Computer-assisted face-jaw-teeth transplantation

Patent metadata

Field	Value
Publication number	US-10537337-B2
Application number	US-201415100258-A
Country	US
Kind code	B2
Filing date	Nov 25, 2014
Priority date	Nov 29, 2013
Publication date	Jan 21, 2020
Grant date	Jan 21, 2020

Abstract

A computer-assisted surgical system can include a donor sub-system and a recipient sub-system. The donor sub-system includes a first reference unit having a first trackable element, a fragment reference unit having a second trackable element, and a first detector configured to provide at least one of a first signal corresponding to a detected location of one or more of the first trackable element and the second trackable element. The recipient sub-system includes a second reference unit having a third trackable element, and a second detector configured to provide at least one of a second signal corresponding to a detected location of at least the third trackable element.

First claim

What is claimed is:

1. A computer-assisted surgical system, comprising:
a donor sub-system comprising:
a first reference unit comprising a first trackable element,
a fragment reference unit comprising a second trackable element, and
a first detector configured to provide at least one of a first signal corresponding to a detected location of at least one of the first trackable element and the second trackable element;

a recipient sub-system comprising:
a second reference unit comprising a third trackable element, and
a second detector configured to provide at least one of a second signal corresponding to a detected location of at least the third trackable element; and

a first computer and at least one display connected to the first computer, wherein the first computer comprises:
at least one memory to store data and instructions, and
at least one processor configured to access the at least one memory and to execute first instructions, the first instructions comprising:
accessing a first computer readable reconstruction of a donor anatomy, and
displaying the first computer readable reconstruction on the at least one display, wherein the first computer readable reconstruction comprises a first orientation that is updated based on a physical location of at least one of the first trackable element and the second trackable element as detected by the first detector.

2. The system of claim 1 , wherein the donor sub-system further comprises a first computer that receives the at least one first signal, and wherein the recipient sub-system further comprises a second computer that receives the at least one second signal.

3. The system of claim 2 , further comprising a communications link that allows the first computer and the second computer to communicate with one another.

4. The system of claim 1 , wherein the first detector, the second detector, or both the first and second detectors comprise an optical tracker, a magnetic tracker or both an optical tracker and a magnetic tracker.

5. The system of claim 1 , wherein one or more of the first trackable element, the second trackable element, and the third trackable element comprise an IR reflector or an IR emitter.

6. The system of claim 1 , wherein the donor sub-system further comprises a cutting guide comprising a fourth trackable element, wherein the fourth trackable-element comprises an IR reflector or an IR emitter, and
wherein the first instructions further comprise:
superimposing a planned cutting plane on the first computer readable reconstruction; and
generating a first virtual cutting guide having a geometry that corresponds to an interface between intersecting portions of the planned cutting plane and the first computer readable reconstruction.

7. The system of claim 6 , wherein the first instructions further comprise controlling a device for manufacturing a cutting guide according to the geometry of the first virtual cutting guide.

8. The system of claim 1 , wherein the at least one display is connected to a second computer, and
wherein the second computer comprises:
at least one memory to store data and instructions, and
at least one processor configured to access the at least one memory and to execute second instructions, the second instructions comprising:
accessing a second computer readable reconstruction of a recipient anatomy, and
displaying the second computer readable reconstruction on the at least one display,
wherein the second computer readable reconstruction comprises a second orientation that is updated based on a physical location of the third trackable element as detected by the second detector.

9. The system of claim 8 , wherein the first instructions further comprise:
superimposing a planned cutting plane over portions of the first computer readable reconstruction; and
forming a first virtual fragment by segmenting the computer readable reconstruction of the donor anatomy along portions of the computer readable reconstruction that intersect with the planned cutting plane,
wherein the first virtual fragment comprises a third orientation that is updated based on a physical location of at least one of the first trackable element and the second trackable element as detected by the first detector.

10. The system of claim 9 , wherein the second signal further corresponds to a location of the second trackable element as detected by the second detector; and
wherein the second instructions further comprise:
superimposing the first virtual fragment on the second computer readable reconstruction of the recipient anatomy with an orientation that is updated based on a physical location of the second trackable element and the third trackable element as sensed by the second detector.

11. A computer-assisted transplantation method, comprising:
attaching a first reference unit comprising a first trackable element to a first anatomical feature of a donor being;
attaching a fragment reference unit comprising a second trackable element to a second anatomical feature of the donor;
detecting a location of at least one of the first trackable element and the second trackable element with a first detector, the first detector configured to provide at least one of a first signal corresponding to the detected location of at least one of the first trackable element and the second trackable element;
accessing a first computer readable reconstruction of the donor anatomy, wherein the first computer readable reconstruction comprises a first orientation that is updated based on a physical location of at least one of the first trackable element and the second trackable element as detected by the first detector;
attaching a second reference unit comprising a third trackable element to an anatomical feature of a recipient being;
detecting a location of the third trackable element with a second detector, the second detector configured to provide at least one of a second signal corresponding to a detected location of at least the third trackable element;
accessing a second computer readable reconstruction of the recipient anatomy, wherein the second computer readable reconstruction comprises a second orientation that is updated based on a physical location of the third trackable element detected by the second detector; and
superimposing a first virtual donor fragment of the first computer readable reconstruction on the second computer readable reconstruction.

12. The method of claim 11 , further comprising:
superimposing a planned cutting plane on the first computer readable reconstruction;
forming a cutting guide comprising at least one attachment configured in a geometry defined by intersecting portions of the planned cutting plane and the first computer readable reconstruction, the cutting guide further comprising a fourth trackable element;
attaching the cutting guide at a location on the donor anatomy;
tracking a location of the fourth trackable element with the first detector;
superimposing a first virtual cutting guide on the first computer readable reconstruction having an orientation that is updated based on at least one of the first trackable element, the second trackable element and the fourth trackable element;
forming a first virtual donor fragment by segmenting the first computer readable reconstruction at an interface of the planned cutting plane and the first computer readable reconstruction; and
superimposing the first virtual fragment on the second computer readable reconstruction to form a hybrid computer readable reconstruction.

13. The method of claim 12 , wherein the second signal further corresponds to a detected location of the fourth track

Assignees

• Univ Johns Hopkins
• The Us Secretary Of Defence Walter Reed National Military Medical Center
• The Us Secretary Of The Navy Ip Counsel Of The Navy Office Of Naval Research

Inventors

• Gordon Chad
• Armand Mehran
• Murphy Ryan
• Grant Gerald
• Liacouras Peter
• Wolfe Kevin

Classifications

• G16H50/50

  for simulation or modelling of medical disorders · CPC title

• A61B2034/2051

  Electromagnetic tracking systems · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title

• A61B17/176

  for the jaw · CPC title

• A61F2/2803

  for mandibular reconstruction (temporo-mandibular joints A61F2/3099; bone plates for the jaw A61B17/8071) · CPC title