Source: http://www.google.com/patents/US8068648?dq=6377161
Timestamp: 2016-05-30 13:45:44
Document Index: 607720023

Matched Legal Cases: ['Application No. 2006252291', 'Application No. 2006252293', 'Application No. 2006252294', 'Application No. 06256549', 'Application No. 06256574', 'Application No. 06256541', 'Application No. 06256546', 'Application No. 06256546', 'Application No. 07255016', 'Application No. 06256549']

Patent US8068648 - Method and system for registering a bone of a patient with a computer ... - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign inPatentsA method and system for registering a bone of a patient with a computer assisted orthopaedic surgery system includes retrieving an image of the bone having indicia of the position of a magnetic source coupled thereto, determining first data indicative of the position of the magnetic source in a bone...http://www.google.com/patents/US8068648?utm_source=gb-gplus-sharePatent US8068648 - Method and system for registering a bone of a patient with a computer assisted orthopaedic surgery systemAdvanced Patent SearchPublication numberUS8068648 B2Publication typeGrantApplication numberUS 11/614,423Publication dateNov 29, 2011Filing dateDec 21, 2006Priority dateDec 21, 2006Fee statusPaidAlso published asDE602007006744D1, EP1936569A1, EP1936569B1, US20080154127Publication number11614423, 614423, US 8068648 B2, US 8068648B2, US-B2-8068648, US8068648 B2, US8068648B2InventorsMark R. DiSilvestro, Jason T. Sherman, Sherrod A. WoodsOriginal AssigneeDepuy Products, Inc.Export CitationBiBTeX, EndNote, RefManPatent Citations (283), Non-Patent Citations (29), Referenced by (5), Classifications (18), Legal Events (2) External Links: USPTO, USPTO Assignment, EspacenetMethod and system for registering a bone of a patient with a computer assisted orthopaedic surgery system
US 8068648 B2Abstract
A method and system for registering a bone of a patient with a computer assisted orthopaedic surgery system includes retrieving an image of the bone having indicia of the position of a magnetic source coupled thereto, determining first data indicative of the position of the magnetic source in a bone coordinate system, determining second data indicative of a correlation between a coordinate system of the image and the bone coordinate system based on the first data; and displaying an image of the bone based on the second data.
Cross-reference is made to U.S. Utility patent application Ser. No. 11/323,609 entitled “APPARATUS AND METHOD FOR REGISTERING A BONE OF A PATIENT WITH A COMPUTER ASSISTED ORTHOPAEDIC SURGERY SYSTEM,” which was filed on Dec. 30, 2005 by Jason T. Sherman et al., to U.S. Utility patent application Ser. No. 11/323,610 entitled “MAGNETIC SENSOR ARRAY,” which was filed on Dec. 30, 2005 by Jason T. Sherman et al., to U.S. Utility patent application Ser. No. 11/323,537entitled “METHOD FOR DETERMINING A POSITION OF A MAGNETIC SOURCE,” which was filed on Dec. 30, 2005 by Jason T. Sherman et al., and to U.S. Utility patent application Ser. No. 11/323,963 entitled “SYSTEM AND METHOD FOR REGISTERING A BONE OF A PATIENT WITH A COMPUTER ASSISTED ORTHOPAEDIC SURGERY SYSTEM,” which was filed on Dec. 30, 2005 by Jason T. Sherman et al., the entirety of each of which is expressly incorporated herein by reference.
The present disclosure relates generally to computer assisted surgery systems for use in the performance of orthopaedic surgical procedures and, more particularly, to methods and systems for registering a bone of a patient to a computer assisted orthopaedic surgery system.
According to one aspect, a method for registering a bone of a patient with a computer assisted orthopaedic surgery system may include retrieving an image of the bone. The image of the bone may include indicia of the position of a magnetic source coupled to the bone. The image of the bone defines an image coordinate system. The image may be, for example, a three-dimensional medical image of the bone of the patient. The method may also include determining the position of a reference array coupled to the bone of the patient. The reference array defines a bone coordinate system. The reference array may be, for example, a reflective optical reference array or a radio frequency reference array.
During the performance of the orthopaedic surgical procedure, the computer 12 of the CAOS system 10 is programmed or otherwise configured to display images of the individual surgical procedure steps that form the orthopaedic surgical procedure being performed. The images may be graphically rendered images or graphically enhanced photographic images. For example, the images may include three-dimensional rendered images of the relevant anatomical portions of a patient. The surgeon 50 may interact with the computer 12 to display the images of the various surgical steps in sequential order. In addition, the surgeon 50 may interact with the computer 12 to view previously displayed images of surgical steps, selectively view images, instruct the computer 12 to render the anatomical result of a proposed surgical step or procedure, or perform other surgical related functions. For example, the surgeon 50 may view rendered images of the resulting bone structure of different bone resection procedures. In this way, the CAOS system 10 provides a surgical “walk-through” for the surgeon 50 to follow while performing the orthopaedic surgical procedure.
