Systems and methods for surgical planning using soft tissue attachment points

Patent metadata

Field	Value
Publication number	US-11564744-B2
Application number	US-201916721344-A
Country	US
Kind code	B2
Filing date	Dec 19, 2019
Priority date	Dec 27, 2018
Publication date	Jan 31, 2023
Grant date	Jan 31, 2023

Abstract

A surgical system includes a robotic device, a surgical tool mounted on the robotic device, and a processing circuit. The processing circuit is configured to receive image data of an anatomy, generate a virtual bone model based on the image data, identify a soft tissue attachment point on the virtual bone model, plan placement of an implant based on the soft tissue attachment point, generate a control object based on the placement of the implant, and control the robotic device to confine the surgical tool within the control object.

First claim

What is claimed is:

1. A surgical system, comprising:
a robotic device;
a surgical tool mounted on the robotic device; and
a processing circuit configured to:
plan placement of an implant by aligning an axis of the implant with a medial edge of a soft tissue attachment point of a virtual bone model;
generate a control object based on the placement of the implant; and
control the robotic device in accordance with the control object.

2. The surgical system of claim 1 , wherein the soft tissue attachment point corresponds to a site where a posterior cruciate ligament or an anterior cruciate ligament attaches to a femur or a tibia.

3. The surgical system of claim 1 , wherein the soft tissue attachment point corresponds to a site where a patellar ligament attaches to a tibia.

4. The surgical system of claim 1 , the processing circuit further configured to generate a graphical user interface, the graphical user interface comprising a visualization of the virtual bone model, the implant, and the soft tissue attachment point.

5. The surgical system of claim 4 , the graphical user interface further comprising a visualization of the control object.

6. The surgical system of claim 1 , wherein the processing circuit is further configured to restrict the control object from containing the soft tissue attachment point.

7. A method, comprising:
identifying a medial edge of a soft tissue attachment point of a virtual bone model;
planning implant placement by aligning an axis of an implant with the medial edge of the soft tissue attachment point;
generating a control object based on the implant placement; and
constraining or controlling a surgical tool mounted on a robotic device based on the control object.

8. The method of claim 7 , further comprising generating the virtual bone model based on image data, wherein the image data comprises computed tomography images, and wherein the method further comprises segmenting the computed tomography images to identify one or more bones in the images.

9. The method of claim 7 , wherein the soft tissue attachment point corresponds to a site where a posterior cruciate ligament or an anterior cruciate ligament attaches to a femur or a tibia.

10. The method of claim 7 , wherein the soft tissue attachment point corresponds to a site where a patellar ligament attaches to a tibia.

11. The method of claim 7 , further comprising generating a graphical user interface that visualizes the virtual bone model, the implant, and the soft tissue attachment point.

12. The method of claim 11 , wherein the graphical user interface further provides a visualization of the control object.

13. The method of claim 7 , further comprising:
predicting a line of action of a ligament based on the soft tissue attachment point;
augmenting the virtual bone model with a virtual implant model of the implant;
determining whether the line of action of the ligament intersects the virtual implant model; and
in response to a determination that the line of action of the ligament intersects the virtual implant model, providing an alert to a user.

14. The method of claim 7 , further comprising restricting the control object from containing the soft tissue attachment point.

15. Non-transitory computer-readable media storing program instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:
identifying a soft tissue attachment point of a virtual bone model;
planning implant placement by aligning an axis of an implant with a medial edge of the soft tissue attachment point;
generating a control object based on the implant placement; and
constraining or controlling a surgical tool mounted on a robotic device based on the control object.

16. The computer-readable media of claim 15 , wherein the operations comprise restricting the control object from containing the soft tissue attachment point.

17. The computer-readable media of claim 15 , the operations comprising predicting a line of action of a ligament based on the soft tissue attachment point;
augmenting the virtual bone model with a virtual implant model of the implant;
determining whether the line of action of the ligament intersects the virtual implant model; and
in response to a determination that the line of action of the ligament intersects the virtual implant model, providing an alert to a user.

Assignees

• Mako Surgical Corp

Inventors

• Hampp Emily
• Liarno Sally
• Yildirim Gokee
• Nadzadi Mark Ellsworth
• Clark Gavin

Classifications

• G06T2207/10081

  Computed x-ray tomography [CT] · CPC title

• G06T7/0012

  Biomedical image inspection · CPC title

• A61B2034/108

  Computer aided selection or customisation of medical implants or cutting guides · CPC title

• A61B2034/105

  Modelling of the patient, e.g. for ligaments or bones · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title