Registration tools, systems, and methods

Patent metadata

Field	Value
Publication number	US-11737894-B2
Application number	US-202117189971-A
Country	US
Kind code	B2
Filing date	Mar 2, 2021
Priority date	Feb 27, 2018
Publication date	Aug 29, 2023
Grant date	Aug 29, 2023

Abstract

A registration system including a bone pin guide and a bone pin clamp. The bone pin guide may include a guide body, a first guide including a first guide through-hole having a first longitudinal axis, and a second guide including a second guide through-hole having a second longitudinal axis. The bone pin guide may guide first and second bone pins into a bone via the first and second guides. The bone pin clamp may include a clamp body, first, second, and third clamp through-holes extending through the clamp body, a plurality of registration indents defined on the clamp body, and a clamping mechanism including at least one adjustable fastener. The bone pin clamp may receive the first and second bone pins in the first and third clamp through-holes and guide a third bone pin into the bone via the second clamp through-hole.

First claim

We claim:

1. A registration system comprising:
a bone pin guide comprising a guide body, a first pin guide, and a second pin guide, the bone pin guide configured to align a first pin and a second pin in a first alignment relative to each other via guidance by the first pin guide and second pin guide, respectively; and
a bone pin clamp comprising a clamp body, a first clamp guide, a second clamp guide, and at least one registration marker defined on the clamp body, the bone pin clamp configured to receive the first pin and the second pin in the first alignment relative to each other via guidance by the first clamp guide and the second clamp guide, respectively.

2. The registration system of claim 1 , wherein the bone pin clamp further comprises a third clamp guide positioned between the first and second clamp guides and configured to align a third pin relative to the first pin and the second pin when received by the first clamp guide and the second clamp guide, respectively.

3. The registration system of claim 2 , wherein the first clamp guide, second clamp guide, and third clamp guide are configured to align the first, second, and third pins, respectively, coplanar to one another.

4. The registration system of claim 2 , wherein the first clamp guide, second clamp guide, and third clamp guide are configured to align the first, second, and third pins, respectively, parallel to one another.

5. The registration system of claim 2 , wherein the first clamp guide, the second clamp guide, and the third clamp guide are through-holes.

6. The registration system of claim 2 , wherein the bone pin clamp further comprises a clamping mechanism configured to secure one or more of: the first pin in a first position relative to the first clamp guide; the second pin in a second position relative to the second clamp guide; and the third pin in a third position relative to the third clamp guide.

7. The registration system of claim 1 , wherein the first and second pin guides of the bone pin guide are spaced apart a first distance, the first and second clamp guides of the bone pin clamp are spaced apart the first distance.

8. The registration system of claim 2 , wherein the bone pin clamp further comprises a barrel coupled to the clamp body and extending distally therefrom, the third clamp guide defining a through-bore extending through the barrel.

9. The registration system of claim 1 , wherein the first pin guide and the second pin guide are through-holes.

10. The registration system of claim 1 , further comprising the first pin and the second pin.

11. The registration system of claim 1 , wherein the at least one registration marker comprises at least three markers defined on the clamp body.

12. The registration system of claim 11 , wherein the at least three markers are indents on the clamp body.

13. The registration system of claim 1 , wherein the at least one registration marker comprises indents on the clamp body.

14. The registration system of claim 1 , further comprising a tracking array configured to be coupled to the bone pin clamp.

15. The registration system of claim 1 , further comprising a registration probe configured to register a position of the at least one registration marker.

16. The registration system of claim 1 , wherein the first pin guide comprises a first barrel extending distally from the guide body, the first pin guide defining a through-hole within the first barrel, the second pin guide comprises a second barrel extending distally from the guide body, the second pin guide defining a through-hole within the second barrel.

17. The registration system of claim 1 , further comprising a navigation system and a tracking device configured to be tracked by the navigation system.

18. The registration system of claim 17 , further comprising a surgical cutting tool configured to be tracked by the navigation system.

19. The registration system of claim 17 , further comprising at least one computer in communication with the navigation system, the at least one computer configured to receive positional data associated with a position of the at least one registration marker by way of the tracking device being tracked by the navigation system.

20. The registration system of claim 19 , wherein the at least one computer is configured to register the positional data with a computer bone model representative of a patient bone.

Assignees

• Mako Surgical Corp

Inventors

• Wu Zhu
• Gupta Sunil
• Chang Ta-Cheng
• Zhang Zenan
• Bechtold Kevin
• Thompson Matthew
• Branch Eric
• Chandra Varun
• Bagci Ahmet

Classifications

• A61F2/4609 Primary

  of acetabular cups · CPC title

• A61B6/505

  for diagnosis of bone · CPC title

• A61B17/8897

  Guide wires or guide pins · CPC title

• G06T7/33

  using feature-based methods · CPC title

• A61B34/25

  User interfaces for surgical systems · CPC title