Source: http://www.google.com/patents/US7547307?dq=6,590,872
Timestamp: 2015-05-03 15:25:17
Document Index: 197025535

Matched Legal Cases: ['Application No. 60', 'Application No. 60', 'arts 10', 'arts 10', 'arts 10', 'arts 10']

Patent US7547307 - Computer assisted knee arthroplasty instrumentation, systems, and processes - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign inAdvanced Patent SearchPatentsInstrumentation, systems, and processes for tracking anatomy, instrumentation, trial implants, implants, and references, and rendering images and data related to them in connection with surgical operations, for example total knee arthroplasties (�TKA�). These instrumentation, systems, and processes...http://www.google.com/patents/US7547307?utm_source=gb-gplus-sharePatent US7547307 - Computer assisted knee arthroplasty instrumentation, systems, and processesAdvanced Patent SearchPublication numberUS7547307 B2Publication typeGrantApplication numberUS 10/229,372Publication dateJun 16, 2009Filing dateAug 27, 2002Priority dateFeb 27, 2001Fee statusPaidAlso published asCA2496054A1, CA2496054C, DE60325376D1, EP1531742A1, EP1531742B1, US20030069591, US20070233121, WO2004019792A1Publication number10229372, 229372, US 7547307 B2, US 7547307B2, US-B2-7547307, US7547307 B2, US7547307B2InventorsChristopher Patrick Carson, Crista Smothers, Christopher M. LyonsOriginal AssigneeSmith & Nephew, Inc.Export CitationBiBTeX, EndNote, RefManPatent Citations (105), Non-Patent Citations (53), Referenced by (27), Classifications (42), Legal Events (3) External Links: USPTO, USPTO Assignment, EspacenetComputer assisted knee arthroplasty instrumentation, systems, and processes
US 7547307 B2Abstract
Instrumentation, systems, and processes for tracking anatomy, instrumentation, trial implants, implants, and references, and rendering images and data related to them in connection with surgical operations, for example total knee arthroplasties (�TKA�). These instrumentation, systems, and processes are accomplished by using a computer to intraoperatively obtain images of body parts and to register, navigate, and track surgical instruments. Disclosed in this document are also alignment modules and other structures and processes which allow for coarse and fine alignment of instrumentation and other devices relative to bone for use in connection with the tracking systems of the present invention.
1. Apparatus for adjustably positioning surgical instrumentation relative to a femur or a tibia, comprising:
a. a structural member adapted to fasten to the femur or the tibia;
b. instrumentation adapted to guide a resection device employed to resect bone from the femur or the tibia;
c. an alignment module connecting the structural member and the instrumentation, comprising:
i. a first member connected to the instrumentation;
ii. a second member connected to the structural member and connected to the first member in a fashion that allows the second member and the first member to be varied in orientation relative to each other about at least two substantially orthogonal axes;
iii. adjustment structure for controlling motion of the second member relative to the first member and for fixing the position of the second member relative to the first member; and
d. a fiducial connected at least indirectly to the instrumentation, which fiducial is capable of being tracked in position and orientation in at least three dimensions by a surgical navigation system.
2. Apparatus according to claim 1 further comprising an intermediate member connected to the first member in a fashion that allows the intermediate member to move with at least one degree of freedom relative to the first member; and also connected to the second member in a fashion that allows the intermediate member to move with at least one degree of freedom relative to the second member.
3. Apparatus according to claim 2 in which the first and intermediate members are gimbals.
4. Apparatus according to claim 2 in which the intermediate and second members are gimbals.
5. Apparatus according to claim 1 in which the structural member is an external fixation device.
6. Apparatus according to claim 1 in which the structural member cooperates with the instrumentation via a ball and socket linkage.
7. Apparatus for adjustably positioning surgical instrumentation relative to bone, comprising:
a. a structural member adapted to fasten to bone;
b. surgical instrumentation adapted to guide surgical devices; and
c. an alignment module, comprising:
i. a structural member retention component adapted to connect to the structural member;
ii. a surgical instrumentation retention component adapted to connect to the surgical instrumentation; and
iii. an intermediate component adapted to connect to the structural member retention component in a fashion that allows the structural member retention component and the intermediate component to rotate relative to each other about at least one axis, and adapted to connect to the surgical instrumentation retention component in a fashion that allows the surgical instrumentation retention component and the intermediate component to rotate relative to each other about at least one axis two axes;
iv. an adjustment mechanism connecting the intermediate component and the structural member retention component, the adjustment mechanism adapted to control and fix orientation of the intermediate component relative to the structural member retention component; and
v. an adjustment mechanism connecting the intermediate component and the surgical instrumentation retention component, the adjustment mechanism adapted to control and fix orientation of the intermediate component and the surgical instrumentation retention component;
wherein at least one of the adjustment mechanisms is a worm gear and follower mechanism.
8. Apparatus according to claim 7 in which the surgical instrumentation retention component and the intermediate component are gimbals.
9. Apparatus according to claim 7 in which the structural member retention component and the intermediate component are gimbals.
10. Apparatus according to claim 7 in which the structural member is an extramedullary rod.
11. Apparatus according to claim 7 further comprising at least one fiducial connected at least indirectly to the instrumentation for tracking the instrumentation in a surgical navigation system.
12. A system for performing knee surgery comprising:
(a) an imager for obtaining an image of at least portions of the knee joint, wherein the imager and at least one bone forming part of the knee joint are each attached to a fiducial capable of being tracked by a position sensor;
(c) a computer adapted to store at least one image of at least portions of the knee joint and to receive information from said at least one sensor in order to track position and orientation of said fiducials and thus the knee joint;
(d) a rod adapted to be fastened to bone in the vicinity of the knee joint;
(e) surgical instrumentation adapted to guide devices adapted to cut bone in the vicinity of the knee joint;
(f) a variable alignment module connecting the rod and the surgical instrumentation, and adapted to allow adjustment and fixation of angular orientation of the surgical instrumentation relative to the rod about at least two axes;
(g) a fiducial at least indirectly connected to the surgical instrumentation in order to allow position and orientation of the instrumentation to be tracked by the system; and
(h) a monitor adapted to receive information from the computer in order to display at least one image of the surgical instrumentation, positioned and oriented relative to the knee joint for navigation and positioning of the surgical instrumentation relative to the knee joint.
