Image free implant revision surgery

Patent metadata

Field	Value
Publication number	US-10265127-B2
Application number	US-201515532230-A
Country	US
Kind code	B2
Filing date	Dec 1, 2015
Priority date	Dec 1, 2014
Publication date	Apr 23, 2019
Grant date	Apr 23, 2019

Abstract

Systems and methods for planning and performing image free implant revision surgery are discussed. For example, a method for generating a revision plan can include collecting pre-defined parameters characterizing a target bone, generating a 3D model, collecting a plurality of surface points, and generating a reshaped 3D model. Generating the 3D model of the target bone can be based on a first portion of the pre-defined parameters. Generating the reshaped 3D model can be done based on the plurality of surface points collected from a portion of the surface of the target bone.

First claim

The claimed invention includes:

1. A method comprising:
generating, using one or more processors, a three dimensional (3D) model to approximate a target bone;
receiving, from a tracking system tracking a surgical instrument, a plurality of surface points from a portion of the target bone associated with an implant revision procedure;
generating, using the one or more processors, a reshaped 3D model based on the 3D model and the plurality of surface points;
receiving at least one implant selection and positioning information for the at least one implant selection;
analyzing the reshaped 3D model to determine one or more augmentations to optimize fit for the at least one implant selection; and
generating a revision plan for preparing the target bone based upon the reshaped 3D model and to include the one or more augmentations.

2. The method of claim 1 , further comprising controlling the tracked surgical cutting instrument during resection of the target bone according to the revision plan.

3. The method of claim 1 , wherein generating the 3D model comprises generating a voxellized 3D cylinder enclosing the portion of the target bone associated with the implant revision procedure.

4. The method of claim 1 , wherein:
generating the 3D model comprises generating a voxellized 3D model, and
generating the reshaped 3D model comprises updating voxels within the voxellized 3D model based on the plurality of surface points.

5. The method of claim 4 , wherein updating voxels within the voxellized 3D model comprises performing volume subtraction from the 3D model based on the plurality of surface points.

6. The method of claim 1 , further comprising:
receiving a pre-defined set of parameters from the tracked surgical instrument characterizing the target bone; and
wherein generating the 3D model comprises calculating dimensions of the target bone from the pre-defined set of parameters.

7. The method of claim 1 , wherein generating the reshaped 3D model occurs iteratively during collection of the plurality of surface points.

8. A system comprising:
a surgical instrument including a tracking array;
a tracking system including a tracking sensor, the tracking system configured to monitor, in real-time, three dimensional (3D) position and orientation information of the surgical instrument and at least one target bone of an implant host; and
a control system, the control system comprising:
a communication interface coupled to the tracking system to receive tracking information identifying a current surgical instrument position and a current target bone position, and
one or more processors coupled to a memory device, the memory device including instructions that, when executed by the one or more processors, cause the control system to:
collect, from the tracking system based on locations of the surgical instrument associated with the target bone, pre-defined parameters characterizing a target bone,
generate a 3D model of the target bone based at least in part on a portion of the pre-defined parameters,
collect, from the tracking system based on locations of the surgical instrument associated with the target bone, a plurality of surface points from a portion of the target bone associated with an implant revision procedure,
generate a reshaped 3D model based on the 3D model and the plurality of surface points collected from the portion of the target bone,
receive at least one implant selection and positioning information for the at least one implant selection,
analyze the reshaped 3D model to determine one or more augmentations to optimize fit for the at least one implant selection, and
generate a revision plan for preparing the target bone based upon the reshaped 3D model and to include the one or more augmentations.

9. The system of claim 8 , wherein the surgical instrument comprises at least one of a cutting burr, a burr guard, a plate probe attachment, and a point probe.

10. The system of claim 9 , wherein collecting the pre-defined parameters or the plurality of surface points is performed using at least one of the cutting burr, the burr guard, the plate probe attachment, and the point probe.

11. The system of claim 8 , wherein the communication interface is coupled to the surgical instrument to send control signals to control a cutting burr; and
wherein the memory device includes additional instructions that, when executed by the one or more processors, cause the control system to:
generate control signals to control the surgical instrument during resection of the target bone according to the revision plan; and
communicate, over the communication interface, the generated controls signals to the surgical instrument.

12. The system of claim 8 , wherein generating the 3D model comprises generating a voxellized 3D cylinder enclosing the portion of the target bone associated with the implant revision procedure.

13. The system of claim 12 , wherein generating the reshaped 3D model comprises performing volume subtraction from the 3D model based on the plurality of surface points.

14. The system of claim 8 , wherein generating the 3D model comprises accessing pre-operative medical imaging of the target bone to generate the 3D model.

15. The system of claim 8 , wherein generating the reshaped 3D model occurs iteratively during collection of the plurality of surface points.

16. A machine-readable storage device including instructions that, when executed by a machine, cause the machine to:
generate, using one or more processors within the machine, a three dimensional (3D) model of a target bone based at least in part on a parameters characterizing the target bone;
receive, from a tracking system tracking a tracked surgical instrument, a plurality of surface points from a portion of the target bone associated with an implant revision procedure;
generate, using the one or more processors, a reshaped 3D model based on the 3D model and the plurality of surface points;
receive at least one implant selection and positioning information for the at least one implant selection;
analyze the reshaped 3D model to determine one or more augmentations to optimize fit for the at least one implant selection; and
generate a revision plan for preparing the target bone based upon the reshaped 3D model and to include the one or more augmentations.

17. The machine-readable storage device of claim 16 , wherein the instructions further comprise instructions that cause the machine to control the tracked surgical cutting instrument during resection of the target bone according to the revision plan.

18. A computer-implemented implant revision procedure planning method, the method comprising:
generating, using one or more processors, a three-dimensional (3D) voxellized model of a portion of a target bone associated with the implant revision procedure;
receiving, from a tracking system tracking an instrument of known geometry as it is traced along a surface of the target bone, a plurality of data points;
calculating, using one or more processors, a set of waste voxels to be removed from the model based at least in part on the plurality of data points;
generating, using the one or more processors, a reshaped 3D voxellized model based on the set of waste voxels; and
generating a revision plan for preparing the target bone based upon the reshaped 3D voxellized model.

19. The method of claim 18 , wherein generating the revision plan comprises:
receiving at least one implant selection and positioning information for the at least one implant select

Assignees

• Blue Belt Tech Inc

Inventors

• Jaramaz Branislav
• Gregori Alberto

Classifications

• A61B2034/2068

  using pointers, e.g. pointers having reference marks for determining coordinates of body points · CPC title

• G16H50/50 Primary

  for simulation or modelling of medical disorders · CPC title

• A61B2034/2063

  Acoustic tracking systems, e.g. using ultrasound · CPC title

• A61B34/10 Primary

  Computer-aided planning, simulation or modelling of surgical operations · CPC title

• G06T2210/41

  Medical · CPC title