Systems and methods for surgical planning based on bone density

Patent metadata

Field	Value
Publication number	US-12076090-B2
Application number	US-202318095883-A
Country	US
Kind code	B2
Filing date	Jan 11, 2023
Priority date	Dec 27, 2018
Publication date	Sep 3, 2024
Grant date	Sep 3, 2024

Abstract

A system includes a robotic device and a processing circuit programmed to enable planning of a placement of an implant relative to a bone based on bone densities of a plurality of regions of the bone, generate a control object based on the placement of the implant, and control the robotic device using the control object.

First claim

What is claimed is:

1. A surgical system, comprising:
a robotic device; and
a processing circuit programmed to:
enable planning of a placement of an implant relative to a bone based on bone densities of a plurality of regions of the bone by generating a centroid of a first region of the plurality of regions based on the first region having a different bone density than a second region of the plurality of regions of the bone;
generate a control object based on the placement of the implant; and
control the robotic device using the control object.

2. The surgical system of claim 1 , wherein the processing circuit is programmed to:
demarcate first region of the plurality of regions of the bone as a soft tissue attachment point based on the bone densities of the plurality of regions; and
enable planning of the placement of the implant relative to the soft tissue attachment point.

3. The surgical system of claim 2 , wherein the processing circuit is programmed to enable planning of the placement of the implant relative to the soft tissue attachment point by aligning an axis of the implant with a point associated with the first region.

4. The surgical system of claim 2 , wherein a first bone density of the first region is greater than a second bone density of the second region of the plurality of regions of the bone.

5. The surgical system of claim 1 , the processing circuit is programmed to plan the placement of the implant by optimizing density of a cut plane based on the bone densities of the plurality of regions of the bone, the cut plane based on the placement of the implant relative to the bone.

6. The surgical system of claim 1 , further comprising a screen, wherein the processing circuit is programmed to cause the screen to display a visualization of the bone densities of the plurality of regions of the bone and a virtual representation of the implant relative to the plurality of regions of the bone.

7. The surgical system of claim 6 , wherein the processing circuit is further configured to cause the screen to display the centroid of the first region of the plurality of regions of the bone, the first region having a higher density than the second region of the plurality of regions.

8. The surgical system of claim 6 , wherein the processing circuit is further configured to cause the screen to display a demarcation around the first region of the plurality of regions of the bone, the first region having a higher density than the second region of the plurality of regions.

9. A method of operating a robotic device, comprising:
providing a graphical user interface for planning a placement of an implant relative to a bone based on bone densities of a plurality of regions of the bone, the graphical user interface comprising a visualization of the bone densities of the plurality of regions and an indication of a centroid of a first region of the plurality of regions of the bone based on the first region having a higher bone density than a second region of the plurality of regions of the bone;
generating a control object based on the placement of the implant; and
controlling the robotic device using the control object.

10. The method of claim 9 , comprising:
demarcating the first region of the plurality of regions of the bone as a soft tissue attachment point; and
planning the placement of the implant relative to the soft tissue attachment point.

11. The method of claim 9 , comprising planning the placement of the implant relative to the bone based on the bone densities of the plurality of regions of the bone by:
determining the centroid of the first region of the plurality of regions of the bone based on the first region having the higher bone density than the second region of the plurality of regions of the bone; and
aligning an element of the implant with the centroid.

12. The method of claim 9 , wherein providing the graphical user interface comprises simultaneously presenting a plurality of views of the bone from a plurality of perspectives.

13. The method of claim 12 , wherein the graphical user interface further comprises a representation of the implant or the control object positioned relative to the plurality of regions in accordance with the placement.

14. The method of claim 9 , comprising planning the placement of the implant relative to the bone based on the bone densities of the plurality of regions of the bone by optimizing density of a cut plane associated with the control object based on the bone densities of the plurality of regions of the bone.

15. The method of claim 9 , comprising planning the placement of the implant relative to the bone based on the bone densities of the plurality of regions of the bone by determining that the placement provides optimal implant fixation based on the bone densities.

16. The method of claim 9 , wherein controlling the robotic device using the control object comprises causing the robotic device to constrain a surgical tool interfacing with the robotic device to an area defined by the control object.

17. The method of claim 9 , further comprising determining the bone densities of the plurality of regions of the bone based on computed tomography images of the bone.

18. One or more non-transitory computer-readable media storing program instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:
enabling planning of a placement of an implant relative to a bone based on bone densities of a plurality of regions of the bone by generating a centroid of a first region of the plurality of regions of the bone as a soft tissue attachment point based on the bone densities;
generating a control object based on the placement of the implant; and
controlling a robotic device using the control object.

19. The one or more non-transitory computer-readable media of claim 18 , wherein the operations comprise:
generating the centroid of the first region of the plurality of regions of the bone by determining that the first region has a higher bone density than a second region of the plurality of regions of the bone; and
enabling alignment of an element of the implant with the centroid.

20. The one or more non-transitory computer-readable media of claim 18 , wherein the operations comprise generating a visualization of the bone comprising a demarcation of the first region.

Assignees

• Mako Surgical Corp

Inventors

• Hampp Emily
• Liarno Sally
• Yildirim Gokce
• Nadzadi Mark Ellsworth
• Clark Gavin

Classifications

• A61B2034/107

  Visualisation of planned trajectories or target regions · CPC title

• A61B2034/105

  Modelling of the patient, e.g. for ligaments or bones · CPC title

• A61B34/70

  Manipulators specially adapted for use in surgery · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B34/20

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