13. Apparatus for adjustably positioning surgical instrumentation relative to bone, comprising:
wherein the structural member is an extramedullary or an intramedullary rod.
14. Apparatus according to claim 13 in which the surgical instrumentation retention component and the intermediate component are gimbals.
15. Apparatus according to claim 13 in which the structural member retention component and the intermediate component are gimbals.
16. Apparatus according to claim 13 in which at least one of the adjustment mechanisms is a worm gear and follower mechanism.
17. An adjustment apparatus for adjustably positioning surgical instrumentation relative to a femur, comprising:
a. an index member adapted to be secured to the femur, said index member having a longitudinal axis, wherein the index member is an intramedullary or an extramedullary rod;
b. a cutting guide adapted to assist in guidance of a resection device employed to resect bone from said femur; and
i. an index member retention structure adapted to connect to the index member;
ii. a cutting guide retention structure adapted to connect to the cutting guide; and
iii. an intermediate adjustment structure coupling the index member retention structure and the cutting guide retention structure, the intermediate structure permitting the cutting guide retention structure to be adjusted and fixed in place in an infinite number of positions throughout at least the following ranges;
a first rotational range relative to the index member;
a first translational range relative to the index member;
wherein the intermediate adjustment structure couples the index member retention structure and the cutting guide retention structure via at least one of a ball an socket mechanism, a gimbal, or a worm gear and follower mechanism.
18. An adjustment apparatus for adjustably positioning surgical instrumentation relative to a femur, comprising:
a. an index member adapted to be secured to the femur, said index member having a longitudinal axis;
a first rotational range relative to the index member, wherein the first rotational range is about the longitudinal axis of the index member;
19. The adjustment apparatus of claim 18, wherein the intermediate structure further permits the cutting guide retention structure to be adjusted and fixed in place in an infinite number of positions throughout a second rotational range.
20. The adjustment apparatus of claim 19, wherein the second rotational range is perpendicular to the longitudinal axis of the index member.
21. The adjustment apparatus of claim 19, wherein the intermediate structure further permits the cutting guide retention structure to be adjusted and fixed in place in an infinite number of positions throughout a third rotational range.
22. The adjustment apparatus of claim 21, wherein the rotational range is perpendicular to the longitudinal axis of the index member.
This application claims priority to U.S. Ser. No. 10/084,012 filed on Feb. 27, 2002, which claims the benefit of U.S. Provisional Application No. 60/355,899 filed on Feb. 11, 2002 and U.S. Provisional Application No. 60/271,818 filed on Feb. 27, 2001.
Instrumentation, systems, and processes for tracking anatomy, implements, instrumentation, trial implants, implant components and virtual constructs or references, and rendering images and data related to them in connection with orthopedic, surgical and other operations, for example Total Knee Arthroplasty (�TKA�). Anatomical structures and such items may be attached to or otherwise associated with fiducial functionality, and constructs may be registered in position using fiducial functionality whose position and orientation can be sensed and tracked by systems and according to processes of the present invention in three dimensions in order to perform TKA. Such structures, items and constructs can be rendered onscreen properly positioned and oriented relative to each other using associated image files, data files, image input, other sensory input, based on the tracking. Such instrumentation, systems, and processes, among other things, allow surgeons to navigate and perform TKA using images that reveal interior portions of the body combined with computer generated or transmitted images that show surgical implements, instruments, trials, implants, and/or other devices located and oriented properly relative to the body part. Such instrumentation, systems, and processes allow, among other things, more accurate and effective resection of bone, placement and assessment of trial implants and joint performance, and placement and assessment of performance of actual implants and joint performance.
Instrumentation, systems, and processes according to one embodiment of the present invention use position and/or orientation tracking sensors such as infrared sensors acting stereoscopically or otherwise to track positions of body parts, surgery-related items such as implements, instrumentation, trial prosthetics, prosthetic components, and virtual constructs or references such as rotational axes which have been calculated and stored based on designation of bone landmarks. Processing capability such as any desired form of computer functionality, whether standalone, networked, or otherwise, takes into account the position and orientation information as to various items in the position sensing field (which may correspond generally or specifically to all or portions or more than all of the surgical field) based on sensed position and orientation of their associated fiducials or based on stored position and/or orientation information. The processing functionality correlates this position and orientation information for each object with stored information regarding the items, such as a computerized fluoroscopic imaged file of a femur or tibia, a wire frame data file for rendering a representation of an instrumentation component, trial prosthesis or actual prosthesis, or a computer generated file relating to a rotational axis or other virtual construct or reference. The processing functionality then displays position and orientation of these objects on a screen or monitor, or otherwise. Thus, instrumentation, systems, and processes according to one embodiment of the invention can display and otherwise output useful data relating to predicted or actual position and orientation of body parts, surgically related items, implants, and virtual constructs for use in navigation, assessment, and otherwise performing surgery or other operations.
As one example, images such as fluoroscopy images showing internal aspects of the femur and tibia can be displayed on the monitor in combination with actual or predicted shape, position and orientation of surgical implements, instrumentation components, trial implants, actual prosthetic components, and rotational axes in order to allow the surgeon to properly position and assess performance of various aspects of the joint being repaired, reconstructed or replaced. The surgeon may navigate tools, instrumentation, trial prostheses, actual prostheses and other items relative to bones and other body parts in order to perform TKA's more accurately, efficiently, and with better alignment and stability. Instrumentation, systems, and processes according to the present invention can also use the position tracking information and, if desired, data relating to shape and configuration of surgical related items and virtual constructs or references in order to produce numerical data which may be used with or without graphic imaging to perform tasks such as assessing performance of trial prosthetics statically and throughout a range of motion, appropriately modifying tissue such as ligaments to improve such performance and similarly assessing performance of actual prosthetic components which have been placed in the patient for alignment and stability. Instrumentation, systems, and processes according to the present invention can also generate data based on position tracking and, if desired, other information to provide cues on screen, aurally or as otherwise desired to assist in the surgery such as suggesting certain bone modification steps or measures which may be taken to release certain ligaments or portions of them based on performance of components as sensed by instrumentation, systems, and processes according to the present invention.
