Computer assisted surgery system

Patent metadata

Field	Value
Publication number	US-10588647-B2
Application number	US-71511310-A
Country	US
Kind code	B2
Filing date	Mar 1, 2010
Priority date	Mar 1, 2010
Publication date	Mar 17, 2020
Grant date	Mar 17, 2020

Abstract

A computer assisted surgery system and a method for operating a computer assisted surgery system is described therein. The system and method includes providing a virtual representation of a medical device to provide an easier application of a medical device, such as an implant or the like. The described system and method allows for simple and fast positioning of a medical device to be applied, such as an implant, for example.

First claim

The invention claimed is:

1. A method of operating a computer assisted surgery system, the method comprising:
positioning an aiming tool adjacent a femur;
detecting a position of a reference body having a multiplicity of x-ray opaque fiducial markers distributed in a 3-dimensional arrangement in the reference body based on image data obtained from a first fluoroscopic 2-dimensional image of the femur taken at a first angle, the reference body being coupled to the aiming tool in a pre-defined manner;
determining the position of the reference body in relation to the femur using the first fluoroscopic 2-dimensional image, the reference body virtually representing a position of an intramedullary nail and a bone screw extending through an opening in the intramedullary nail to be implanted in the femur, the virtual representation of the position of the intramedullary nail being based on a pre-defined relationship between the aiming tool and the intramedullary nail;
obtaining a second fluoroscopic 2-dimensional image of the femur taken at a second angle different from the first angle;
constructing a 3-dimensional representation of the femur from the first and second fluoroscopic images;
superimposing the 3-dimensional representation of the femur with a virtual representation of the intramedullary nail and the bone screw to be implanted, based on the detected position of the reference body x-ray opaque fiducial markers in relation to the 3-dimensional representation of the femur during the surgical procedure;
providing rules for allowable ranges for applying the intramedullary nail and the bone screw in relation to the 3-dimensional representation of the femur, the allowable ranges including a minimum distance between the bone screw and a surface of a head of the femur;
determining during the surgical procedure from the first and second fluoroscopic images an optimal position of the virtual representation of the intramedullary nail and the bone screw to be implanted with respect to the 3-dimensional reconstruction of the femur so as to obtain a best fit with respect to the rules for allowable ranges based only on image data obtained from the first and second fluoroscopic 2-dimensional images; and
displaying the optimal position of the intramedullary nail and the bone screw virtually, the intramedullary nail having an opening with a specific inclination relative to the longitudinal axis of the intramedullary nail for receiving the bone screw, the virtually displayed optimal position of the bone screw having a longitudinal direction and an orientation that are predefined by the opening of the intramedullary nail, and the intramedullary nail and the bone screw being selected out of a predetermined group of a variety of intramedullary nails and bone screws,
wherein the intramedullary nail is configured to be coupled to the aiming tool in the pre-defined relationship, and the virtual representation of the position of the intramedullary nail is determined when the intramedullary nail is coupled to neither the aiming tool nor the reference body.

2. The method of claim 1 , wherein the position of an intramedullary nail and the bone screw includes dimensions, location and orientation of the intramedullary nail and the bone screw.

3. The method of claim 1 , further comprising:
taking a second 2-dimensional image of the reference body and the femur at a second angle different from the first angle;
viewing a 3-dimensional representation generated from the first and second 2-dimensional images.

4. The method of claim 3 , wherein the first and second 2-dimensional images include the femur receiving the intramedullary nail and the bone screw.

5. The method of claim 4 , wherein the position of the intramedullary nail and the bone screw in relation to the femur is based on the 3-dimensional representation.

6. The method of claim 1 , wherein modifying the position of the reference body comprises a surgeon rotating and/or displacing the reference body during the surgical procedure.

7. The method of claim 1 , further comprising imaging the superposition of the femur and the virtual representation of the intramedullary nail and the bone screw to be implanted.

8. The method of claim 1 , wherein the position of the intramedullary nail and the bone screw to be implanted is remote from the reference body.

9. The method of claim 1 , wherein the aiming tool includes a coupling portion having a matching pattern for receiving a respective counterpart of the intramedullary nail in the pre-defined relationship.

10. The method of claim 1 , wherein the aiming tool includes a plurality of fiducial markers for use in confirming that the reference body is coupled to the aiming tool in the pre-defined manner.

11. A computer assisted surgery system comprising:
an aiming tool;
a reference body having a multiplicity of x-ray opaque fiducial markers distributed in a 3-dimensional arrangement in the reference body positionable in relation to a 3-dimensional representation of a femur, the reference body virtually representing a position of an intramedullary nail with a bone screw extending through an opening therein to be implanted in the femur, the reference body being coupled to the aiming tool in a pre-defined manner;
a fluoroscopic detector device being adapted for detecting a position of the x-ray opaque fiducial markers reference body in relation to the 3-dimensional representation of the femur;
a database including information of virtual intramedullary nails and bone screws; and
a processor being adapted for superimposing the 3-dimensional representation of the femur with a virtual representation of an intramedullary nail and the bone screw to be implanted based on a single x-ray image output of the fluoroscopic detector device of the 3-dimensional arrangement of the fiducial markers, and modifying the position of the reference body during a surgical procedure, wherein the modifying comprises selecting the intramedullary nail and the bone screw out of a predetermined group of a variety of intramedullary nails and bone screws, and optimizing the position of a virtual representation of the intramedullary nail and the bone screw to be implanted with respect to the 3-dimensional representation of the femur so as to obtain a best fit with respect to predetermined rules for allowable ranges for applying the intramedullary nail and the bone screw in relation to the femur, the allowable ranges including a minimum distance between the bone screw and a surface of a head of the femur; and
a display for visually indicating the optimized position of an actual intramedullary nail and the bone screw based on the optimized position of the virtual intramedullary nail and the bone screw, the intramedullary nail opening having a specific inclination relative to a longitudinal axis of the intramedullary nail for receiving the bone screw, the virtually indicated optimized position of the bone screw having a longitudinal direction and an orientation that are predefined by the opening of the intramedullary nail,
wherein the virtual representation of the position of the intramedullary nail is based on a pre-defined relationship in which the aiming tool is configured to couple to the intramedullary nail, and the virtual representation of the position of the intramedullary nail is configured to be determined when the intramedullary nail is coupled to neither the aiming tool nor the reference body.

12. The system of claim 11 , wherein the database includes a plurality of data sets for the intramedullary nail and the bone screw, wherein the data sets represent a variety of different intramedullary nails and bone screws.

Assignees

• Blau Arno
• Simon Bernd
• Mueller Daniels Holger
• Kohnen Michael
• Stryker European Holdings I Llc

Inventors

• Blau Arno
• Simon Bernd
• Müller-Daniels Holger
• Kohnen Michael

Classifications

• A61B17/72

  Intramedullary devices, e.g. pins or nails · CPC title

• A61B34/10

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

• A61B2090/376

  using X-rays, e.g. fluoroscopy · CPC title

• G16H20/40

  relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture · CPC title

• A61B2034/102

  Modelling of surgical devices, implants or prosthesis · CPC title