Robotic revision knee arthroplasty virtual reconstruction system

Patent metadata

Field	Value
Publication number	US-12569306-B2
Application number	US-202217864682-A
Country	US
Kind code	B2
Filing date	Jul 14, 2022
Priority date	Jul 19, 2021
Publication date	Mar 10, 2026
Grant date	Mar 10, 2026

Abstract

Systems that may be used for performing a robotic revision knee arthroplasty are disclosed. Such systems can optionally include a processor that can: intraoperatively receive a plurality of position data obtained by a robotic surgical device after a primary implant has been removed from a bone, the plurality of position data correspond to a plurality of landmarks of the bone of a patient, the plurality of landmarks include a position of an intramedullary canal of the bone; select from a database having a plurality of mean models of a corresponding bone a mean model that comprises a best match based upon the plurality of landmarks of the bone: generate an updated model by altering the mean model to fit an anatomy of the bone of the patient based upon the plurality of landmarks; and output to a user interface the updated model for use during the robotic revision knee arthroplasty.

First claim

What is claimed is:

1 . A system for performing a robotic revision knee arthroplasty, the system comprising:
a robotic surgical device; a user interface having a display; and a processor, communicatively coupled to the surgical robotic device and the user interface, the processor configured to: intraoperatively receive a plurality of position data obtained by the robotic surgical device after a primary implant has been removed from a bone, wherein the plurality of position data correspond to a plurality of landmarks of the bone of a patient, wherein the plurality of landmarks include a position of an intramedullary canal of the bone; select from a database having a plurality of mean models of a corresponding bone a mean model that comprises a best match based upon the plurality of landmarks of the bone; generate an updated model by altering the mean model to fit an anatomy of the bone of the patient based upon the plurality of landmarks; generate a virtual replication of the bone of the patient based upon the updated model; generate virtual representations of one or more revision implants; superimpose the one or more revision implants on the updated model including on the virtual replication of the bone of the patient; superimpose the plurality of landmarks as one or more of points, at least one axis or a combination of the one or more points and the at least one axis on the virtual replication of the bone of the patient and on the one or more revision implants; output to the user interface the updated model with the virtual replication of the bone, the one or more revision implants, and the plurality of landmarks for use during the robotic revision knee arthroplasty; and controlling the robotic surgical device to perform the robotic revision knee arthroplasty based upon the undated model.

2 . The system of claim 1 , wherein the updated model virtually replicates in at least two dimensions the bone of the patient.

3 . The system of claim 1 , wherein the updated model shows a degree of confidence of the updated model matching the anatomy of the bone of the patient at the plurality of landmarks.

4 . The system of claim 1 , wherein the processor is configured to generate virtual representations of one or more an offset of a stem, a rotation of the stem, a brand of revision implant, a size of the revision implant, a reproduction of a knee joint line of the patient, and one or more resections to the bone, and wherein one or more of these virtual representations are displayed with the updated model.

5 . The system of claim 4 , wherein the processor is configured via input from the user interface to:
alter the virtual representations to reflect changes by a user to one or more of the offset of the stem, the rotation of the stem, the brand of the revision implant, the size of the revision implant, the reproduction of a knee joint line of the patient, and the one or more resections to the bone, and wherein one or more of these altered virtual representations are displayed with the updated model.

6 . The system of claim 4 , wherein the processor is configured via the user interface to issue a warning that based upon a virtual selection by a user regarding one or more of the offset of the stem, the size of the stem or a size of a bone interfacing feature that a breakage of the bone is likely to occur if such selection is implemented during the arthroplasty.

7 . The system of claim 1 , wherein the processor is configured via the user interface to prompt a user to one or more of: remind the user a step of the arthroplasty has been missed, confirm completion of each step of the arthroplasty, affirm selection of a final combination of implants made virtually by the user, or confirm that all bone preparation is complete and ready for use of trial implants or for the final combination of implants to be implanted on the bone.

8 . The system of claim 1 , wherein the processor is configured to overlay an image of the bone on the updated model, wherein the image is derived from imaging the bone of the patient.

9 . The system of claim 8 , wherein the overlay is displayed on a mixed reality device.

10 . The system of claim 8 , wherein one of the image of the bone or the updated model is displayed semi-transparent.

11 . The system of claim 10 , wherein areas of correspondence or lack of correspondence between the image of the bone and the updated model are highlighted by at least one of a color difference or indicia.

12 . The system of claim 1 , further comprising a navigation tool configured to couple to a reamer, wherein the processor, based upon a position of the navigation tool when mounted to the reamer, determines the position of the intramedullary canal of the bone.

13 . The system of claim 12 , wherein the processor is configured to intraoperatively register the intramedullary canal of the bone using the navigation tool for the arthroplasty.

14 . A system for performing a robotic revision knee arthroplasty, the system comprising:
a reamer; a navigation tool configured to couple to the reamer; and a robotic surgical device including; a processor configured to: intraoperatively receive position data regarding a position of the navigation tool when coupled to the reamer after a primary implant has been removed from a bone of a patient, determine based upon the position data a position of an intramedullary canal of the bone based upon the position of the navigation tool, output to a user interface for display the position of the intramedullary canal for use during the robotic revision knee arthroplasty, wherein the display of the position of the intramedullary canal includes display of the intramedullary canal relative to a virtual replication of the bone of the patient and relative to a virtual representation of one or more revision implants with the the one or more revision implants superimposed on the virtual replication of the bone of the patient, and controlling the robotic surgical device to perform the robotic revision knee arthroplasty based upon the position of the intramedullary canal.

15 . The system of claim 14 , wherein the processor is configured to based upon the determined position of the intramedullary canal:
select from a database having a plurality of mean models of a corresponding bone a mean model that comprises a best match based upon at least the position of the intramedullary canal; generate an updated model by altering the mean model to fit an anatomy of the bone of the patient based upon at least the position of the intramedullary canal; and output to the user interface for display the updated model for use during the robotic revision knee arthroplasty.

16 . The system of claim 15 , wherein the updated model shows the position of the intramedullary canal as an axis on the updated model, and wherein the updated model virtually replicates in at least two dimensions the bone of the patient.

17 . The system of claim 15 , wherein the updated model shows a plurality of landmarks including the intramedullary canal as a combination of one or more points and at least one axis, and wherein the combination of one or more points and at least one axis are reproduced on the updated model of the patient.

18 . The system of claim 17 , wherein the updated model shows a degree of confidence of the updated model matching an anatomy of the bone of the patient at the plurality of landmarks.

19 . The system of claim 18 , wherein the processor is configured via the user interface to issue a wa

Assignees

• Orthosoft Ulc

Inventors

• Facchinello Yann
• Pelletier Vincent
• Sanford Adam H
• Leveille Catherine
• Henderson Adam D

Classifications

• A61B2034/254

  being adapted depending on the stage of the surgical procedure · CPC title

• A61B2034/252

  indicating steps of a surgical procedure · CPC title

• A61B34/20

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

• A61B2034/108

  Computer aided selection or customisation of medical implants or cutting guides · CPC title

• A61B17/164

  intramedullary · CPC title