Registration tools, systems, and methods

Patent metadata

Field	Value
Publication number	US-10959857-B2
Application number	US-201916970493-A
Country	US
Kind code	B2
Filing date	Feb 26, 2019
Priority date	Feb 27, 2018
Publication date	Mar 30, 2021
Grant date	Mar 30, 2021

Abstract

A registration system including a bone pin guide and a bone pin clamp. The bone pin guide may include a guide body, a first guide including a first guide through-hole having a first longitudinal axis, and a second guide including a second guide through-hole having a second longitudinal axis. The bone pin guide may guide first and second bone pins into a bone via the first and second guides. The bone pin clamp may include a clamp body, first, second, and third clamp through-holes extending through the clamp body, a plurality of registration indents defined on the clamp body, and a clamping mechanism including at least one adjustable fastener. The bone pin clamp may receive the first and second bone pins in the first and third clamp through-holes and guide a third bone pin into the bone via the second clamp through-hole.

First claim

We claim:

1. A computer-implemented method of registration comprising:
receiving first data points in a point-cloud corresponding to points on a patient bone in a first location that are registered with a navigated instrument;
receiving second data points in the point-cloud corresponding to points on a bone pin clamp that is secured to the patient bone in a second location via a plurality of bone pins, the bone pin clamp comprising a plurality of registration indents defining a plane, the plane being a known distance from the patient bone;
determining a bone surface point at the second location from the defined plane and known distance; and
registering the first and second data points in the point cloud with image data of the patient bone.

2. The computer-implemented method of claim 1 , wherein the bone surface point is a point where one of the plurality of bone pins extends into the bone.

3. The computer-implemented method of claim 1 , wherein the first location is an articular region of the acetabulum.

4. The computer-implemented method of claim 3 , wherein the first data points are fit to a sphere.

5. The computer-implemented method of claim 1 , wherein the first bone is an ilium, the first location is an acetabulum, and the second location is an iliac crest.

6. A registration system comprising:
a bone pin guide comprising a guide body, a first guide comprising a first guide through-hole having a first longitudinal axis, and a second guide comprising a second guide through-hole having a second longitudinal axis, the first and second guide through-holes being spaced apart a distance, the first and second longitudinal axes being parallel to each other, the bone pin guide configured to guide first and second bone pins into a bone via the first and second guides; and
a bone pin clamp comprising a clamp body, first, second, and third clamp through-holes extending through the clamp body, a plurality of registration indents defined on the clamp body, and a clamping mechanism comprising at least one adjustable fastener, the first and third clamp through-holes being spaced apart the distance, the second clamp through-hole positioned between the first and third clamp through-holes, the bone pin clamp configured to receive the first and second bone pins in the first and third clamp through-holes and guide a third bone pin into the bone via the second clamp through-hole.

7. The registration system of claim 6 , wherein the bone pin clamp further comprises a sleeve coupled to the clamp body and extending distally therefrom, the second clamp through-hole extending through the sleeve.

8. The registration system of claim 6 , wherein the plurality of registration indents comprises three registration indents positioned on a proximal surface of the clamp body.

9. The registration system of claim 6 , wherein the clamping mechanism comprises a center lock body and a main lock body positioned within an inner volume of the clamp body.

10. The registration system of claim 9 , wherein the main lock body is biased in position within the inner volume via a plurality of springs.

11. The registration system of claim 6 , wherein the clamp body further comprises first, second, and third threaded through-holes extending into the clamp body and extending into the first, second, and third clamp through-holes, respectively, and wherein the at least one adjustable fastener comprises first, second, and third threaded fasteners configured to be received within the first, second, and third threaded-through-holes, respectively, so as to extend into the first, second, and third threaded through-holes, respectively.

12. The registration system of claim 6 , further comprising a tracker array and a tracker coupling configured to couple to the tracker array and the bone pin clamp.

13. The registration system of claim 6 , wherein the first guide comprises a first barrel extending distally from the guide body, the first guide through-hole defined within the first barrel, the second guide comprises a second barrel extending distally from the guide body, the second guide through-hole defined within the second barrel.

14. The registration system of claim 13 , wherein opposite sides of the guide body each include planar tool engaging surfaces.

15. A registration system comprising:
at least one bone pin comprising a first pin having a pin longitudinal axis;
a clamp comprising at least one through-bore extending therethrough, the clamp configured to receive the at least one bone pin though the at least one through-bore; and
a sleeve comprising a body having a sleeve longitudinal axis, a distal bore extending partially through a distal end of the body, and a proximal bore extending partially through a proximal end of the body, the distal bore configured to receive a portion of a proximal end of the first bone pin, the proximal bore configured to receive a distal end of a tracking device that is tracked in its movement, the tracking device comprising a device longitudinal axis,
wherein, when the distal bore of the sleeve receives the portion of the proximal end of the first bone pin and when the proximal bore of the sleeve receives the distal end of the tracking device, the sleeve longitudinal axis, the pin longitudinal axis, and the device longitudinal axis are coaxial with each other.

16. A method of surgical registration comprising:
positioning a bone pin guide adjacent a patient bone, the bone pin guide comprising a guide body, a first guide comprising a first guide through-hole having a first longitudinal axis, and a second guide comprising a second guide through-hole having a second longitudinal axis, the first and second guide through-holes being spaced apart a distance, the first and second longitudinal axes being parallel to each other;
delivering a first bone pin into the bone via guidance by the first guide of the bone pin guide;
delivering a second bone pin into the bone via guidance by the second guide of the bone pin guide;
removing the bone pin guide from the first and second bone pins;
positioning a bone pin clamp adjacent the bone such that the first bone pin is received within a first clamp through-hole of the bone pin clamp, and such that the second bone pin is received within a third clamp through-hole of the bone pin clamp, the bone pin clamp comprising a clamp body, the first clamp through-hole, a second clamp through-hole, and the third clamp through-hole, a plurality of registration indents defined on the clamp body, and a clamping mechanism comprising at least one adjustable fastener, the first and third clamp through-holes being spaced apart the distance, the second clamp through-hole positioned between the first and third clamp through-holes;
delivering a third bone pin into the bone via guidance by the second through-hole of the bone pin clamp;
securing a position of the first, second, and third bone pins relative to the bone pin clamp via actuation of the clamping mechanism;
attaching a tracker array to the bone pin clamp; and
contacting at least one of the plurality of registration indents with a navigated instrument in a registration procedure.

17. The method of claim 16 , wherein the bone pin clamp further comprises a sleeve coupled to the clamp body and extending distally therefrom, the second clamp through-hole extending through the sleeve.

18. The method of claim 16 , wherein the clamping mechanism comprises a center lock body and a main lock body positioned within an inner volume of the clamp body.

19. The method of claim 18 , wherein the mai

Assignees

• Mako Surgical Corp

Inventors

• Wu Zhu
• Gupta Sunil
• Chang Ta-Cheng
• Zhang Zenan
• Bechtold Kevin
• Thompson Matthew
• Branch Eric
• Chandra Varun
• Bagci Ahmet

Classifications

• A61B34/20 Primary

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• A61B2090/3762

  using computed tomography systems [CT] · CPC title

• A61B34/25

  User interfaces for surgical systems · CPC title

• A61B2034/207

  Divots for calibration · CPC title

• A61B34/30

  Surgical robots · CPC title