According to a preferred embodiment of instrumentation, systems, and processes according to the present invention, at least the following steps are involved:
Instrumentation, systems, and processes according to the present invention represent significant improvement over other previous instrumentation, systems, and processes. For instance, systems which use CT and MRI data generally require the placement of reference frames pre-operatively which can lead to infection at the pin site. The resulting 3D images must then be registered, or calibrated, to the patient anatomy intraoperatively. Current registration methods are less accurate than the fluoroscopic system. These imaging modalities are also more expensive. Some �imageless� systems, or non-imaging systems, require digitizing a large number of points to define the complex anatomical geometries of the knee at each desired site. This can be very time intensive resulting in longer operating room time. Other imageless systems determine the mechanical axis of the knee by performing an intraoperative kinematic motion to determine the center of rotation at the hip, knee, and ankle. This requires placement of reference frames at the iliac crest of the pelvis and in or on the ankle. This calculation is also time consuming at the system must find multiple points in different planes in order to find the center of rotation. This is also problematic in patients with a pathologic condition. Ligaments and soft tissues in the arthritic patient are not normal and thus will give a center of rotation that is not desirable for normal knees. Robotic systems require expensive CT or MRI scans and also require pre-operative placement of reference frames, usually the day before surgery. These systems are also much slower, almost doubling operating room time and expense.
Some systems provide variable alignment modules, but none of these systems allow gross placement of cutting instruments followed by fine adjustment of cutting instruments through computer assisted navigation technology. Further, these systems can only be used with tibial instrumentation and cannot be used for femoral alignment and cutting.
FIG. 1 is a schematic view of a particular embodiment of instrumentation, systems, and processes according to the present invention.
FIG. 28 is a view of an extramedullary rod according to one embodiment of the present invention.
FIG. 29 is another view showing navigation and placement of an extramedullary rod according to one embodiment of the present invention.
FIG. 30 is a screen face produced according to one embodiment of the present invention which assists in navigation and/or placement of an extramedullary rod.
FIG. 31 is another view of a screen face produced according to one embodiment of the present invention which assists in navigation and/or placement of an extramedullary rod.
FIG. 32 is a view which shows navigation and placement of an alignment guide according to one embodiment of the present invention.
FIG. 33 is another view which shows navigation and placement of an alignment guide according to one embodiment of the present invention.
FIGS. 38A�C are views showing certain aspects of a gimbal alignment module according to one embodiment of the present invention.
FIGS. 39A�C are views showing other aspects of the module shown in FIGS. 38A�C.
FIGS. 40A, 40B and 40C show other aspects of the module shown in FIGS. 38A�C.
FIG. 41 shows additional aspects of the module shown in FIGS. 38A�C.
FIGS. 42A and 42B are an exploded perspective view showing certain aspects of a tibial gimbal alignment module according to one embodiment of the present invention.
FIG. 43 shows other aspects of the module shown in FIGS. 42A and 42B.
FIG. 44 shows additional aspects of the module shown in FIGS. 42A and 42B.
FIG. 45 shows additional aspects of the module shown in FIGS. 42A and 42B.
FIGS. 46A and 46B show another structure for alignment modules according to alternative embodiments of the present invention.
FIG. 47 shows another structure for alignment modules according to alternative embodiments of the present invention.
FIG. 48 is a screen face which shows a fluoroscopic image of bone in combination with computer generated images of axes and components in accordance with one embodiment of the present invention.
FIG. 49 is a screen face which shows a fluoroscopic image of bone in combination with computer generated images of axes and components in accordance with one embodiment of the present invention.
FIG. 50 is a screen face which shows a fluoroscopic image of bone in combination with computer generated images of axes and components in accordance with one embodiment of the present invention.
FIG. 51 is a screen face which shows a fluoroscopic image of bone in combination with computer generated images of axes and components in accordance with one embodiment of the present invention.
FIG. 52 is a view showing placement of a cutting block according to one embodiment of the present invention.
FIG. 53 is a screen face according to one embodiment of the present invention which may be used to assist in navigation and placement of instrumentation.
FIG. 54 is another screen face according to one embodiment of the present invention which may be used to assist in navigation and/or placement of instrumentation.
FIG. 55 is a view showing placement of an alignment guide according to one embodiment of the present invention.
FIG. 56 is another view showing placement of a cutting block according to one embodiment of the present invention.
FIG. 57 is a view showing navigation and placement of the cutting block of FIG. 45.
FIG. 58 is another view showing navigation and placement of a cutting block according to one embodiment of the present invention.
FIG. 59 is a view showing navigation and placement of a tibial cutting block according to one embodiment of the present invention.
FIG. 60 is a screen face according to one embodiment of the present invention which may be used to assist in navigation and placement of instrumentation.
FIG. 61 is another screen face according to one embodiment of the present invention which may be used to assist in navigation and placement of instrumentation.
FIG. 62 is another screen face according to one embodiment of the present invention which may be used to assist in navigation and placement of instrumentation.
FIG. 63 is another screen face according to one embodiment of the present invention which may be used to assist in navigation and placement of instrumentation.
FIG. 64 is another screen face according to one embodiment of the present invention which may be used to assist in navigation and placement of instrumentation.
FIG. 65 is a view showing navigation and placement of a femoral component using an impactor to which a fiducial according to one embodiment of the present invention is attached.
FIG. 66 is a view showing navigation and placement of a tibial trial component according to one embodiment of the present invention.
