Method for enabling medical navigation with minimised invasiveness

Patent metadata

Field	Value
Publication number	US-10537392-B2
Application number	US-201013582077-A
Country	US
Kind code	B2
Filing date	Mar 3, 2010
Priority date	Mar 3, 2010
Publication date	Jan 21, 2020
Grant date	Jan 21, 2020

Abstract

A method for providing positional relationship data, which represent the position of a marker device relative to a bone which it is affixed to, to a medical navigation system, comprising the steps of: a) receiving bone registration data which represent locations of points on the surface of the bone; b) calculating, from the bone registration data, the current relative position between the bone and a medical instrument which bears the marker device; c) determining an offset between the current relative position and a desired relative position; d) outputting indication information which is based on the calculated offset; e) receiving bone re-registration data which represent locations of points on the surface of the bone; and f) calculating the positional relationship data from the bone re-registration data.

First claim

The invention claimed is:

1. A method for determining a position of a bone, the method comprising:
receiving bone registration data into an associated computer, the bone registration data being representative of spatial locations of a first set of points which lie on a surface of a bone relative to an associated marker device carried by an associated adjustable cutting block affixed to the bone, wherein the associated adjustable cutting block defines a cutting slot and wherein the associated marker device is rigidly coupled with the cutting block by a plate of the marker device received in the cutting slot of the associated adjustable cutting block thereby establishing a fixed relative position between the associated marker device and the cutting slot of the associated adjustable cutting block;
processing the bone registration data by the associated computer to calculate, based on the bone registration data and the fixed relative position between the associated marker device and the cutting slot of the cutting block, a current relative position between the bone and the cutting slot of the associated adjustable cutting block;
determining, by the associated computer, an offset between:
the current relative position between the cutting slot and the bone, and
a desired relative position between the cutting slot and the bone;

outputting indication information by the associated computer, wherein the indication information is provided for indicating an adjustment to be made to the associated adjustable cutting block based on the determined offset such that a relative movement between the cutting slot carrying the associated marker device and the bone is caused;
receiving degree of freedom data into the associated computer, the degree of freedom data being representative of a number of degrees of freedom of movement of the bone;
receiving, following the adjustment to the associated adjustable cutting block such that the relative movement between the cutting slot carrying the associated marker device and the bone is caused, bone re-registration data into the associated computer, the bone re-registration data being representative of spatial locations of one or more points forming a second set of points which lie on the surface of the bone, wherein a quantity of the one or more points forming the second set of points is based on the received number of degrees of freedom of movement of the bone and wherein the second set of points comprises fewer points than the first set of points; and
tracking a position of the bone using a determined position of the associated marker device and the bone re-registration data.

2. The method according to claim 1 , wherein the receiving the bone re-registration data comprises:
receiving bone re-registration data representative of spatial locations of a number of points equal to or larger than the received number of degrees of freedom of movement forming the second set of points which lie on the surface of the bone.

3. The method according to claim 1 , wherein:
the receiving the degree of freedom data into the associated computer comprises receiving degree of freedom data representative of a single degree of freedom of movement of the bone; and
the receiving the bone re-registration data into the associated computer comprises receiving bone re-registration data representative of a spatial location of a single point that lays on the surface of the bone.

4. The method according to claim 1 , wherein the receiving the degree of freedom data into the associated computer comprises:
receiving the degree of freedom data into the associated computer from a memory storage device of the associated computer.

5. The method according to claim 1 , wherein the receiving the degree of freedom data into the associated computer comprises:
receiving the degree of freedom data into the associated computer from an associated input device operatively coupled with the associated computer.

6. The method according to claim 5 , wherein the receiving the degree of freedom data into the associated computer from the associated input device comprises:
receiving the degree of freedom data into the associated computer from an associated keyboard or touch screen operatively coupled with the associated computer.

7. The method according to claim 1 , wherein the receiving the bone registration data, the processing the bone registration data, the determining the offset, and the outputting the indication information are repeated until the offset is below a predetermined threshold.

8. A non-transitory computer readable medium storing a computer program that, when running on an associated computer or loaded onto the associated computer for execution by a processor of the associated computer, causes the associated computer to perform a method for determining a position of a bone comprising:
receiving bone registration data into the associated computer, the bone registration data being representative of spatial locations of a first set of points which lie on a surface of a bone relative to an associated marker device carried by an associated adjustable cutting block affixed to the bone, wherein the associated adjustable cutting block defines a cutting slot and wherein the associated marker device is rigidly coupled with the cutting block by a plate of the marker device received in the cutting slot of the associated adjustable cutting block thereby establishing a fixed relative position between the associated marker device and the cutting slot of the associated adjustable cutting block;
processing the bone registration data by the associated computer to calculate, based on the bone registration data and the fixed relative position between the associated marker device and the cutting slot of the cutting block, a current relative position between the bone and the cutting slot of the associated adjustable cutting block;
determining, by the associated computer, an offset between:
the current relative position between the cutting slot and the bone, and
a desired relative position between the cutting slot and the bone;

outputting indication information by the associated computer, wherein the indication information is provided for indicating an adjustment to be made to the associated adjustable cutting block based on the determined offset such that a relative movement between the cutting slot carrying the associated market device and the bone is caused;
receiving degree of freedom data into the associated computer, the degree of freedom data being representative of a number of degrees of freedom of movement of the bone;
receiving, following the adjustment to the associated adjustable cutting block such that the relative movement between the cutting slot carrying the associated marker device and the bone is caused, bone re-registration data into the associated computer, the bone re-registration data being representative of spatial locations of one or more points forming a second set of points which lie on the surface of the bone, wherein a quantity of the one or more points forming the second set of points is based on the received number of degrees of freedom of movement of the bone and wherein the second set of points comprises fewer points than the first set of points; and
tracking a position of the bone using a determined position of the associated marker device and the bone re-registration data.

9. The non-transitory computer readable medium according to claim 8 , wherein the receiving the bone re-registration data comprises:
receiving bone re-registration data representative of spatial locations of a number of points equal to or larger than the received number of degrees of freedom of movement forming the second set of points which lie on t

Assignees

• Millahn Manuel
• Bracke Bert
• Brack Christian
• Brainlab Ag

Inventors

• Millahn Manuel
• Bracke Bert
• Brack Christian

Classifications

• A61B17/1764

  for the knee · CPC title

• A61B17/15

  Guides therefor · CPC title

• A61B2034/2068

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

• A61B2090/363

  Use of fiducial points · CPC title

• A61B2034/107

  Visualisation of planned trajectories or target regions · CPC title