Surgical systems and methods for facilitating ad-hoc intraoperative planning of surgical procedures

Patent metadata

Field	Value
Publication number	US-11071590-B2
Application number	US-201815952810-A
Country	US
Kind code	B2
Filing date	Apr 13, 2018
Priority date	Apr 14, 2017
Publication date	Jul 27, 2021
Grant date	Jul 27, 2021

Abstract

A surgical system and method for facilitating ad-hoc intraoperative planning of a surgical step to be performed at a target site, the system comprising a digitization device, a navigation system, and a computing device. The digitization device intraoperatively facilitates establishment of one or more local virtual references relative to the target site. The navigation system tracks states of the digitization device. The computing device is coupled to the navigation system and comprises one or more processors and a non-transitory storage medium having stored thereon a computer-aided design (CAD) program. When executed by the one or more processors, the CAD program is configured to generate a virtual reference frame, register the one or more local virtual references within the virtual reference frame, and enable arrangement of different geometrical design objects within the virtual reference frame relative to one or more registered local virtual references to intraoperatively plan the surgical step.

First claim

The invention claimed is:

1. A surgical system for facilitating ad-hoc intraoperative planning of a surgical step to be performed at a target site, the surgical system comprising:
a digitization device comprising a pointer tip and one or more control inputs and the digitization device being configured to intraoperatively facilitate establishment of one or more local virtual references relative to the target site, wherein the one or more local virtual references are established relative to the pointer tip in response to actuation of the one or more control inputs;
a navigation system configured to track states of the digitization device; and
a computing device coupled to the navigation system and comprising one or more processors and a non-transitory storage medium having stored thereon a computer-aided design (CAD) program that when executed by the one or more processors is configured to:
generate a virtual reference frame;
receive the tracked states of the digitization device from the navigation system;
register the one or more local virtual references within the virtual reference frame;
render, within the virtual reference frame, a virtual representation of the pointer tip of the digitization device having a position and orientation of the pointer tip derived from the tracked states of the digitization device; and
enable arrangement of different types of geometrical design objects within the virtual reference frame relative to one or more registered local virtual references to intraoperatively plan the surgical step, and wherein to enable arrangement of different types of geometrical design objects, the CAD program is further configured to:
enable one or more of the geometrical design objects to be selected and temporarily fixed to the virtual representation of the pointer tip within the virtual reference frame such that the one or more geometrical design objects that are temporarily fixed correspondingly follow changes in position and orientation of the virtual representation of the pointer tip within the virtual reference frame; and
in response to actuation of the one or more control inputs of the digitization device, enable the one or more geometrical design objects to become unfixed from the virtual representation of the pointer tip and placed in the virtual reference frame relative to the one or more local virtual references.

2. The surgical system as set forth in claim 1 , wherein the CAD program is further configured to enable arrangement of the different types of geometrical design objects within the virtual reference frame by:
constructing a new geometrical design object from registered local virtual references sequentially-established with the digitization device;
constructing a new geometrical design object from a previously-constructed geometrical design object arranged within the virtual reference frame; and/or
adjusting a previously-constructed geometrical design object arranged within the virtual reference frame.

3. The surgical system as set forth in claim 1 , wherein the different types of geometrical design objects comprise:
a first type of the geometrical design object comprising one of: a point, a line, a plane, or a volume; and
a second type of geometrical design object comprising a different one of: a point, a line, a plane, or a volume.

4. The surgical system as set forth in claim 1 , wherein the CAD program is further configured to enable arrangement of the different types of geometrical design objects within the virtual reference frame based on geometric relationships with respect to one or more of:
a registered local virtual reference, and/or
a calculated virtual reference derived from one or more registered local virtual references.

5. The surgical system as set forth in claim 1 , wherein the CAD program is further configured to enable construction of a compound object from one or more geometrical design objects arranged within the virtual reference frame.

6. The surgical system as set forth in claim 1 , further comprising a patient tracker adapted for attachment relative to the target site;
wherein the navigation system is configured to track states of the patient tracker;
wherein the CAD program is further configured to render, within the virtual reference frame, a virtual representation of the patient tracker having a position and/or orientation derived from the tracked states of the patient tracker; and
fix one or more registered local virtual references to the virtual representation of the patient tracker within the virtual reference frame.

7. The surgical system as set forth in claim 1 , further comprising a surgical tool;
wherein the navigation system is configured to track states of the surgical tool; and
wherein the CAD program is further configured to render, within the virtual reference frame, a virtual representation of the surgical tool having a position and/or orientation derived from the tracked states of the surgical tool.

8. The surgical system as set forth in claim 7 , wherein the CAD program is further configured to facilitate establishing a virtual boundary with one or more geometrical design objects arranged within the virtual reference frame to control movement and/or operation of the surgical tool relative to the target site.

9. The surgical system as set forth in claim 1 , wherein the CAD program is further configured to enable construction of a virtual implant model from one or more geometrical design objects arranged within the virtual reference frame.

10. The surgical system as set forth in claim 9 , further comprising an implant manufacturing device coupled to the computing device and configured to intraoperatively generate an implant based on the virtual implant model using an additive manufacturing technique.

11. The surgical system as set forth in claim 1 , further comprising a head-mountable display unit in communication with the computing device and being configured to:
receive data generated with the CAD program; and
based on the received data, render a visualization of the virtual reference frame, the one or more registered local virtual references, and/or the different types of geometrical design objects arranged within the virtual reference frame.

12. The surgical system as set forth in claim 11 , further comprising:
a patient tracker adapted for attachment relative to the target site; and
a display unit tracker coupled to the head-mountable display unit;
wherein the navigation system is configured to:
track states of the display unit tracker;
track states of the patient tracker; and
register the visualization to the target site; and

wherein the head-mountable display unit is configured to render the registered visualization in augmented reality and/or mixed reality such that the virtual reference frame, the one or more registered local virtual references, and the different types of geometrical design objects are visible relative to the target site for any given state of the display unit tracker.

13. A computer-assisted method for facilitating ad-hoc intraoperative planning of a surgical step to be performed at a target site using a surgical system comprising a digitization device comprising a pointer tip and one or more control inputs, a navigation system, and a computing device coupled to the navigation system and comprising one or more processors and a non-transitory storage medium having stored thereon a computer-aided design (CAD) program being executable by the one or more processors, the method comprising:
tracking states of the digitization device with the navigation system;
intraoperatively establishing one or more local virtual references

Assignees

• Stryker Corp

Inventors

• Moctezuma De La Barrera Jose Luis

Classifications

• A61B2090/3983

  Reference marker arrangements for use with image guided surgery · CPC title

• A61B2090/372

  Details of monitor hardware · CPC title

• A61B2034/252

  indicating steps of a surgical procedure · CPC title

• A61B34/10 Primary

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

• G06T2210/41

  Medical · CPC title