Force measuring joint distraction lever

Patent metadata

Field	Value
Publication number	US-11660083-B2
Application number	US-202017132053-A
Country	US
Kind code	B2
Filing date	Dec 23, 2020
Priority date	May 28, 2014
Publication date	May 30, 2023
Grant date	May 30, 2023

Abstract

A method for assessing a joint includes inserting a joint distraction lever into a space between a first bone and a second bone of the joint, distracting the joint with the joint distraction lever, determining, using a measurement device of the joint distraction lever, a distraction force applied by the joint distraction lever as the joint distraction lever is used to distract the joint, determining whether the distraction force matches a predetermined amount of the distraction force, and in response to determining that the distraction force matches the predetermined amount of the distraction force, capturing first poses of the first bone and the second bone.

First claim

What is claimed is:

1. A method comprising:
moving a joint comprising a first bone and a second bone into a first flexion position;
inserting a joint distraction lever into a space between the first bone and the second bone, wherein the joint distraction lever comprises:
a lever body having a handle portion and a working portion;
a distal tip, wherein the distal tip is raised above a top surface of the working portion of the lever body;
a fulcrum extending from a bottom surface of the working portion of the lever body and spaced apart from the distal tip such that the fulcrum is positioned between the distal tip and the handle portion;
a force measurement device configured to measure a distraction force applied at the distal tip during a distraction procedure based on deformation of the joint distraction lever; and
an indicator configured to demonstrate the distraction force applied at the distal tip, as measured by the force measurement device;
wherein inserting the joint distraction lever into the space between the first bone and the second bone comprises inserting the fulcrum and the distal tip into the space between the first bone and the second bone;

applying an external force to the handle portion of the lever body of the joint distraction lever to cause a torque on the joint distraction lever such that the fulcrum pushes on the second bone and the distal tip pushes on the first bone causing distraction of the joint and deformation of the joint distraction lever; and
receiving feedback from the indicator related to the distraction force being applied to the first bone at the distal tip as measured by the joint distraction lever.

2. The method of claim 1 , further comprising:
maintaining the external force to the handle portion when a predetermined amount of distraction force is indicated by the indicator; and
capturing a pose of the first bone and the second bone at the first flexion position when the predetermined amount of distraction force is being applied to the first bone at the distal tip, as indicated by the indicator.

3. The method of claim 2 , further comprising moving the joint into a second flexion position and capturing the pose of the first bone and the second bone at the second flexion position.

4. The method of claim 1 , wherein the indicator provides feedback indicating that a predetermined amount of distraction force is being applied.

5. The method of claim 1 , wherein receiving feedback comprises observing the indicator change from a first state to a second state to indicate a predetermined distraction force value has been reached.

6. The method of claim 1 , further comprising tracking, using a tracking system, a pose of the first bone, the second bone, and the joint distraction lever to determine directional components of the distraction force being applied.

7. A method comprising:
inserting a joint distraction lever into a space between a first bone and a second bone of a joint;
distracting the joint with the joint distraction lever;
determining, by a measurement device of the joint distraction lever, a distraction force applied by the joint distraction lever as the joint distraction lever is used to distract the joint;
automatically determining, by the joint distraction lever, whether the distraction force matches a predetermined amount of the distraction force; and
in response to the joint distraction lever automatically determining that the distraction force matches the predetermined amount of the distraction force, capturing first poses of the first bone and the second bone.

8. The method of claim 7 , wherein capturing the first poses of the first bone and the second bone is performed with the joint at a first flexion position, the method further comprising:
moving the joint to a second flexion position; and
in response to determining that the distraction force matches the predetermined amount of the distraction force with the joint in the second flexion position, capturing second poses of the first bone and the second bone.

9. The method of claim 7 , wherein capturing the first poses of the first bone and the second bone comprises determining positions of a first trackable element coupled to the first bone and a second trackable element coupled to the second bone with a detection device of a tracking system.

10. The method of claim 7 , further comprising planning a bone resection for the first bone or the second bone using the first poses of the first bone and the second bone.

11. The method of claim 7 , wherein determining whether the distraction force matches the predetermined amount of the distraction force comprises determining whether the distraction force is has a value of 100N+/−5N.

12. The method of claim 7 , wherein distracting the joint with the joint distraction lever comprises:
engaging the first bone with a distal tip of the joint distraction lever with the tip between the first bone and the second bone;
engaging the second bone with a fulcrum of the joint distraction lever with the fulcrum between the first bone and the second bone, the fulcrum spaced apart from the distal tip and positioned between the distal tip of the joint distraction lever and a handle portion of the joint distraction lever;
applying an external torque to the handle portion of the joint distraction lever to cause the distraction force to be exerted between the distal tip at the first bone and the fulcrum at the second bone.

13. A method comprising:
tracking, by a tracking system, a first bone and a second bone;
measuring, by a distraction lever, a distraction force applied between the first bone and the second bone by the distraction lever, wherein the measuring is based on deformation of the distraction lever as a torque is applied to the distraction lever that causes a distal tip of the distraction lever to push the first bone away from the second bone while the distraction lever rotates about a fulcrum of the distraction lever contacting the second bone;
providing an indication relating to a measurement of the distraction force;
while the distraction lever measures the distraction force, capturing, by the tracking system, first relative poses of the first bone and the second bone; and
completing a surgical planning procedure using the first relative poses of the first bone and the second bone captured while the distraction lever measured the distraction force.

14. The method of claim 13 , wherein completing the surgical planning procedure comprises planning prosthetic implant placement while determining a joint alignment based on the first relative poses.

15. The method of claim 13 , wherein completing the surgical planning procedure comprises planning a bone resection while determining a joint balance based on the first relative poses.

16. The method of claim 13 , wherein completing the surgical planning procedure comprises generating a surgical plan, and wherein the method further comprises controlling a robotic device to facilitate execution of the surgical plan.

17. The method of claim 13 , further comprising distracting, by the distraction lever, the first bone away from the second bone by:
engaging the first bone with a distal tip of the distraction lever;
engaging the second bone with a fulcrum of the distraction lever, the fulcrum positioned between the distal tip of the distraction lever and a handle portion of the distraction lever; and
causing the distraction force to be exerted between the distal tip at the first bone and the fulcrum at the second bone in response to a torque applied to the handle portion of the

Assignees

• Mako Surgical Corp

Inventors

• Bechtold Kevin
• Otto Jason
• Kang Hyosig
• Iorgulescu Radu

Classifications

• A61B17/025 Primary

  Joint distractors · CPC title

• A61B2090/064

  for measuring force, pressure or mechanical tension · CPC title

• A61B2017/0268

  for the knee · CPC title

• A61B17/1675

  for the knee · CPC title

• A61B17/16

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