Preoperative planning and associated intraoperative registration for a surgical system

Patent metadata

Field	Value
Publication number	US-12042230-B2
Application number	US-202117553915-A
Country	US
Kind code	B2
Filing date	Dec 17, 2021
Priority date	May 27, 2016
Publication date	Jul 23, 2024
Grant date	Jul 23, 2024

Abstract

Aspects of the disclosure may involve a method of generating resection plane data for use in planning an arthroplasty procedure on a patient bone. The method may include: obtaining patient data associated with at least a portion of the patient bone, the patient data captured using a medical imaging machine; generating a three-dimensional patient bone model from the patient data, the patient bone model including a polygonal surface mesh; identifying a location of a posterior point on the polygonal surface mesh; creating a three-dimensional shape centered at or near the location; identifying a most posterior vertex of all vertices of the polygonal surface mesh that may be enclosed by the three-dimensional shape; using the most posterior vertex as a factor for determining a posterior resection depth; and generating resection data using the posterior resection depth, the resection data configured to be utilized by a navigation system during the arthroplasty procedure.

First claim

What is claimed is:

1. A computer-implemented method of generating resection plane and checkpoint positioning data for use in planning an arthroplasty procedure on a patient bone, the computer-implemented method comprising:
generating a three-dimensional patient bone model from patient data associated with at least a portion of the patient bone;
identifying a first location of a first checkpoint on the three-dimensional patient bone model;
identifying a second location of a resection plane relative to the three-dimensional patient bone model, the resection plane defining a resection surface on the three-dimensional patient bone model to be exposed following a resection;
determining a shortest signed distance vector from the first location to a point on the resection surface;
queuing a warning if the first location of the first checkpoint is located too close to the second location of the resection plane based on information associated with the shortest signed distance vector; and
generating the resection plane and checkpoint positioning data using the information.

2. The computer-implemented method of claim 1 , further comprising identifying a normal line for the resection surface, the normal line extending away from the three-dimensional patient bone model and perpendicular to the resection surface.

3. The computer-implemented method of claim 2 , further comprising determining the first location of the first checkpoint is located too close to the second location of the resection plane when the normal line and the shortest signed distance vector point in opposite directions.

4. The computer-implemented method of claim 3 , wherein the three-dimensional patient bone model is a femur bone model.

5. The computer-implemented method of claim 3 , wherein the three-dimensional patient bone model is a tibial bone model.

6. The computer-implemented method of claim 2 , further comprising determining the first checkpoint is located too close to the resection plane when: the normal line and the shortest signed distance vector point in a same direction, and a magnitude of the shortest signed distance vector is less than or equal to about 4.50 mm.

7. The computer-implemented method of claim 6 , wherein the three-dimensional patient bone model is a femur bone model.

8. The computer-implemented method of claim 6 , wherein the three-dimensional patient bone model is a tibial bone model.

9. The computer-implemented method of claim 1 , further comprising obtaining the patient data associated with the at least a portion of the patient bone, the patient data captured using a medical imaging machine.

10. The computer-implemented method of claim 1 , further comprising modifying the first location of the first checkpoint to be at a different position on the three-dimensional patient bone model.

11. The computer-implemented method of claim 10 , further comprising queuing another warning if the modified first location of the first checkpoint is located too close to the second location of the resection plane based on information associated with the shortest signed distance vector.

12. The computer-implemented method of claim 1 , wherein the resection plane and checkpoint positioning data are configured to be utilized by a navigation system during the arthroplasty procedure.

13. The computer-implemented method of claim 12 , wherein the navigation system operates in conjunction with an autonomous robot or a surgeon-assisted device in performing the arthroplasty procedure.

14. The computer-implemented method of claim 1 , wherein the first checkpoint comprises a distal end configured to be positioned internal of a bone surface of the three-dimensional patient bone model.

15. The computer-implemented method of claim 14 , wherein the first checkpoint further comprises a threaded shaft extending proximally from the distal end, and a head at a proximal end, the head having a mechanical interface for interfacing with a registration instrument.

Assignees

• Mako Surgical Corp

Inventors

• Otto Jason Karl
• Abbasi Abdullah Zafar
• Ikits Milan
• Perez Daniel
• Mu Shang
• Li Xiping
• Chang Ta-Cheng

Classifications

• A61B34/32

  operating autonomously · CPC title

• A61B2505/05

  Surgical care · CPC title

• A61B5/1077

  Measuring of profiles · CPC title

• A61B5/1075

  for measuring dimensions by non-invasive methods, e.g. for determining thickness of tissue layer (A61B8/0858 takes precedence) · CPC title

• A61B5/0037

  Performing a preliminary scan, e.g. a prescan for identifying a region of interest · CPC title