In the illustrative embodiment, the camera unit 210 is similar to and operates in a similar manner as the camera unit 16 of the system 10 described above in regard to FIG. 1. For example, the camera unit 210 includes a camera head 216 having a number of cameras (not shown) and may be used in cooperation with the controller 208 to determine the location and orientation of one or more reference arrays 218 positioned in the field of view of the camera unit 210, as discussed in detail above in regard to the camera unit 16. The reference arrays 218 may be embodied as optical reference arrays similar to the reference arrays 54, 62, 82, 96 illustrated in and described above in regard to FIGS. 2-4 and, as such, may include a number of reflective elements. The reference arrays 218 may be coupled with bones of the a patient and/or various medical devices, such as probes, saw guides, ligament balancers, and the like, used during the orthopaedic surgical procedure. Alternatively, in other embodiments, other types of tracking units may be used. For example, in some embodiments, the camera unit 210 may be replaced or supplemented with a wireless receiver (which may be included in the controller 208 in some embodiments) and the reference arrays 218 may be embodied as wireless transmitters (e.g., electromagnetic transmitters). Additionally, the medical devices may be embodied as “smart” medical devices such as, for example, smart surgical instruments, smart surgical trials, smart surgical implants, and the like. In such embodiments, the controller 208 is configured to determine the location of the medical devices based on wireless data signals received from the smart medical devices.
The controller 208 may also include a database 226. The database 226 may be embodied as any type of database, electronic library, and/or file storage location. For example, the database 226 may be embodied as a structured database or as an electronic file folder or directory containing a number of separate files and an associated “look-up” table. Further, the database 226 may be stored on any suitable device. For example, the database 226 may be stored in a set of memory locations of, for example, the memory device 226 and/or a stored on a separate storage device such as a hard drive or the like.
The illustrative magnetic sensor array 204 of FIG. 7 includes a housing 236 having a sensing head portion 238 and a handle 240 coupled to the head portion 238. The handle 240 may be used by a user of the system 200, such as an orthopaedic surgeon 50, to move and position the magnetic sensor array 204. The magnetic sensor array 204 also includes a sensor circuit 250 located in the head portion 238. As discussed in more detail below in regard to FIGS. 8 and 9, the sensor circuit 250 is configured to sense a magnetic field generated by the magnetic source 206 and determine data indicative of a position of the magnetic source 206 relative to the magnetic sensor array 204 and transmit such data via the communication link 234 and receiver 232 to the controller 208. It should be understood that, as used herein, the term “position” is intended to refer to any one or more of the six degrees of freedom that define the location and orientation of a body (e.g., the magnetic source 206) in space or relative to a predetermined point or other body.
The number of magnetic sensors 350 that form the magnetic sensor arrangement 252 may depend on such criteria as the type of magnetic sensors used, the specific application, and/or the configuration of the magnetic sensor array 204. For example, the magnetic sensors 350 are configured to measure a three-dimensional magnetic field of the magnetic source 206. As such, the sensor circuit 250 may include any number and configuration of one-dimensional, two-dimensional, and/or three-dimensional magnetic sensors such that the sensor circuit 252 is capable of sensing or measuring the magnetic field of the magnetic source 206 in three dimensions. Additionally, the magnetic sensor(s) 350 may be embodied as any type of magnetic sensor capable of sensing or measuring the magnetic field generated by the magnetic source 206. For example, the magnetic sensors 350 may be embodied as superconducting quantum interference (SQUID) magnetic sensors, anisotropic magnetoresistive (AMR) magnetic sensors, giant magnetoresistive (GMR) magnetic sensors, Hall-effect magnetic sensors, or any other type of magnetic sensors capable of sensing or measuring the three-dimensional magnetic field of the magnetic source. In one particular embodiment, the magnetic sensor(s) are embodied as X-H3X-xx_E3C-25HX-2.5-0.2T Three Axis Magnetic Field Transducers, which are commercially available from SENIS GmbH, of Zurich, Switzerland. Regardless, the magnetic sensors 350 are configured to produce a number of data values (e.g., voltage levels) which define one or more of the components (e.g., X—, Y—, and Z-components) of the three-dimensional magnetic flux density of the magnetic field of the magnetic source 206 at the point in space where each sensor is located and in the orientation of each sensor's active sensing element. These data values are transmitted to the processing circuit 352 via the interconnects 356.