FIG. 67 is a view showing articulation of trial components during trial reduction according to one embodiment of the present invention.
FIG. 68 is a screen face according to one embodiment of the present invention which may be used to assist in assessing joint function.
FIG. 69 is a screen face according to one embodiment of the present invention which may be used to assist in assessing joint function.
FIG. 70 is a screen face according to one embodiment of the present invention which may be used to assist in assessing joint function.
FIG. 71 is a screen face according to one embodiment of the present invention which contains images and textural suggestions for assisting in assessing performance and making adjustments to improve performance of a joint in accordance with one aspect of the invention.
FIG. 72 is a screen face according to one embodiment of the present invention which contains images and textural suggestions for assisting in assessing performance and making adjustments to improve performance of a joint in accordance with one aspect of the invention.
FIG. 73 is a screen face according to one embodiment of the present invention which contains images and textural suggestions for assisting in assessing performance and making adjustments to improve performance of a joint in accordance with one aspect of the invention.
FIG. 74 is a screen face according to one embodiment of the present invention which contains images and textural suggestions for assisting in assessing performance and making adjustments to improve performance of a joint in accordance with one aspect of the invention.
FIG. 75 is a computer generated graphic according to one embodiment of the present invention which allows visualization of trial or actual components installed in the bone structure according to one embodiment of the invention.
Instrumentation, systems, and processes according to a preferred embodiment of the present invention use computer capacity, including standalone and/or networked, to store data regarding spatial aspects of surgically related items and virtual constructs or references including body parts, implements, instrumentation, trial components, prosthetic components and rotational axes of body parts. Any or all of these may be physically or virtually connected to or incorporate any desired form of mark, structure, component, or other fiducial or reference device or technique which allows position and/or orientation of the item to which it is attached to be sensed and tracked, preferably in three dimensions of translation and three degrees of rotation as well as in time if desired. In the preferred embodiment, such �fidicuals� are reference frames each containing at least three, preferably four, sometimes more, reflective elements such as spheres reflective of lightwave or infrared energy, or active elements such as LEDs.
Instrumentation, systems, and processes according to a preferred embodiment of the present invention employ a computer to calculate and store reference axes of body components such as in a TKA, for example, the mechanical axis of the femur and tibia. From these axes such systems track the position of the instrumentation and osteotomy guides so that bone resections will locate the implant position optimally, usually aligned with the mechanical axis. Furthermore, during trial reduction of the knee, the systems provide feedback on the balancing of the ligaments in a range of motion and under varus/valgus, anterior/posterior and rotary stresses and can suggest or at least provide more accurate information than in the past about which ligaments the surgeon should release in order to obtain correct balancing, alignment and stability. Instrumentation, systems and processes according to the present invention allow the attachment of a variable alignment module so that a surgeon can grossly place a cutting block based on visual landmarks or navigation and then finely adjust the cutting block based on navigation and feedback from the system.
Instrumentation, systems, and processes according to the present invention can also suggest modifications to implant size, positioning, and other techniques to achieve optimal kinematics. Instrumentation, systems, and processes according to the present invention can also include databases of information regarding tasks such as ligament balancing, in order to provide suggestions to the surgeon based on performance of test results as automatically calculated by such instrumentation, systems, and processes.
FIG. 1 is a schematic view showing one embodiment of a system according to the present invention and one version of a setting according to the present invention in which surgery on a knee, in this case a Total Knee Arthroplasty, may be performed. Instrumentation, systems, and processes according to the present invention can track various body parts such as tibia 10 and femur 12 to which fiducials of the sort described above or any other sort may be implanted, attached, or otherwise associated physically, virtually, or otherwise. In the embodiment shown in FIG. 1, fiducials 14 are structural frames some of which contain reflective elements, some of which contain LED active elements, some of which can contain both, for tracking using stereoscopic infrared sensors suitable, at least operating in concert, for sensing, storing, processing and/or outputting data relating to (�tracking�) position and orientation of fiducials 14 and thus components such as 10 and 12 to which they are attached or otherwise associated. Position sensor 16, as mentioned above, may be any sort of sensor functionality for sensing position and orientation of fiducials 14 and therefore items with which they are associated, according to whatever desired electrical, magnetic, electromagnetic, sound, physical, radio frequency, or other active or passive technique. In the preferred embodiment, position sensor 16 is a pair of infrared sensors disposed on the order of a meter, sometimes more, sometimes less, apart and whose output can be processed in concert to provide position and orientation information regarding fiducials 14.
In the embodiment shown in FIG. 1, computing functionality 18 can include processing functionality, memory functionality, input/output functionality whether on a standalone or distributed basis, via any desired standard, architecture, interface and/or network topology. In this embodiment, computing functionality 18 is connected to a monitor on which graphics and data may be presented to the surgeon during surgery. The screen preferably has a tactile interface so that the surgeon may point and click on screen for tactile screen input in addition to or instead of, if desired, keyboard and mouse conventional interfaces. Additionally, a foot pedal 20 or other convenient interface may be coupled to functionality 18 as can any other wireless or wireline interface to allow the surgeon, nurse or other desired user to control or direct functionality 18 in order to, among other things, capture position/orientation information when certain components are oriented or aligned properly. Items 22 such as trial components and instrumentation components may be tracked in position and orientation relative to body parts 10 and 12 using fiducials 14.
