Techniques for patient-specific morphing of virtual boundaries

Patent metadata

Field	Value
Publication number	US-11547482-B2
Application number	US-201916710707-A
Country	US
Kind code	B2
Filing date	Dec 11, 2019
Priority date	Dec 13, 2018
Publication date	Jan 10, 2023
Grant date	Jan 10, 2023

Abstract

Systems, methods, software and techniques are disclosed for morphing a generic virtual boundary into a patient-specific virtual boundary for an anatomical model. The generic virtual boundary comprises one or more morphable faces. An intersection of the generic virtual boundary and the anatomical model is computed to define a cross-sectional contour of the anatomical model. One or more faces of the generic virtual boundary are morphed to conform to the cross-sectional contour of the anatomical model to produce the patient-specific virtual boundary. In some cases, the morphed faces are spaced apart from the cross-sectional contour by an offset distance that accounts for a geometric feature of a surgical tool.

First claim

The invention claimed is:

1. A computer-implemented method for morphing a generic virtual boundary into a patient-specific virtual boundary for a virtual anatomical model, the computer-implemented method comprising:
positioning the generic virtual boundary relative to the virtual anatomical model such that the generic virtual boundary intersects the virtual anatomical model;
computing an intersection of the generic virtual boundary and the virtual anatomical model to define a cross-sectional contour of the virtual anatomical model;
extending a first offset surface from the cross-sectional contour by an offset distance, wherein the first offset surface has an offset contour that is spaced apart from the cross-sectional contour by the offset distance;
generating a planar profile geometry along the offset contour to produce a second offset surface that is orthogonal to the first offset surface; and
producing the patient-specific virtual boundary by merging portions of the generic virtual boundary with the first offset surface and the second offset surface.

2. The computer-implemented method of claim 1 , wherein the offset distance is derived from a geometric feature of a surgical tool.

3. The computer-implemented method of claim 2 , wherein the geometric feature is a spherical burr and the offset distance comprises a radius of the spherical burr.

4. The computer-implemented method of claim 1 , further comprising producing ruled surfaces each having one edge that is morphed to and coincident to the second offset surface and an opposing edge of the generic virtual boundary.

5. The computer-implemented method of claim 1 , wherein the generic virtual boundary is generated based on an implant model.

6. The computer-implemented method of claim 1 , wherein producing the patient-specific virtual boundary occurs intraoperatively.

7. The computer-implemented method of claim 1 , further comprising:
registering the virtual anatomical model and the patient-specific virtual boundary to a physical anatomy;
tracking a surgical tool and the physical anatomy; and
constraining the surgical tool from extending beyond the patient-specific virtual boundary.

8. A surgical system comprising:
a surgical tool;
one or more controllers configured to morph a generic virtual boundary into a patient-specific virtual boundary for a virtual anatomical model, the one or more controllers configured to:
position the generic virtual boundary relative to the virtual anatomical model such that the generic virtual boundary intersects the virtual anatomical model;
compute an intersection of the generic virtual boundary and the virtual anatomical model to define a cross-sectional contour of the virtual anatomical model;
extend a first offset surface from the cross-sectional contour by an offset distance, wherein the first offset surface has an offset contour that is spaced apart from the cross-sectional contour by the offset distance;
generate a planar profile geometry along the offset contour to produce a second offset surface that is orthogonal to the first offset surface; and
produce the patient-specific virtual boundary by merging portions of the generic virtual boundary with the first offset surface and the second offset surface.

9. The surgical system of claim 8 , wherein the offset distance is derived from a geometric feature of the surgical tool, wherein the geometric feature comprises a spherical burr and the offset distance is a radius of the spherical burr.

10. The surgical system of claim 8 , wherein the one or more controllers are further configured to produce ruled surfaces each having one edge that is morphed to and coincident to the second offset surface and an opposing edge of the generic virtual boundary.

11. The surgical system of claim 8 , wherein the generic virtual boundary is generated based on an implant model.

12. The surgical system of claim 8 , wherein the one or more controllers are configured to produce the patient-specific virtual boundary intraoperatively.

13. The surgical system of claim 8 , further comprising:
a localizer configured to track the surgical tool and a physical anatomy; and
wherein the one or more controllers are configured to:
register the virtual anatomical model and the patient-specific virtual boundary to the physical anatomy; and
constrain the surgical tool from extending beyond the patient-specific virtual boundary.

14. A non-transitory computer readable medium comprising instructions, which when executed by one or more processors, implement a software program configured to morph a generic virtual boundary into a patient-specific virtual boundary for virtual anatomical model, the instructions, when executed by the one or more processors, implement the software program to:
position the generic virtual boundary relative to the virtual anatomical model such that the generic virtual boundary intersects the virtual anatomical model;
compute an intersection of the generic virtual boundary and the virtual anatomical model to define a cross-sectional contour of the virtual anatomical model;
extend a first offset surface from the cross-sectional contour by an offset distance, wherein the first offset surface has an offset contour that is spaced apart from the cross-sectional contour by the offset distance;
generate a planar profile geometry along the offset contour to produce a second offset surface that is orthogonal to the first offset surface; and
produce the patient-specific virtual boundary by merging portions of the generic virtual boundary with the first offset surface and the second offset surface.

15. The non-transitory computer readable medium of claim 14 , wherein the instructions, when executed by the one or more processors implement the software program to extend the first offset surface from the cross-sectional contour by the offset distance being derived from a geometric feature of a surgical tool.

16. The non-transitory computer readable medium of claim 15 , wherein the instructions, when executed by the one or more processors implement the software program to extend the first offset surface from the cross-sectional contour by the offset distance being derived from a radius of a spherical burr.

17. The non-transitory computer readable medium of claim 14 , wherein the instructions, when executed by the one or more processors implement the software program to produce ruled surfaces each having one edge that is morphed to and coincident to the second offset surface and an opposing edge of the generic virtual boundary.

18. The non-transitory computer readable medium of claim 14 , wherein the instructions, when executed by the one or more processors implement the software program to provide the generic virtual boundary based on an implant model.

19. The non-transitory computer readable medium of claim 14 , wherein the instructions, when executed by the one or more processors implement the software program to produce the patient-specific virtual boundary intraoperatively.

20. The non-transitory computer readable medium of claim 14 , wherein the instructions, when executed by the one or more processors implement the software program to register the virtual anatomical model and the patient-specific virtual boundary to a physical anatomy.

Assignees

• Mako Surgical Corp

Inventors

• Becker Hans-Ulrich
• Roessler Patrick
• Moctezuma De La Barrera Jose Luis

Classifications

• A61B34/25

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• A61B2090/3945

  Active visible markers, e.g. light emitting diodes · CPC title

• G06T7/73

  using feature-based methods · CPC title

• A61B17/16

  Instruments for performing osteoclasis; Drills or chisels for bones; Trepans {(arthroscopic bone cutters A61B17/320016)} · CPC title

• A61B2034/2051

  Electromagnetic tracking systems · CPC title