Orthosoft Ulc

Zimmer Gmbh

Orthosoft, Inc.

Di Li

Benoit Pelletier

Karine Duval

Pierre Couture

Louis-Philippe Amiot

Myriam Valin

Francois Paradis

Bruno Falardeau

Emily Gogarty

Olivier Boisvert

Yvan Leone

Laurence Moreau-Belanger

Alain Richard

Jean-Sebastien Merette

Herbert Andre Jansen

Yonik Breton

Sebastien Parratte

Suntara Ly

Isabelle Robitaille

Brian M May

Mathieu Chevrier

Dugal James

Jerome Casaubon

Benoît Pelletier

François Paradis

Jean-Sébastien Merette

Simon Ferron-Forget

Don Dye

Sebastian Parrette

Herbert Jansen

Emiliy Gogarty

Sebastien Parrette

Systems and methods may be used to perform robot-aided surgery. A system may include a robotic controller to monitor a position and orientation of an end effector coupled to an end of a robotic arm. The robotic controller may apply a force to a bone using the end effector, such as via a soft tissue balancing component. The robotic controller may determine soft tissue balance using information from a tracking system, such as a position of a first tracker affixed to the bone. The soft tissue balance may be output, such as to a display device.

Soft tissue balancing in articular surgery

Embodiments of a system and method for surgical tracking and control are generally described herein. A system may include a robotic arm configured to allow interactive movement and controlled autonomous movement of an end effector, a cut guide mounted to the end effector of the robotic arm, the cut guide configured to guide a surgical instrument within a plane, a tracking system to determine a position and an orientation of the cut guide, and a control system to permit or prevent interactive movement or autonomous movement of the end effector.

Robotic cutting workflow

Systems and methods for determining position and orientation of a bone of an anatomical feature are described. These include the use of a wearable holder configured to be mounted about an outer-skin surface of the anatomical feature, such that the anatomical feature and the bone are positioned in fixed relation with respect to the wearable holder when the wearable holder is mounted about the anatomical feature. Reference marker arrays are fixedly mounted to the wearable holder, each being positioned on the wearable holder to identify a landmark of the bone within the wearable holder when the wearable holder is mounted to the anatomical feature. The position and orientation of the reference markers are trackable to determine position and orientation of the wearable holder in a reference coordinate system, thereby enabling position and orientation of the landmarks on the bone to be determined.

Non-invasive system and method for tracking bones

A computer-assisted surgery (CAS) system comprises a cup implanting device including a shaft having a tooling end and a handle end with a handle for being manipulated, the shaft having a longitudinal axis, the tooling end adapted to support a cup for being received in an acetabulum of a patient, and a rotation indicator having a visual guide representative of a device plane, wherein the device plane is in a known position and orientation relative to a center of the cup on the tooling end. A CAS processing unit includes at least one inertial sensor unit connected to the cup implanting device, the inertial sensor unit outputting three-axes readings and having a virtual preset orientation related to a reference axis of a pelvis of the patient, the virtual preset orientation being based on pre-operative imaging specific to the pelvis of the patient, the reference axis of the pelvis passing through a center of rotation of said acetabulum of the pelvis and through a reference landmark of the pelvis, wherein an instant three-axis orientation of the longitudinal axis of the cup implanting device is trigonometrically known relatively to the reference axis when the cup is in the acetabulum of the patient and the device plane passes through the reference landmark via the visual guide, the instant three-axis orientation used for calibrating the inertial sensor unit on the cup implanting device relative to the pelvis.

Method and device for cup implanting using inertial sensors

A computer-assisted surgery system has inertial sensor unit connected to an instrument and producing readings representative of its orientation. A computer-assisted surgery processor unit has a coordinate system module for setting a pelvic coordinate system from readings of the inertial sensor unit when the instrument is in a given orientation relative to the pelvis, a tracking module for tracking an orientation of the instrument relative to the pelvic coordinate system during movements thereof and a geometrical relation data module for recording preoperatively a landmark orientation relative to the pelvic coordinate system and a distance when the at least one instrument has a first end abutted to a pelvic landmark and a second end abutted to a leg landmark, for recording after implant rejointing the medio-lateral orientation and the distance, and for calculating a leg length discrepancy and/or an offset, based on the distances and the medio-lateral orientations.

Leg length calculation in computer-assisted surgery

A method for assisting in positioning the acetabular cup comprises orienting a cup positioning instrument with a cup thereon in an initial reference orientation relative to an acetabulum of a pelvis with the cup forming a joint with the acetabulum, the cup positioning instrument comprising an inertial sensor unit with pre-planned orientation data for a desired cup orientation based on at least one landmark of the pelvis, The cup positioning instrument is rotated to a desired abduction angle as guided by an interface of the cup positioning instrument, based on movements relative to at least one landmark. The cup positioning instrument is rotated to a desired anteversion angle as guided by the interface of the cup positioning instrument, based on movements relative to the at least one landmark. Upon reaching the desired cup orientation as indicated by the interface, the cup is impacted into the acetabulum.

Acetabular cup prosthesis positioning instrument and method

A computer-assisted surgery (CAS) system outputs a leg length discrepancy and/or an offset between conditions. An inertial sensor unit is connected to an instrument(s) to produce readings representative of its orientation. A CAS processor unit has a coordinate system module for setting a pelvic coordinate system from readings of the inertial sensor unit, a tracking module for tracking an orientation of the instrument(s) relative to the pelvic coordinate system during movements thereof, and a geometrical relation data module for recording preoperatively a medio-lateral orientation of the instrument(s) representative of a medio-lateral axis of the legs and a distance between the legs, for recording after implant rejointing the medio-lateral orientation and the distance, and for calculating a leg length discrepancy and/or an offset, based on the distances and the medio-lateral orientations. An interface outputs the leg length discrepancy and/or the offset between leg conditions.

A computer-assisted surgery (CAS) system for tracking an orientation of a pelvis comprises at least one instrument, the instrument having an acetabulum abutment end adapted to be received in an acetabulum, a rim abutment adapted to be abutted against a rim of the acetabulum, and an indicator representative of a physical orientation of the instrument. An inertial sensor unit is connected to the at least one instrument, the inertial sensor unit producing readings representative of its orientation. A computer-assisted surgery processor unit comprises a coordinate system module for setting a pelvic coordinate system from readings of the at least one inertial sensor unit when the at least one instrument has the acetabulum abutment end received in the acetabulum, the coordinate system module setting the pelvic coordinate system by obtaining a plurality of orientation values from the at least one inertial sensor unit when the rim abutment is abutted against locations of the rim, one of said orientation values having the indicator aligned with a reference landmark, the coordinate system module defining an acetabular plane representative of the pelvic coordinate system from the plurality of orientation values; and a tracking module for tracking an orientation of the at least one inertial sensor unit relative to the pelvic coordinate system during movements thereof using the readings from the inertial sensor unit. An interface outputs orientation data as a function of the pelvic coordinate system.

Acetabulum rim digitizer device and method

A cup impactor assembly comprises a shaft. A cup coupler is at a cup end of the shaft and is releasably connecting a cup in fixed relation. A handle is at an impacting end of the shaft. A visual guide is mounted to at least one of the shaft and the handle, the visual guide producing visual guidance for pointing at at least two landmarks of the pelvis or fixed relative to the pelvis, based on a pre-planned patient-specific relation between the at least two landmarks and a desired acetabular cup orientation relative to the landmarks. A method for orienting an acetabular cup prior to impacting in an acetabulum of a pelvis is also provided.

Acetabular cup impacting using patient-specific instrumentation

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LaSalle, Canada

Di Li