Computing functionality 18 can process, store and output on monitor 24 and otherwise various forms of data which correspond in whole or part to body parts 10 and 12 and other components for item 22. For example, in the embodiment shown in FIG. 1, body parts 10 and 12 are shown in cross-section or at least various internal aspects of them such as bone canals and surface structure are shown using fluoroscopic images. These images are obtained using a C-arm attached to a fiducial 14. The body parts, for example, tibia 10 and femur 12, also have fiducials attached. When the fluoroscopy images are obtained using the C-arm with fiducial 14, a position/orientation sensor 16 �sees� and tracks the position of the fluoroscopy head as well as the positions and orientations of the tibia 10 and femur 12. The computer stores the fluoroscopic images with this position/orientation information, thus correlating position and orientation of the fluoroscopic image relative to the relevant body part or parts. Thus, when the tibia 10 and corresponding fiducial 14 move, the computer automatically and correspondingly senses the new position of tibia 10 in space and can correspondingly move implements, instruments, references, trials and/or implants on the monitor 24 relative to the image of tibia 10. Similarly, the image of the body part can be moved, both the body part and such items may be moved, or the on screen image otherwise presented to suit the preferences of the surgeon or others and carry out the imaging that is desired. Similarly, when an item 22 such as an extramedullary rod 36 (See, e.g., FIG. 28), intramedullary rod, or other type of rod, that is being tracked moves, its image moves on monitor 24 so that the monitor shows the item 22 in proper position and orientation on monitor 24 relative to the femur 12. The rod 36 can thus appear on the monitor 24 in proper or improper alignment with respect to the mechanical axis and other features of the femur 12, as if the surgeon were able to see into the body in order to navigate and position rod 36 properly
Instrumentation, systems, and processes according to an embodiment of the present invention such as the subject of FIGS. 2�75, can use the so-called FluoroNAV system and software provided by Medtronic Sofamor Danek Technologies. Such systems or aspects of them are disclosed in U.S. Pat. Nos. 5,383,454; 5,871,445; 6,146,390; 6,165,81; 6,235,038 and 6,236,875, and related (under 35 U.S.C. Section 119 and/or 120) patents, which are all incorporated herein by this reference. Any other desired systems can be used as mentioned above for imaging, storage of data, tracking of body parts and items and for other purposes. The FluoroNav system requires the use of reference frame type fiducials 14 which have four and in some cases five elements tracked by infrared sensors for position/orientation of the fiducials and thus of the body part, implement, instrumentation, trial component, implant component, or other device or structure being tracked. Such systems also use at least one probe 26 which the surgeon can use to select, designate, register, or otherwise make known to the system a point or points on the anatomy or other locations by placing the probe as appropriate and signaling or commanding the computer to note the location of, for instance, the tip of the probe. The FluoroNav system also tracks position and orientation of a C-arm used to obtain fluoroscopic images of body parts to which fiducials have been attached for capturing and storage of fluoroscopic images keyed to position/orientation information as tracked by the sensors 16. Thus, the monitor 24 can render fluoroscopic images of bones in combination with computer generated images of virtual constructs and references together with implements, instrumentation components, trial components, implant components and other items used in connection with surgery for navigation, resection of bone, assessment and other purposes.
FIGS. 2�75 are various views associated with Total Knee Arthroplasty surgery processes according to one particular embodiment and version of the present invention being carried out with the FluoroNav system referred to above. FIG. 2 shows a human knee in the surgical field, as well as the corresponding femur and tibia, to which fiducials 14 have been rigidly attached in accordance with this embodiment of the invention. Attachment of fiducials 14 preferably is accomplished using structure that withstands vibration of surgical saws and other phenomenon which occur during surgery without allowing any substantial movement of fiducial 14 relative to body part being tracked by the system. FIG. 3 shows fluoroscopy images being obtained of the body parts with fiducials 14 attached. The fiducial 14 on the fluoroscopy head in this embodiment is a cylindrically shaped cage which contains LEDs or �active� emitters for tracking by the sensors 16. Fiducials 14 attached to tibia 10 and femur 12 can also be seen. The fiducial 14 attached to the femur 12 uses LEDs instead of reflective spheres and is thus active, fed power by the wire seen extending into the bottom of the image.
FIGS. 4�10 are fluoroscopic images shown on monitor 24 obtained with position and/or orientation information received by, noted and stored within computer 18. FIG. 4 is an open field with no body part image, but which shows the optical indicia which may be used to normalize the image obtained using a spherical fluoroscopy wave front with the substantially flat surface of the monitor 24. FIG. 5 shows an image of the femur 12 head. This image is taken in order to allow the surgeon to designate the center of rotation of the femoral head for purposes of establishing the mechanical axis and other relevant constructs relating to of the femur according to which the prosthetic components will ultimately be positioned. Such center of rotation can be established by articulating the femur within the acetabulum or a prosthesis to capture a number of samples of position and orientation information and thus in turn to allow the computer to calculate the average center of rotation. The center of rotation can be established by using the probe and designating a number of points on the femoral head and thus allowing the computer to calculate the geometrical center or a center which corresponds to the geometry of points collected. Additionally, graphical representations such as controllably sized circles displayed on the monitor can be fitted by the surgeon to the shape of the femoral head on planar images using tactile input on screen to designate the centers according to that graphic, such as are represented by the computer as intersection of axes of the circles. Other techniques for determining, calculating or establishing points or constructs in space, whether or not corresponding to bone structure, can be used in accordance with the present invention.
FIGS. 11�14 show designation or registration of items 22 which will be used in surgery. Registration simply means, however it is accomplished, ensuring that the computer knows which body part, item or construct corresponds to which fiducial or fiducials, and how the position and orientation of the body part, item or construct is related to the position and orientation of its corresponding fiducial or a fiducial attached to an impactor or other other component which is in turn attached to an item. Such registration or designation can be done before or after registering bone or body parts as discussed with respect to FIGS. 4�10. FIG. 11 shows a technician designating with probe 26 an item 22 such as an instrument component to which fiducial 14 is attached. The sensor 16 �sees� the position and orientation of the fiducial 14 attached to the item 22 and also the position and orientation of the fiducial 14 attached to the probe 26 whose tip is touching a landmark on the item 22. The technician designates onscreen or otherwise the identification of the item and then activates the foot pedal or otherwise instructs the computer to correlate the data corresponding to such identification, such as data needed to represent a particular cutting block component for a particular knee implant product, with the particularly shaped fiducial 14 attached to the component 22. The computer has then stored identification, position and orientation information relating to the fiducial for component 22 correlated with the data such as configuration and shape data for the item 22 so that upon registration, when sensor 16 tracks the item 22 fiducial 14 in the infrared field, monitor 24 can show the cutting block component 22 moving and turning, and properly positioned and oriented relative to the body part which is also being tracked. FIGS. 12�14 show similar registration for other instrumentation components 22.