The illustrative sensor board 370 has a width 372 of about 12 centimeters, a length 374 of about 12 centimeters, and a thickness (not shown) of about 1.25 centimeters. However, sensor boards having other dimensions that allow the mounting of the desired number of magnetic sensors 350 may be used. The magnetic sensors 350 are mounted to or in the sensor board 370 according to a predetermined configuration. For clarity of description, a grid 375 having an X-axis 376 and a Y-axis 378 is illustrated over the sensor board 370 in FIG. 9. In the illustrative embodiment, each unit of the grid 375 has a measurement of about 5 millimeters. Each of the magnetic sensors 350 1-350 17 may be a one dimensional, two dimensional, or three dimensional sensor. As such, each of the magnetic sensors 350 1-350 17 may include one, two, or three active sensing elements, respectively. Each sensing element of the magnetic sensors 350 1-350 17 is capable of measuring at least one component of the magnetic flux density of a magnetic source at the position (i.e., location and orientation) of the particular magnetic sensor. To do so, each magnetic sensor 350 includes a field sensitive point, denoted as a “+” in FIG. 9, wherein the magnetic flux density is measured. The configuration of the magnetic sensors 350 1-350 17 will be described below in reference to the field sensitive point of each magnetic sensor with the understanding that the body of the sensor may be positioned in numerous orientations wherein each orientation facilitates the same location of the field sensitive point.
Because of such differences in magnetic field sensitivity and sensing range of the magnetic field sensors 350, the magnetic sensor arrangement 252 may be less susceptible to positioning variances of the magnetic sensor array 204 and/or the accuracy of the magnetic flux density measurements may be improved by having magnetic sensors 350 capable of measuring the magnetic flux density of the magnetic source 206 while the magnetic sensor array is positioned close to the magnetic source 206 without going into saturation. Additionally, the magnetic sensor arrangement 252 may be less susceptible to positioning variances of the magnetic sensor array 204 and/or the accuracy of the magnetic flux density measurements may be improved by having magnetic sensors 350 capable of measuring the magnetic field of the magnetic source 206 while the magnetic sensor array 204 is positioned far from the magnetic source 206 in spite of the increase in magnetic “noise” (i.e., undesirable magnetic field effects from sources other than the magnetic source 206). To further improve the measurement accuracy of the magnetic sensor array 204, the measurements of the array 204 may be verified as discussed in detail below in regard to process step 502 of algorithm 500 shown in FIG. 11.
wherein i is a unit vector pointing in the X direction, j is a unit vector pointing in the Y direction, k is a unit vector pointing in the Z direction, and a, b, and c are numerical values. Additionally or alternatively, the position of the magnets 400 may be defined with six degrees of freedom as the point coordinate (P) discussed above and two angular values defining the direction of the direction vector (D). For example, as illustrated in FIG. 10, the direction vector (D) may be defined as a (theta) θ-rotational value about the X axis and a (phi) φ-rotational value about the Y axis. In such embodiments, the values theta and phi may be determined based as follows:
Once a three-dimensional image of the relevant bony anatomy and magnetic source 206 has been generated, the algorithm 550 advances to process step 556. In process step 556, the three-dimensional image is segmented to distinguish the indicia of the magnetic source 206 (i.e., magnets 400) from the remaining background of the image. Any type of segmentation algorithm may be used. For example, a threshold-based algorithm, an edge-based algorithm, a region-based algorithm, or a connectivity-preserving relaxation-based algorithm may be used. In one particular embodiment, a threshold-based algorithm is used to filter the three-dimensional image such that indicia having an intensity value lower than a predetermined minimum threshold is removed from the image. For example, the segmentation algorithm may analyze each voxel forming the three-dimensional image and “turn off” (i.e., set to a value of 0) each voxel having an intensity value less than the predetermined minimum threshold value. Because the magnet 400 (and capsule 800 in some embodiments) is radioopaque, the voxels forming the image of the magnet 400 (and capsule 800) will remain in the image such that the magnet 400 and/or capsule 800 is discernable in the image.
wherein i is a unit vector pointing in the X direction, j is a unit vector pointing in the Y direction, k is a unit vector pointing in the Z direction, and a, b, and c are numerical values.
