Patient-specific preoperative planning simulation techniques

Patent metadata

Field	Value
Publication number	US-11272985-B2
Application number	US-201816186979-A
Country	US
Kind code	B2
Filing date	Nov 12, 2018
Priority date	Nov 14, 2017
Publication date	Mar 15, 2022
Grant date	Mar 15, 2022

Abstract

System and methods for simulating a surgical procedure are provided. The system includes a non-transitory computer-readable medium including instructions, which when executed by one or more processors, are configured to execute a surgical planning program. The surgical planning program is configured to track a tool relative to a model of an anatomy during a preoperative surgical simulation, generate a planning parameter based on the tracking of the tool relative to the model of the anatomy during the preoperative surgical simulation, and store the generated planning parameter. The system also includes a surgical system configured to load the generated planning parameter from the surgical planning program, and facilitate intraoperative surgery based on the generated parameter.

First claim

The invention claimed is:

1. A system comprising:
a non-transitory computer-readable medium comprising instructions, which when executed by one or more processors, are configured to execute a surgical planning program configured to:
generate an initial state of a physical model of an anatomy before a preoperative surgical simulation including determining an initial contour, shape, or volume of the physical model using a scanner or optical sensor;
track a preoperative tool relative to the physical model of the anatomy during the preoperative surgical simulation in which a user moves the preoperative tool relative to the physical model of the anatomy during the preoperative surgical simulation;
acquire a final state of the physical model of the anatomy after the preoperative surgical simulation including determining a final contour, shape, or volume of the physical model using the scanner or optical sensor;
compare the final state of the physical model of the anatomy to the initial state of the physical model of the anatomy to generate a planning parameter that includes a virtual cutting boundary designed to constrain movement of an intraoperative tool and defining material to be removed from the anatomy by the intraoperative tool; and
store the generated planning parameter; and

a surgical system configured to:
load the generated planning parameter from the surgical planning program; and
facilitate intraoperative surgery with respect to the anatomy and with the intraoperative tool based on the generated planning parameter.

2. The system of claim 1 , wherein the preoperative tool is a physical tool.

3. The system of claim 2 , further comprising a navigation system configured to track the preoperative tool during the preoperative surgical simulation.

4. The system of claim 1 , wherein the preoperative tool and the intraoperative tool are the same type.

5. The system of claim 1 , wherein the virtual cutting boundary is designed to constrain movement of the intraoperative tool from reaching an undesired area of the anatomy.

6. The system of claim 5 , further comprising a robotic manipulator configured to move the intraoperative tool during intraoperative surgery in response to manually controlled user input, and wherein the virtual cutting boundary is further designed to constrain movement of the intraoperative tool occurring responsive to the manually controlled user input.

7. The system of claim 1 , wherein the generated planning parameter further includes one or more of: a path of the intraoperative tool, a feed rate of the intraoperative tool, a cutting speed of the intraoperative tool, a force applied by the intraoperative tool, a damping applied to the intraoperative tool, a power applied to the intraoperative tool, an amount of material deposited by the intraoperative tool, a function executed by the intraoperative tool, an orientation of the intraoperative tool, and a sequence of selection of a plurality of intraoperative tools.

8. The system of claim 1 , wherein the non-transitory computer-readable medium further comprises instructions, which when executed by the one or more processors, are configured to generate at least one note associated with the generated planning parameter.

9. The system of claim 1 , wherein the preoperative tool used during the preoperative surgical simulation is a virtual tool, and further comprising a display that is configured to display the model of the anatomy and to display the virtual tool in relation to the model of the anatomy.

10. The system of claim 1 , wherein the initial state of the model of the anatomy is defined by generating one or more of a contour, shape, and volume of the model before a preoperative surgical simulation, and wherein the final state of the model of the anatomy is defined by acquiring one or more of a contour, shape, and volume of the model after the preoperative surgical simulation.

11. The system of claim 1 , wherein the non-transitory computer-readable medium further comprises instructions, which when executed by the one or more processors, are configured to generate a surgical plan based on the generated planning parameter.

12. The system of claim 1 , wherein the model of the anatomy is an image representation, and wherein the preoperative tool is a physical tool, and wherein the planning parameter is generated based on use of the physical tool in relation to the image representation.

13. The system of claim 1 , wherein the surgical system autonomously executes at least part of the intraoperative surgery based on the generated planning parameter.

14. The system of claim 1 , wherein the surgical system comprises one or more of an augmented reality display, a virtual reality display, a mixed reality display, or a holographic display that is configured to display the generated planning parameter.

15. The system of claim 1 , wherein the surgical system is further configured to display the generated planning parameter during the intraoperative surgery.

16. The system of claim 15 , wherein the surgical system is further configured to modify the display of the generated planning parameter during the intraoperative surgery.

17. The system of claim 15 , wherein the generated planning parameter is displayed as an overlay on top of the anatomy.

18. The system of claim 15 , wherein a note associated with the generated planning parameter is generated during the preoperative surgical simulation, and wherein surgical system is configured to display the note along with the generated planning parameter during the intraoperative surgery.

19. The system of claim 1 , wherein the surgical system comprises a robotic manipulator and a navigation unit configured to track the robotic manipulator.

20. The system of claim 1 , wherein the surgical planning program is configured to automatically generate the planning parameter based on capturing movement of the preoperative tool during the preoperative surgical simulation.

21. The system of claim 20 , further comprising a navigation system configured to track the preoperative tool during the preoperative surgical simulation and wherein the navigation system sends inputs to the surgical planning program that correspond to a tracked position of the preoperative tool as the preoperative tool is moved relative to the model of the anatomy during the preoperative surgical simulation.

22. The system of claim 1 , wherein the surgical planning program is configured to receive an input from a user identifying the planning parameter and to generate the planning parameter based on the input.

23. The system of claim 22 , wherein the user uses one or more input devices to virtually draw or provide one or more reference points to define the planning parameter associated with the model of the anatomy.

24. The system of claim 1 , wherein the surgical planning program is further configured to utilize a machine learning or artificial intelligence algorithm to predictively generate the planning parameter.

25. The system of claim 1 , wherein the surgical planning program is configured to:
record movement of the preoperative tool along a tool path that avoids an undesired area of the anatomy during the preoperative surgical simulation;
reference the model of the anatomy in relation to the movement of the preoperative tool along the tool path; and
automatically generate the virtual cutting boundary at an edge of the undesired area of the anatomy.

Assignees

• Stryker Corp

Inventors

• Vandyken Benjamin

Classifications

• G06T2219/004

  Annotating, labelling · CPC title

• G09B23/28

  for medicine · CPC title

• G06T19/006

  Mixed reality (object pose determination, tracking or camera calibration for mixed reality G06T7/00) · CPC title

• A61B2034/252

  indicating steps of a surgical procedure · CPC title

• A61B17/1675

  for the knee · CPC title