Similarly, the mechanical axis and other axes or constructs of body parts 10 and 12 can also be �registered� for tracking by the system. Again, the system has employed a fluoroscope to obtain images of the femoral head, knee and ankle of the sort shown in FIGS. 4�10. The system correlates such images with the position and orientation of the C-arm and the patient anatomy in real time as discussed above with the use of fiducials 14 placed on the body parts before image acquisition and which remain in position during the surgical procedure. Using these images and/or the probe, the surgeon can select and register in the computer 18 the center of the femoral head and ankle in orthogonal views, usually anterior/posterior and lateral, on a touch screen. The surgeon uses the probe to select any desired anatomical landmarks or references at the operative site of the knee or on the skin or surgical draping over the skin, as on the ankle. These points are registered in three dimensional space by the system and are tracked relative to the fiducials on the patient anatomy which are preferably placed intraoperatively. FIG. 15 shows the surgeon using probe 26 to designate or register landmarks on the condylar portion of femur 12 using probe 26 in order to feed to the computer 18 the position of one point needed to determine, store, and display the epicondylar axis. (See FIG. 20 which shows the epicondylar axis and the anterior-posterior plane and for lateral plane.) Although registering points using actual bone structure such as in FIG. 15 is one preferred way to establish the axis, a cloud of points approach by which the probe 26 is used to designate multiple points on the surface of the bone structure can be employed, as can moving the body part and tracking movement to establish a center of rotation as discussed above. Once the center of rotation for the femoral head and the condylar component have been registered, the computer is able to calculate, store, and render, and otherwise use data for, the mechanical axis of the femur 12. FIG. 17 once again shows the probe 26 being used to designate points on the condylar component of the femur 12.
FIG. 24, as is the case with a number of screen presentations generated and presented by the system of FIGS. 4�75, also shows at center a list of landmarks to be registered in order to generate relevant axes and constructs useful in navigation, positioning and assessment during surgery. Textual cues may also be presented which suggest to the surgeon next steps in the process of registering landmarks and establishing relevant axes. Such instructions may be generated as the computer 18 tracks, from one step to the next, registration of items 22 and bone locations as well as other measures being taken by the surgeon during the surgical operation.
After the mechanical axis and other rotation axes and constructs relating to the femur and tibia are established, instrumentation can be properly oriented to resect or modify bone in order to fit trial components and implant components properly according to the embodiment of the invention shown in FIGS. 4�75. Instrumentation such as, for instance, cutting blocks 34, to which fiducials 14 are mounted, can be employed. The system can then track cutting block 34 as the surgeon manipulates it for optimum positioning. In other words, the surgeon can �navigate� the cutting block 34 for optimum positioning using the system, the monitor, visual landmarks, and other devices, such as variable alignment modules 54. In this manner, instrumentation may be positioned according to the system of this embodiment in order to align the ostetomies to the mechanical and rotational axes or reference axes on an extramedullary rod 36 or any other structure that allows the instrumentation to be positioned without invading the medullary canal. The touchscreen 24 can then also display the instrument, such as the cutting block 34 and/or the implant and/or the variable alignment module 54 relative to the instruments and the rod 36 during this process, in order, among other things, properly to select size of implant and perhaps implant type. As the instrument moves, the varus/valgus, flexion/extension and internal/external rotation of the relative component position can be calculated and shown with respect to the referenced axes; in the preferred embodiment, this can be done at a rate of six cycles per second or faster. The instrument position is then fixed in the computer and physically and the bone resections are made.
FIG. 27 shows orientation of an extramedullary rod 36 to which a fiducial 14 is attached via impactor 22. The surgeon views the screen 24 which has an image as shown in FIG. 32 of the rod 36 overlain on or in combination with the femur 12 fluoroscopic image as the two are actually positioned and oriented relative to one another in space. The surgeon then navigates the rod 36 into place preferably along the mechanical axis of the femur and drives it home with appropriate mallet or other device.
FIG. 28 shows an extramedullary rod 36, according to one embodiment of the invention, which includes a first end that is adapted to fasten to bone and a second end that is adapted for attachment or connection to a cutting block 34 or other instrumentation. In a preferred embodiment of this invention, the first end of the extramedullary rod 36 has a pointed, splined tip 38 that is capable being being driven or otherwise introduced into and fastened to bone with a mallet, wrench or other suitable tool or device. The tip can feature threads, curved spines, or any structure that is suitable for efficient and effective introduction into and purchase of or fastening bone sufficient to support cutting block 34 or other instrumentation while being used to alter bone. Devices according to aspects of the present invention thus avoid the need to bore a hole in the metaphysis of the femur and place a reamer or other rod 36 into the medullary canal which can cause fat embolism, hemorrhaging, infection and other untoward and undesired effects.
As shown in FIG. 28, the second end of the extramedullary rod 36 may be attached to a base member 40 (permanently or in releasable fashion) and that is capable of permanent or releasable attachment to a cylindrical connector 42. The cylindrical connector 42 is capable of permanent or releasable attachment to a cylindrical knob 44 that has an integrated, circumferential groove 46. The circumferential groove 46 is adapted to secure an impactor or any other desired structure to the second end of the extramedullary rod 36. The base member 40, connector 42, and knob 44 may form a unitary structure that is capable of permanent or releasable attachment to an extramedullary rod 36. Any desired connection structure can be employed.
FIG. 29 also shows the extramedullary rod 36 being located through computer assisted navigation. FIG. 30 shows fluoroscopic images, both anterior-posterior and lateral, with axes, and with a computer generated and tracked image of the rod 36 superposed or in combination with the fluoroscopic images of the femur and tibia. FIG. 31 shows the rod 36 superposed on the femoral fluoroscopic image similar to what is shown in FIG. 30.