In process step 602, the magnetic sensor array 204 is also positioned along the Z-axis relative to the magnet 400. That is, the magnetic sensor array 204 is positioned a distance away from the magnet 400 along the Z-axis as defined by the magnetic moment of the magnet 400. The magnetic sensor array 204 is positioned at least a minimum distance away from the magnet 400 such that the magnetic sensors 350 do not become saturated. Additionally, the magnetic sensor array 204 is positioned within a maximum distance from the magnet 400 such that the measured magnetic flux density is above the noise floor of the magnetic sensors 350 (i.e., the magnetic flux density if sufficient to be discerned by the magnetic sensors 350 from background magnetic “noise”). The sensor circuit 250 may be configured to monitor the output of the magnetic sensors 350 to determine whether the magnetic sensors 350 are saturated or if the output of the magnetic sensors 350 is below the noise floor of the sensors 350. The sensor circuit 250 may be configured to alert the surgeon 50 or user of the magnetic sensor array 204 if the magnetic sensor array 204 is properly positioned with respect to the Z-axis relative to the magnet 400. The maximum distance at which the magnetic sensor array 204 will be used also determines the minimum distance between the individual magnets 400 that form the magnetic source 206 (i.e., the magnets 400 are separated by a distance of two times or more the maximum measurement distance of the magnetic sensor array 204 in one embodiment).
wherein μ is the permeability of free space (i.e., about 4*π*10−17 WbA−1m−1), m is the magnitude of the magnetic moment of the magnet 400 in units of Am2, and r=√{square root over (x2+y2+z2)} (in distance units).
wherein n is the number of magnetic flux density components measured, Bth is the theoretical magnitude of the ith magnetic flux density component of the magnet 400 at a given sensor position, Bme is the measured magnitude of the ith magnetic flux density component of the magnet 400 at a given position, and wi is a weighting factor for the ith magnetic flux density component. The weighting factor, wi, may be used to emphasize or minimize the effect of certain magnetic sensors 350. For example, in some embodiments, the magnetic sensors 350 positioned toward the center of the sensor board 370 may be given a higher weighting factor than the magnetic sensors 350 positioned toward the perimeter of the sensor board 370. In one particular embodiment, the weighting factors, wi, are normalized weighting factors (i.e., range from a value of 0 to a value of 1). Additionally, other weighting schemes may be used. For example, each weighting factors, wi, may be based on the magnetic field sensitivity of the particular magnetic sensor 350 measuring the ith magnetic flux density component. Alternatively, the weighting factors, wi, may be based on the standard deviation divided by the mean of a predetermined number of samples for each magnetic sensor 350. In other embodiments, the weighting factors, wi, may be used to selectively ignore sensors that are saturated or under the noise floor of the magnetic sensor 350. Still further, a combination of these weighting schemes may be used in some embodiments.
wherein Tx is the translation coordinate value in the X-axis, Ty is the translation coordinate value in the Y-axis, Tz is the translation coordinate value in the Z-axis, Θ (theta) is the rotational value about the X-axis, Φ (phi) is the rotational value about the Y-axis, and Ψ (psi) is the rotational value about the Z-axis. The transformation matrices are used by the controller 202 to determine the proper position in which to display indicia on the display device 212. That is, the position of an item of interest can be determined in the global coordinate system 902 by multiplying the position of the item of interest in the magnetic sensor array coordinate system 900 or one of the bone coordinate systems 904, 906 by the appropriate transformation matrix.
wherein Θ (theta) is the rotational value about the X-axis, Φ (phi) is the rotational value about the Y-axis, and Ψ (psi) is the rotational value about the Z-axis. As such, the direction of polar axis 406 may be transformed from the magnetic sensor array coordinate system 900 to the respective bone coordinate system 904, 906 using the following equation:
wherein n is the number of magnets 400, PB is the measured position vector of the centroid 404 of the magnet i transformed from the magnetic sensor array coordinate system 900, PI is the position vector of the centroid 404 of the magnet i transformed from the image coordinate system 856 using the estimated transformation matrix, DB is the measured direction vector of the polar axis 406 of the magnet i transformed from the magnetic sensor array coordinate system 900, and DI is the position vector of the polar axis 406 of the magnet i transformed from the image coordinate system 856 using the estimated transformation matrix. In other embodiments, other types of objectives functions may be used to determine the sum of the error between the transformed and measured position of the magnets 400. For example, in some embodiments, the square root of the sum of the squares of errors may be determined. Additionally, in some embodiments, the objective function may also include one or more weighting factors applied to those terms having a higher degree of measurement confidence. For example, a weighting factor may be applied to the position terms of a particular magnet 400.
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