Systems and methods for intra-operative pelvic registration

Patent metadata

Field	Value
Publication number	US-11246508-B2
Application number	US-201916653207-A
Country	US
Kind code	B2
Filing date	Oct 15, 2019
Priority date	Aug 30, 2016
Publication date	Feb 15, 2022
Grant date	Feb 15, 2022

Abstract

A system for intra-operatively registering a pelvis comprising an acetabulum with a computer model of the pelvis in a coordinate system. The system may include: a) a surgical navigation system including a tracking device; and b) at least one computing device in communication with the surgical navigation system. The at least one computing device: i) receiving first data points from first intra-operatively collected points on an articular surface of the acetabulum, the first data points collected with the tracking device; ii) receiving a second data point from a second intra-operatively collected point on the pelvis, the second data point collected with the tracking device, the second data point corresponding in location to a second virtual data point on the computer model; and iii) determining an intra-operative center of rotation of the femur relative to the pelvis from the first data points.

First claim

We claim:

1. A system for registering patient data gathered intra-operatively of a first bone with a computer model of the first bone in a coordinate system, the first bone comprising a concave portion and forming a joint with a second bone comprising a convex portion, the system comprising:
a) a surgical navigation system comprising a tracking device and at least one tool configured to be tracked in its movement by the tracking device; and
b) at least one computing device in communication with the surgical navigation system, the at least one computing device storing the computer model of the first bone in the coordinate system, the at least one computing device:
i) receiving first data points of the patient data from first intra-operatively collected points on an articular surface of the concave portion, the first data points collected using the at least one tool, the first data points corresponding in location to a first articular region on the computer model;
ii) receiving a second data point from a second intra-operatively collected point on the first bone, the second data point collected using the at least one tool, the second data point corresponding in location to a second virtual data point on the computer model;
iii) determining an intra-operative center of rotation from the first data points;
iv) aligning the intra-operative center of rotation with a virtual center of rotation of the computer model in the coordinate system;
v) comparing a first distance between the virtual center of rotation and the second virtual data point and a second distance between the intra-operative center of rotation and the second data point; and
vi) running a transformation with the patient data and the computer model so as to have them correspond with respect to position and orientation.

2. The system of claim 1 , wherein the first bone comprises an ilium, the concave portion comprises an acetabulum, and the second bone comprises a femur, and
wherein the second data point is located on a rim of the acetabulum, an articular surface of the acetabulum, or an anterior superior iliac spine.

3. The system of claim 1 , further comprising:
vii) receiving a third data point of the patient data from a third intra-operatively collected point on the first bone, the third data point collected with the at least one tool, the third data point being in a different location on the first bone than the second data point and corresponding in location to a third virtual data point on the computer model; and
viii) comparing a third distance between the virtual center of rotation and the third virtual data point and a fourth distance between the intra-operative center of rotation and the third data point.

4. The system of claim 3 , wherein the first bone comprises an ilium, the concave portion comprises an acetabulum, and the second bone comprises a femur, and
wherein the second data point is located on one of a rim of the acetabulum, an articular surface of the acetabulum, or an anterior superior iliac spine, and
wherein the third data point is located on one of a rim of the acetabulum, an articular surface of the acetabulum, or an anterior superior iliac spine.

5. The system of claim 3 , wherein the first bone comprises a scapula, the concave portion comprises a glenoid cavity, and the second bone comprises a humerus, and
wherein the second data point is located on one of a rim of the glenoid cavity, an articular surface of the glenoid cavity, or another portion of the scapula, and
wherein the third data point is located on one of a rim of the glenoid cavity, an articular surface of the glenoid cavity, or another portion of the scapula.

6. The system of claim 1 , wherein step iii) further comprises computing a spherical surface formed by the first data points.

7. The system of claim 6 , further comprising computing an intra-operative radius of the spherical surface, the intra-operative radius extending from the intra-operative center of rotation to generally the first data points.

8. The system of claim 7 , further comprising comparing the intra-operative radius to a virtual radius extending from the virtual center of rotation of the computer model to the first articular region on the computer model.

9. The system of claim 8 , wherein registration is acceptable if a difference between the intra-operative radius and the virtual radius is 3 mm or less.

10. The system of claim 1 , wherein the at least one tool comprises at least one of a free-hand navigation probe, and an arm of a surgical robot.

11. The system of claim 1 , wherein the joint comprises one of a hip joint, a shoulder joint, a knee joint, an elbow joint, or an ankle joint.

12. One or more tangible computer-readable storage media storing computer-executable instructions for performing a computer process on a computing system, the computer process comprising:
a) receiving a plurality of first data points of patient data points captured on a first patient bone in a first location using a tracking device of a navigation system, the first patient bone comprising a concave portion forming a joint with a convex portion of a second patient bone, the plurality of first data points representing a first virtual surface profile of the first patient bone at the first location;
b) receiving a second data point of patient data points captured on the first patient bone in a second location using the tracking device, the second location being different than the first location;
c) determining a first center of rotation from the plurality of first data points;
d) locationally matching the first center of rotation with a virtual center of rotation of a computer model of the first patient bone, wherein the plurality of first data points, the second data point, the first center of rotation in the coordinate system, the computer model, and the virtual center of rotation being in a common coordinate system; and
e) locationally matching the second data point and a second virtual data point of the computer model to register the patient data points with the computer model with respect to position and orientation, the second virtual data point located on the computer model in a location corresponding to the second location on the first patient bone.

13. The one or more tangible computer-readable storage media of claim 12 , wherein the joint comprises one of a hip joint, a shoulder joint, a knee joint, an elbow joint, or an ankle joint.

14. The one or more tangible computer-readable storage media of claim 12 , wherein the first location comprises an articular surface.

15. The one or more tangible computer-readable storage media of claim 14 , wherein step c) further comprises computing a spherical surface formed by the plurality of first data points.

16. The one or more tangible computer-readable storage media of claim 15 , further comprising computing a first radius of the spherical surface, the first radius extending from the first center of rotation to the plurality of first data points.

17. The one or more tangible computer-readable storage media of claim 16 , further comprising comparing the first radius to a virtual radius extending from the virtual center of rotation of the computer model.

18. The one or more tangible computer-readable storage media of claim 12 , wherein the information in step e) comprises a first length between the second data point and the first center of rotation.

19. The one or more tangible computer-readable storage media of claim 18 , wherein the first length is compared with a virtual dis

Assignees

• Mako Surgical Corp

Inventors

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

Classifications

• A61B5/107 Primary

  Measuring physical dimensions, e.g. size of the entire body or parts thereof · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B5/06

  Devices, other than using radiation, for detecting or locating foreign bodies {; Determining position of diagnostic devices within or on the body of the patient} · CPC title

• A61B5/1071

  measuring angles, e.g. using goniometers (A61B5/1123 takes precedence) · CPC title

• G06T7/73

  using feature-based methods · CPC title