FIG. 30 also shows other information relevant to the surgeon such as the name of the component being overlain on the femur image (new EM nail), suggestions or instructions at the lower left, and angle of the rod 36 in varus/valgus and extension relative to the axes. Any or all of this information can be used to navigate and position the rod 36 relative to the femur. At a point in time during or after placement of the rod 36, its tracking may be �handed off� from the impactor fiducial 14 to the femur fiducal 14 as discussed below.
Once the extramedullary rod 36, intramedullary rod, other type of rod or any other type of structural member has been placed, instrumentation can be positioned as tracked in position and orientation by sensor 16 and displayed on screen face 24. Thus, a cutting block 34 of the sort used to establish the condylar anterior cut, with its fiducial 14 attached, is introduced into the field and positioned on the rod 36. Because the cutting block 34 corresponds to a particular implant product and can be adjusted and designated on screen to correspond to a particular implant size of that product, the computer 18 can generate and display a graphic of the cutting block 34 and the femoral component overlain on the fluoroscopic image as shown in FIGS. 34�37. The surgeon can thus navigate and position the cutting block 34 on screen using not only images of the cutting block 34 on the bone, but also images of the corresponding femoral component which will be ultimately installed. The surgeon can thus adjust the positioning of the physical cutting block 34 component, and secure it to the rod 36 in order to resect the anterior of the condylar portion of the femur in order to optimally fit and position the ultimate femoral component being shown on the screen. FIG. 35 is another view of the cutting block 34 of FIG. 32 being positioned.
Cutting blocks 34 and other instrumentation may be positioned relative to femoral, tibial or other bone using instruments and devices such as variable alignment or orientation modules, versions of which according to particular aspects of the invention are shown in FIGS. 38�47. FIGS. 38�41 show a first version of a variable alignment module 54. It includes a post 58 which may be connected to an extramedullary rod 36 as shown in FIG. 28, an intramedullary rod or as otherwise desired. Post 58 connects to a cutting block or other instrument 34 via two gimbal members, first or outer gimbal 60 and a second or inner gimbal 62. First or outer gimbal 60, which may be mechanically connected to cutting block 34 as shown in FIGS. 40 and 41, is connected in pivoting fashion to second gimbal 62 using, for example, openings 64 and pins 70. First gimbal 60 receives a worm gear 66 which cooperates with a first follower (located on the second gimbal 62) whose teeth follow action of the worm gear 66 in order to vary the angle of the first and second gimbals 60, 62 relative to each other. In the embodiment shown in FIGS. 38�41, worm gear 66 in this fashion adjusts varus/valgus angulation of cutting block or instrument 34 relative to bone.
FIG. 39 shows more clearly the post 58 (which can receive and be secured to extramedullary rod 36 or other devices using, for example, a bore and pin 70) and second gimbal 62 connected in pivoting relationship in a fashion conceptually similar to the manner in which first and second gimbals 60 and 62 are connected. As shown in FIG. 39, post 58 penetrates gimbal 62 in pivoting fashion using openings 64 and pins 70. Second gimbal 62 receives a worm gear 68 which cooperates with a second follower on post 58 to vary the angle of post 58 relative to second gimbal 62.
As shown in FIGS. 40 and 41, the angulation of cutting block 34 relative to rod 36 may be varied in varus and valgus using worm gear 66 and flexion/extension using worm gear 68.
FIGS. 42�45 show a variable alignment module which may used for instrumentation employed in connection with the tibia. The operation and structure are conceptually similar to the femoral module shown in FIGS. 38�41. Here, a first gimbal 76 may be rigidly or otherwise mounted to a member 74 which in turn receives instrumentation such as a cutting block 75. First gimbal 76 connects to second gimbal 78 using pin 82 extending through holes 80 in first gimbal 76 to capture second gimbal 78 so that it may pivot relative to first gimbal 76. A worm gear 84 connects to first gimbal 76 and drives a follower on second gimbal 78 to adjust angulation of second gimbal 78 relative to first gimbal 76. Worm gear 84 can thus adjust flexion/extension orientation of the cutting block 75 relative to the tibia.
A post 86 which receives extramedullary rod 36 or other rod or bone-connecting structure, and which may be formed of a cylindrical member in combination with other structure for retaining rod 36 in desired relationship, is received relative to second gimbal 78 in adjustable fashion. In the embodiment shown in FIGS. 42�45, an adjustment screw 88 cooperates with a slot in the second gimbal 78 in order to allow the post 86 to rotate within gimbal 78 and be secured at desired angulation. Adjustment screw 88 and slot 90 are but one variation of any adjustment mechanism, such as worm and follower, rack and pinion, vernier, or other angulation control devices or structures which could be used in this embodiment, the embodiment shown in FIGS. 38�41 other embodiments. Accordingly, this structure may be used to adjust varus/valgus alignment of cutting block 75.
With respect to the femoral structure shown in FIGS. 38�41 and the tibial structure shown in FIGS. 42�45, other structures which allow adjustment of angulation or orientation not only of the two axis, but any desired angulation of cutting block 75 relative to rod 36 (and thus bone) can be used. Gimbals can be reversed in structure and function, different calibration and adjustment mechanisms can be used including with indicia in order to introduce repeatability, and other structures may be employed as well. Fiducials 14 can be attached to any desired portion of these structures, directly or indirectly, for tracking in accordance with aspects of the invention.
FIGS. 46 and 47 show two structures among many which can be used to adjust positioning of cutting block 34 or other instrumentation relative to rod 36. In the version shown in FIG. 46, rod 36 which may be extramedullary, intramedullary, or otherwise, features a spherical or otherwise curved three-dimensional head with a generally concentric threaded bore. An adjustment bolt 90 features threads which cooperate with the threads in head 36. The bolt 90 penetrates cutting block 34 in desired fashion so that the cutting block 34, which features a recess 92 on its bottom surface that corresponds to the shape of the head of 36, however closely, can be angulated as desired in any dimension and then set via tightening of bolt 90 at any desired angulation in multiple planes.
