Method for confirming registration of tracked bones

Patent metadata

Field	Value
Publication number	US-11717353-B2
Application number	US-202117148612-A
Country	US
Kind code	B2
Filing date	Jan 14, 2021
Priority date	Nov 16, 2015
Publication date	Aug 8, 2023
Grant date	Aug 8, 2023

Abstract

A process for confirming registration of bones involved in a joint replacement procedure is provided that includes a three dimensional (3-D) models of the bones being generated. The bones are tracked with a tracking device attached to each of the bones to allow 6-degrees of freedom (DOF) tracking during the joint replacement procedure. The 3-D models to the bones are registered and the bones having the tracking device are moved. A corresponding motion in the 3-D models with the moving of the bones is then observed. The registration of the 3-D models to the bone when the observations of the 3-D models move in correspondence with the actual bones is then confirmed or an alarm when an algorithm detects the 3-D bone models move unexpectedly during the movement of the bones. A system for confirming registration of bones involved in the joint replacement procedure is also provided.

First claim

The invention claimed is:

1. A system for confirming registration of first and second bones, comprising:
a three-dimensional (3-D) model of a first bone registered to a first bone location and a three-dimensional (3-D) model of a second bone registered to a second bone location;
a tracking system for tracking movement of the first and second bones;
a display for displaying the 3-D model of the first bone and the 3-D model of the second bone and motion of the 3-D model of the first bone and 3-D model of the second bone corresponding to the tracked movement of the first and second bones; and
a computer input for receiving confirmation of correct registration of the first and second bones when each 3-D model of the first bone and of the second bone moves in correspondence with actual movement of the first and second bones.

2. The system of claim 1 further comprising a plurality of fiducial markers, wherein a first set of fiducial markers are configured to be attached to the first bone and a second set of fiducial markers are configured to be attached to the second bone.

3. The system of claim 2 wherein the first set of fiducial markers are arranged on a first tracking array configured to be attached to the first bone, and the second set of fiducial markers are arranged on a second tracking array configured to be attached to the second bone.

4. The system of claim 1 wherein the computer input comprises at least one of: a mouse; a keyboard; a joystick; a pendant; a touchscreen display; or a microphone.

5. The system of claim 1 wherein the display further displays a prompt to: a) confirm or not confirm correct registration of the bones.

6. The system of claim 1 wherein the tracking system is an optical tracking system.

7. The system of claim 1 wherein the first and second bones comprise: a) a femur and a tibia; or b) a femur and a pelvis.

8. The system of claim 1 further comprising a computer-assisted surgical device for performing a surgical procedure on at least one of the first and second bones, wherein each of the first and second bones is registered within a workspace of the computer-assisted surgical device.

9. A system for confirming registration of bones, comprising:
a three-dimensional (3-D) model of each bone registered to a location of each bone;
a tracking system for tracking movement of the bones; and
an algorithm for detecting if motion of each 3-D model, corresponding to the tracked movement of the bones, move out of correspondence with actual movement of the bones.

10. The system of claim 9 further comprising a display for displaying the 3-D model of each bone and motion of the 3-D models corresponding to the tracked movement of the bones.

11. The system of claim 9 further comprising a plurality of fiducial markers, wherein a first set of fiducial markers are configured to be attached to a first bone and a second set of fiducial markers are configured to be attached to a second bone.

12. The system of claim 11 wherein the first set of fiducial markers are arranged on a first tracking array configured to be attached to the first bone, and the second set of fiducial markers are arranged on a second tracking array configured to be attached to the second bone.

13. The system of claim 9 wherein the bones comprise a first bone and a second bone, and-the algorithm detects out of correspondence movement if: a) at least a portion of a first 3-D bone model of the first bone collides with at least a portion of a second 3-D bone model of the second bone; b) a first 3-D bone model of the first bone moves beyond a threshold distance from a second 3-D bone model of the second bone; or c) a first 3-D bone model of the first bone unexpectedly rotates relative to a second 3-D bone model of the second bone.

14. The system of claim 9 wherein the algorithm is executed by a computer.

15. The system of claim 9 wherein the display further displays an alarm when the algorithm detects the 3-D bone models moving out of correspondence with actual movement of the bones.

16. The system of claim 9 wherein the tracking system is an optical tracking system.

17. The system of claim 9 wherein the bones comprise: a) a femur and a tibia; or b) a femur and a pelvis.

18. The system of claim 9 further comprising a computer-assisted surgical device for performing a surgical procedure on at least one of the bones, wherein each bone is registered within a workspace of the computer-assisted surgical device.

19. A method for confirming registration of bones, comprising:
registering a three-dimensional (3-D) bone model of each bone to a location of each bone;
tracking each bone with a tracking system;
displaying the 3-D bone model of each bone and motion of each 3-D bone model corresponding to the tracked movement of the bones; and
at least one of: a) receiving input to confirm correct registration of each 3-D bone model when each 3-D bone model moves in correspondence with actual movement of the bones; or b) detecting if each 3-D bone model moves out of correspondence with actual movement of the bones.

20. The method of claim 19 wherein the out of correspondence movement is detected if: at least a portion of a first 3-D bone model of a first bone of the bones collides with at least a portion of a second 3-D bone model of a second bone of the bones; b) the first 3-D bone model of the first bone of the bones moves beyond a threshold distance from the second 3-D bone model of the second bone of the bones; or c) the first 3-D bone model of the first bone of the bones unexpectedly rotates relative to the second 3-D bone model of the second bone of the bones.

Assignees

• Think Surgical Inc

Inventors

• Zuhars Joel
• Bonny Daniel P
• Tabandeh Saleh

Classifications

• A61B34/20 Primary

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title

• A61B90/361 Primary

  Image-producing devices, e.g. surgical cameras · CPC title

• A61B2017/00119

  alarm; indicating an abnormal situation · CPC title

• A61B2017/00734

  battery operated · CPC title