant component to a second point, wherein the second point is one of;

(1) a point on a surface of a representation of a second bone of the joint or (2) a point on a surface of a representation of a second implant component associated with the representation of the second bone; and

displaying the evaluation to the user on a display device.

8. The surgical method of claim 7, wherein the corrected bone pose data is captured by tracking, using the tracking system, a first position tracker affixed to a first bone of the native joint while the first bone, a second bone of the joint, or both bones of the native joint are subject to the corrective force.

9. The surgical method of claim 7, wherein the corrective force aligns a first bone of the joint and a second bone of the joint in a desired alignment.

10. The surgical method of claim 9, 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.

11. The surgical method of claim 7, further comprising implanting the implant component in the joint in the proposed pose.

12. The surgical method of claim 7, 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.

13. The surgical method of claim 7, wherein evaluating the proposed pose comprises determining an amount of gap between the representation of the implant component on a first bone of the joint and a representation of a second bone of the joint, or between the representation of the implant component on the first bone of the joint and a representation of a second implant component on the representation second bone of the joint, at one or more poses of the plurality of poses within the range of motion of the joint.

14. The surgical method of claim 7, wherein evaluating the proposed pose comprises determining an amount of overlap between the representation of the implant component on a first bone of the joint and a representation of a second bone of the joint, or between the representation of the implant component on the first bone of the joint and a representation of a second implant component on the representation of second bone of the joint, at one or more poses of the plurality of poses within the range of motion of the joint.

15. The surgical method of claim 7 wherein the distance represents a gap, an overlap, or both.

16. The surgical method of claim 15, wherein the evaluation is displayed in the form of a graph.

17. The surgical method of claim 7, further comprising:

receiving, at the input device, a second input from the user comprising an adjusted proposed pose of the implant component relative to the joint;

evaluating, by the computing system, the adjusted proposed pose using the corrected bone pose data; and

displaying the adjusted evaluation to the user on the display device.

18. The surgical method of claim 7, further comprising:

receiving, at the input device, a second input from the user comprising a selected flexion angle of the joint within the range of motion of the joint; and

displaying the evaluation to the user for the selected flexion angle.