Patient-specific preoperative planning simulation techniques

Patent metadata

Field	Value
Publication number	US-11844574-B2
Application number	US-202217666630-A
Country	US
Kind code	B2
Filing date	Feb 8, 2022
Priority date	Nov 14, 2017
Publication date	Dec 19, 2023
Grant date	Dec 19, 2023

Abstract

A preoperative surgical planning system uses a head-mounted device to execute a preoperative surgical simulation whereby a virtual tool and a virtual anatomical model are provided on the display of the head-mounted device. The virtual tool is tracked relative to the virtual anatomical model in the preoperative surgical simulation in which the virtual tool is moveable in response to receipt of a control input from the wearer of the head-mounted device and wherein the virtual tool is configured to remove a portion of the virtual anatomical model. A planning parameter is automatically generated based on tracking of the virtual tool relative to the virtual anatomical model in the preoperative surgical simulation. The generated planning parameter is stored for future retrieval by a surgical system to facilitate intraoperative surgery based on the generated planning parameter.

First claim

The invention claimed is:

1. A preoperative surgical planning system comprising: a head-mounted device comprising one or more controllers and a display that is configured to be located in front of the eyes of a wearer of the head-mounted device, the head-mounted device being configured to receive a control input from the wearer, and the one or more controllers being configured to execute a preoperative surgical simulation with the head-mounted device wherein the one or more controllers are configured to:
load a virtual tool and a virtual bone model for the preoperative surgical simulation, wherein the virtual bone model corresponds to a physical bone to be treated;
display the virtual tool and the virtual bone model on the display of the head-mounted device;
track the virtual tool relative to the virtual bone model in the preoperative surgical simulation in which the virtual tool is moveable in response to receipt of the control input from the wearer of the head-mounted device and wherein the virtual tool is configured to remove a portion of the virtual bone model;
capture a first state of the virtual bone model before removal of the portion of the virtual bone model by the virtual tool;
capture a second state of the virtual bone model after removal of the portion of the virtual bone model by the virtual tool;
compare the first state and the second state of the virtual bone model to automatically generate planning parameters comprising (1) planned removal dimensions for the physical bone to be treated and (2) a virtual cutting boundary configured to constrain movement of an intraoperative tool of the surgical system from reaching an undesired area of the physical bone; and
store the generated planning parameters for future retrieval by a surgical system to facilitate intraoperative surgery based on the generated planning parameters.

2. The preoperative surgical planning system of claim 1 , wherein the generated planning parameters further include a tool path, the tool path being configured to constrain movement of an intraoperative tool of the surgical system relative to the physical bone.

3. The preoperative surgical planning system of claim 1 , wherein the generated planning parameters further include one or more of: a feed rate of the virtual tool, a cutting speed of the virtual tool, an orientation of the virtual tool, and a sequence of selection of a plurality of virtual tools.

4. The preoperative surgical planning system of claim 1 , wherein the display of the head-mounted device comprises one or more of: an augmented reality display, a virtual reality display, a mixed reality display, or a holographic display.

5. The preoperative surgical planning system of claim 1 , wherein the head-mounted device comprises a sensing system coupled to the one or more controllers, the sensing system being configured to sense an action of the wearer of the head-mounted device and the one or more controllers are configured to move the virtual tool in the preoperative surgical simulation in response to receipt of the control input from the sensed action.

6. The preoperative surgical planning system of claim 5 , wherein the sensing system comprises one or more of: a computer vision system, an infrared motion sensor, an inertial measurement system, and a trackable hand-held wand.

7. A method of operating a preoperative surgical planning system, the preoperative surgical planning system comprising a head-mounted device including one or more controllers and a display that is configured to be located in front of the eyes of a wearer of the head-mounted device, the head-mounted device being configured to receive a control input from the wearer, and the one or more controllers being configured to execute a preoperative surgical simulation with the head-mounted device, wherein the method comprises the one or more controllers performing the following steps:
loading a virtual tool and a virtual bone model for the preoperative surgical simulation;
displaying the virtual tool and the virtual bone model on the display of the head-mounted device;
tracking the virtual tool relative to the virtual bone model in the preoperative surgical simulation whereby the virtual tool moves in response to receiving the control input from the wearer of the head-mounted device and wherein the virtual tool is moved for removing a portion of the virtual bone model;
capturing a first state of the virtual bone model before removal of the portion of the virtual bone model by the virtual tool;
capturing a second state of the virtual bone model after removal of the portion of the virtual bone model by the virtual tool;
comparing the first state and the second state of the virtual bone model for automatically generating planning parameters comprising (1) planned removal dimensions for the physical bone to be treated and (2) a virtual cutting boundary configured to constrain movement of an intraoperative tool of the surgical system from reaching an undesired area of the physical bone; and
storing the generated planning parameters for future retrieval by a surgical system to facilitate intraoperative surgery based on the generated planning parameters.

8. The method of claim 7 , further comprising automatically generating the planning parameters to include a tool path, the tool path being configured to constrain movement of an intraoperative tool of the surgical system relative to the physical bone.

9. The method of claim 7 , further comprising automatically generating the planning parameters to include one or more of: a feed rate of the virtual tool, a cutting speed of the virtual tool, an orientation of the virtual tool, and a sequence of selection of a plurality of virtual tools.

10. The method of claim 7 , comprising utilizing machine learning or artificial intelligence for predictively generating the planning parameter.

11. A system comprising:
a preoperative surgical planning system comprising:
a head-mounted device comprising one or more controllers and a display that is configured to be located in front of the eyes of a wearer of the head-mounted device, the head-mounted device being configured to receive a control input from the wearer, and the one or more controllers being configured to execute a preoperative surgical simulation with the head-mounted device wherein the one or more controllers are configured to:
load a virtual tool and a virtual bone model for the preoperative surgical simulation, the virtual bone model corresponding to a physical bone to be treated;
display the virtual tool and the virtual bone model on the display of the head-mounted device;
track the virtual tool relative to the virtual bone model in the preoperative surgical simulation in which the virtual tool is moveable in response to receipt of the control input from the wearer of the head-mounted device and wherein the virtual tool is configured to remove a portion of the virtual bone model;
capture a first state of the virtual bone model before removal of the portion of the virtual bone model by the virtual tool;
capture a second state of the virtual bone model after removal of the portion of the virtual bone model by the virtual tool;
compare the first state and the second state of the virtual bone model to automatically generate planning parameters comprising (1) planned removal dimensions for the physical bone to be treated and (2) a virtual cutting boundary configured to constrain movement of an intraoperative tool of the surgical system from reaching an undesired area of the physical bone; and
store the generated planning parameters; and

an intraoperative surgical system comprising:
a robotic manipulator being configured to support a surgical

Assignees

• Stryker Corp

Inventors

• Vandyken Benjamin

Classifications

• A61B34/10 Primary

  Computer-aided planning, simulation or modelling of surgical operations · CPC title

• A61B34/20

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

• A61B34/30

  Surgical robots · CPC title

• A61B90/37

  Surgical systems with images on a monitor during operation · CPC title

• G06T19/003

  Navigation within 3D models or images · CPC title