FIG. 47 shows a variation in which the cutting block 34 may be connected to external fixation systems 92, such as those described U.S. Pat. No. 5,728,095, which is incorporated herein by this reference, in order to adjustably position the cutting block 34 relative to femoral or tibial bone. As described in that patent and others on the subject, calibrations may be employed on the struts connecting the cutting block 34 and the fixator element 92 in order for repeatability and controllability of angulation of cutting block 34 relative to fixation element or device 92.
FIGS. 48�52 show instrumentation that has been navigated and positioned on the proximal portion of the tibia 10 as shown in FIG. 52 and as tracked by sensor 16 and on screen by images of the cutting block and the implant component as shown in FIGS. 48�51.
FIGS. 53 and 54 show other onscreen images generated during this bone modification process for purposes of navigation and positioning cutting blocks 34 and other instrumentation for proper resection and other modification of femur and tibia in order to prepare for trial components and implant components according to instrumentation, systems, and processes of the embodiment of the present invention shown in FIGS. 4�75.
FIGS. 55�59 also show instrumentation being positioned relative to femur 12 as tracked by the system for resection of the condylar component in order to receive a particular size of implant component. Various cutting blocks 34 and their attached fiducials can be seen in these views.
FIG. 60 shows a femoral component overlaid on the femur as instrumentation is being tracked and positioned in order for resection of bone properly and accurately to be accomplished. FIG. 61 is another navigational screen face showing a femoral component overlay as instrumentation is being positioned for resection of bone.
FIG. 62 is tibial component overlay information on a navigation screen as the cutting block 34 for the tibial plateau is being positioned for bone resection.
FIGS. 63 and 64 show femoral component and tibial component overlays, respectively, according to certain position and orientation of cutting blocks/instrumentation as resecting is being done. The surgeon can thus visualize where the implant components will be and can assess fit, and other things if desired, before resections are made.
During the trial installation process, and also during the implant component installation process, instrument positioning process or at any other desired point in surgical or other operations according to the present invention, the system can transition or segue from tracking a component according to a first fiducial to tracking the component according to a second fiducial. Thus, as shown as FIG. 36, the trial femoral component is mounted on an impactor to which is attached a fiducial 14. The trial component is installed and positioned using the impactor. The computer 18 �knows� the position and orientation of the trial relative to the fiducial on the impactor (such as by prior registration of the component attached to the impactor) so that it can generate and display the image of the femoral component trial on screen 24 overlaid on the fluoroscopic image of the condylar component. At any desired point in time, before, during or after the trial component is properly placed on the condylar component of the femur to align with mechanical axis and according to proper orientation relative to other axes, the system can be instructed by foot pedal or otherwise to begin tracking the position of the trial component using the fiducial attached to the femur rather than the one attached to the impactor. According to the preferred embodiment, the sensor 16 �sees� at this point in time both the fiducials on the impactor and the femur 12 so that it already �knows� the position and orientation of the trial component relative to the fiducial on the impactor and is thus able to calculate and store for later use the position and orientation of the trial component relative to the femur 12 fiducial. Once this �handoff� happens, the impactor can be removed and the trial component tracked with the femur fiducial 14 as part of or moving in concert with the femur 12. Similar handoff procedures may be used in any other instance as desired in accordance with the present invention.
FIG. 66 shows the tibial plateau trial being tracked and installed in a manner similar to femoral component trial as discussed above. Alternatively, the tibial trial can be placed on the proximal tibia and then registered using the probe 26. Probe 26 is used to designate preferably at least three features on the tibial trial of known coordinates, such as bone spike holes. As the probe is placed onto each feature, the system is prompted to save that coordinate position so that the system can match the tibial trial's feature's coordinates to the saved coordinates. The system then tracks the tibial trial relative to the tibial anatomical reference frame.
FIG. 67 shows the surgeon articulating the knee as he monitors the screen which is presenting images such as those shown in FIGS. 68�70 which not only show movement of the trial components relative to each other, but also orientation, flexion, and varus/valgus. During this assessment, the surgeon may conduct certain assessment processes such as external/internal rotation or rotary laxity testing, varus/valgus tests, and anterior-posterior drawer at 0 and 90 degrees and mid range. Thus, in the AP drawer test, the surgeon can position the tibia at the first location and press the foot pedal. He then positions the tibia at the second location and once again presses the foot pedal so that the computer has registered and stored two locations in order to calculate and display the drawer and whether it is acceptable for the patient and the product involved. If not, the computer can apply rules in order to generate and display suggestions for releasing ligaments or other tissue, or using other component sizes or types, such as shown, for example, in FIGS. 71�74. Once the proper tissue releases have been made, if necessary, and alignment and stability are acceptable as noted quantitatively on screen about all axes, the trial components may be removed and actual components navigated, installed, and assessed in performance in a manner similar to that in which the trial components were navigated, installed, and assessed.
FIG. 75 is another computer generated 3-dimensional image of the trial components as tracked by the system during trialing.
The tracking and image information provided by instrumentation, systems, and processes according to the present invention facilitate telemedical techniques, because they provide useful images for distribution to distant geographic locations where expert surgical or medical specialists may collaborate during surgery. Thus, instrumentation, systems, and processes according to the present invention can be used in connection with computing functionality 18 which is networked or otherwise in communication with computing functionality in other locations, whether by PSTN, information exchange infrastructures such as packet switched networks including the Internet, or as otherwise desire. Such remote imaging may occur on computers, wireless devices, videoconferencing devices or in any other mode or on any other platform which is now or may in the future be capable of rending images or parts of them produced in accordance with the present invention. Parallel communication links such as switched or unswitched telephone call connections may also accompany or form part of such telemedical techniques. Distant databases such as online catalogs of implant suppliers or prosthetics buyers or distributors may form part of or be networked with functionality 18 to give the surgeon in real time access to additional options for implants which could be procured and used during the surgical operation.
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