Systems and methods for prosthetic component orientation

Patent metadata

Field	Value
Publication number	US-10314653-B2
Application number	US-201113339524-A
Country	US
Kind code	B2
Filing date	Dec 29, 2011
Priority date	Dec 29, 2011
Publication date	Jun 11, 2019
Grant date	Jun 11, 2019

Abstract

A computer-implemented method determines an orientation parameter value of a prosthetic component. The method includes receiving a first desired separation distance between a tibial prosthetic component and a femoral prosthetic component at a first flexion position of a knee joint and estimating a first estimated separation distance between the tibial prosthetic component and the femoral prosthetic component at the first flexion position of the knee joint for at least one potential orientation of the femoral prosthetic component. The method also includes determining a first orientation parameter value of the femoral prosthetic component by comparing the first estimated separation distance to the first desired separation distance and outputting the first orientation parameter value via a user interface.

First claim

What is claimed is:

1. A computer-implemented method for determining an orientation parameter value of a prosthetic component, the method comprising:
using a virtual model of a knee joint comprising a femur and a tibia and a virtual model of a first prosthetic component to determine a planned preliminary orientation of the first prosthetic component in the knee joint, wherein the first prosthetic component is one of a femoral prosthetic component or a tibial prosthetic component;
receiving, at an input device coupled to a processor, an input from a user descriptive of a first desired separation distance between the first prosthetic component and a second prosthetic component at a first flexion position of the knee joint, wherein the second prosthetic component is the other of a femoral prosthetic component or a tibial prosthetic component;
determining, using a tracking or imaging system, relative positions of the femur and the tibia at a plurality of flexion positions of the knee joint;
recording, by the processor, positional data of the tibia and the femur determined using the tracking or imaging system when the knee joint is in the first flexion position;
estimating, based on the positional data, a first estimated separation distance between the first prosthetic component and the second prosthetic component at the first flexion position of the knee joint for at least one potential orientation of the first prosthetic component;
determining a first error value as the different between the first desired separation distance and the first estimated separation distance;
determining a first orientation parameter value of the first prosthetic component that minimizes the first error value;
displaying, on a display, the first orientation parameter value;
moving the virtual model of the first prosthetic component in the model of the knee joint according to the first orientation parameter value to update the planned preliminary orientation of the first prosthetic component; and
providing to the user a location for implanting the first prosthetic component on the associated femur or tibia according to the first orientation parameter value.

2. The computer-implemented method of claim 1 , further comprising:
receiving a second desired separation distance between the first prosthetic component and the second prosthetic component at a second flexion position of the knee joint;
receiving a third desired separation distance between the first prosthetic component and the second prosthetic component at a third flexion position of the knee joint;
estimating a second estimated separation distance between the first prosthetic component and the second prosthetic component at the second flexion position of the knee joint for the at least one potential orientation of the femoral prosthetic component;
estimating a third estimated separation distance between the first prosthetic component and the second prosthetic component at the third flexion position of the knee joint for the at least one potential orientation of the first prosthetic component
determining a second and a third error value as the difference between the second and third estimated separation distances to the second and third desired separation distances, respectively; and
determining the first orientation parameter value that minimizes at least one of the first, second, or third error values.

3. The computer-implemented method of claim 2 , further comprising:
determining a second orientation parameter value and a third orientation parameter value of the first prosthetic component that minimizes the second error value and the third error value, respectively.

4. The computer-implemented method of claim 3 , wherein the first orientation parameter value and the second orientation parameter value each represents a translation along an axis in a sagittal plane, and the third orientation parameter value represents a rotation about an axis substantially perpendicular to the sagittal plane.

5. The computer-implemented method of claim 4 , further including:
determining fourth, fifth, and sixth orientation parameter values that minimizes the first, second, and third error values, respectively, wherein
the fourth orientation parameter value represents a translation along an axis substantially perpendicular to the sagittal plane,
the fifth orientation parameter value represents a rotation about an axis substantially perpendicular to a coronal plane, and
the sixth orientation parameter value represents a rotation about an axis substantially perpendicular to a transverse plane.

6. The computer-implemented method of claim 2 , further comprising:
determining a second orientation parameter value, wherein determining the first orientation parameter value and the second orientation parameter value of the first prosthetic component further includes:
generating a cost function that includes, as first and second inputs, the first and second orientation parameter values, respectively, and that has a cost based on both a difference between the first estimated separation distance and the first desired separation distance and a difference between the second estimated separation distance and the second desired separation distance;
determining a local minimum for the cost function; and
determining the first and second orientation parameter values to be the values of the first and second inputs at the local minimum of the cost function.

7. The computer-implemented method of claim 3 , wherein determining the first, second, and third orientation parameter values of the first prosthetic component further include:
generating a cost function that includes, as first, second, and third inputs, the first, second, and third orientation parameter values, respectively, and that has a cost based on a difference between the first estimated separation distance and the first desired separation distance, a difference between the second estimated separation distance and the second desired separation distance, and a difference between the third estimated separation distance and the third desired separation distance;
determining a local minimum for the cost function; and
determining the first, second, and third orientation parameter values to be the values of the first, second, and third inputs at the local minimum of the cost function.

8. The computer-implemented method of claim 4 , wherein determining the first, second, and third orientation parameter values of the first prosthetic component further include:
for each of a plurality of potential third orientation parameter values:
determining a potential first orientation parameter value and a potential second orientation parameter value so as to minimize a difference between the first estimated separation distance and the first desired separation distance and so as to minimize a difference between the third estimated separation distance and the third desired separation distance; and
calculating a difference between the estimated second separation distance and the desired second separation distance;
comparing the calculated difference between the estimated second separation distance and the desired second separation distance for each of the plurality of potential third orientation parameter values to determine the potential third orientation parameter value corresponding to the smallest calculated difference; and
determining that the potential third orientation parameter value and its corresponding potential first and second orientation parameter values that correspond to the smallest calculated difference are the first, second, and third orientation parameter values, if the smallest calculated difference is less than a threshold difference.

9. The compute

Assignees

• Ikits Milan
• Otto Jason Karl
• Granchi Carinne Cecile
• Abbasi Ali Zafar
• Mako Surgical Corp

Inventors

• Ikits Milan
• Otto Jason Karl
• Granchi Carinne Cecile
• Abbasi Ali Zafar

Classifications

• A61B2034/104

  Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring · CPC title

• A61B34/10 Primary

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

• A61F2002/3895

  unicompartimental · CPC title

• A61B2034/101

  Computer-aided simulation of surgical operations · CPC title

• A61B2034/108

  Computer aided selection or customisation of medical implants or cutting guides · CPC title