Intellijoint Surgical Inc.

Lila Athletics Inc.

Joseph Arthur Schipper

Andre Novomir Hladio

Richard Tyler Fanson

Arash Abadpour

Luke Becker

Samantha Lynn McCabe

Justin Aaron Michael

Ryan Visee

Peter Sculco

Jonathan Matthew Vigdorchik

Kevin Morency

Quang Minh Tuan Le

Paulom Shah

Aya Siblini

Kevin Vijay Brijbassi

Saleem Adil Mohammed

Riley Aaron Bloomfield

Disclosed are methods and systems to provided planning tools for surgery, particularly for THA. Images of musculoskeletal structure of a patient (e.g. associated with respective planes and in a same or different functional position) may be displayed together and via co-registration and spatial transformations, 3D implants or other objects may be rendered and overlaid in a same position correctly with respect to each image. Measures may be represented with respect to various planes associated with the respective image and/or with respect to an existing implant. A safe zone (graphical element) may be rendered and overlaid with respect to each displayed image to indicate a clinically accepted safe range of positions for the 3D implant. Different instances of implants having respective characteristics affecting range of motion may be available for use during a procedure. For a set of available implants minimal and maximal safe zones may be presented for planning assistance.

System and method for pre-planning a procedure

There is provided a method to perform bone resection using a planer. Under guidance of a surgical navigation system, and, optionally, under command of a robotic system, a trackable surgical instrument is guided to a target pose on a target bone. The bone may be a femur or tibia in a TKA. The trackable instrument comprises a drill or a pin guide for mounting a pair of pins, preferably graduated pins to select a resection depth. A pin end is inserted into the planer and the planer operated to resect until the pin end bottoms out. A robot may command movement of the trackable instrument to the target pose. The target pose may be received or determined from surgical pre-planning or intra-operative activities such as tracked measurements, user input, etc. The navigation system presents information such as measurements and/or image overlays to guide the placement.

Method and apparatus for resecting bone using a planer and optionally using a robot to assist with placement and/or installation of guide pins

Described are targets for use in optical tracking, as well as related methods. A target comprises a plurality of light dispersers, optically coupled to at least one light source. The light dispersers are illuminated for detection and tracking by a tracking system. In some implementations, the at least one light source is optically coupled to the plurality of light dispersers by a plurality of light directors. In other implementations, the at least one light source includes a plurality of light sources positioned within or proximate to the plurality of dispersers. In some implementations, dispersers are lenses; in some implementations, dispersers are light scattering elements. Targets include or are coupled to a power source. In some implementations, targets include additional electrical components which utilize power from the power source.

Active targets for tracking, and methods for assembling and using the same

Provided are optically detectable markers for tracking, as well as related methods. A marker comprises a mask unit and a (removable) cartridge comprising an optically detectable surface exposed through at least three faces of the mask unit. Respective materials present a measurable contrast under optical detection conditions. An optical detectable surface can be detectable using IR and a contrasting surface is not. Faces can define openings to the cartridge. The cartridge can comprise a sheet of optically detectible material foldable to fit into the mask unit. A sheet can provide multiple connected cartridges. Securing devices including any of a support unit, a clip, a magnet, an adhesive, etc., can secure a cartridge in a mask unit. A marker, or maker kit, may comprise a plurality of mask units and cartridges connected via a marker body. Some of the mask units may be on different planes in such a marker.

Optically detectable markers for tracking, and methods for manufacturing, assembling, and using the same

There are provided tracker coupling apparatus for coupling an optical tracker to a patient anatomy. An apparatus comprises a body having a bone coupling interface located at a first end of the body, for coupling the apparatus to the bone, and a second end that comprises a tracker coupling interface to couple to the tracker. The second end is connected to the first end by an extension member to laterally space the tracker coupling interface from the bone coupling interface, e.g. to move the tracker away from an incision. In a resection guided embodiment, an apparatus comprises a body having a tracker coupling interface on an upper surface and a plurality of bone engaging projections extending from an under surface. Some projections are configured for positioning the platform in a same repeatable mounting position. The mounting position is defined by a cut line and an impression defined by the platform.

Tracker mounting apparatus with kinematic interfaces

Planning tools for surgery, particularly for THA, are provided. Images of musculoskeletal structure of a patient (e.g. associated with respective planes and in a same or different functional position) may be displayed together and via co-registration and spatial transformations, 3D implants or other objects may be rendered and overlaid in a same position correctly with respect to each image. The 3D implant may be fit (e.g. via handles or automatically using image processing) to an existing implant in the patient and moved to other positions, for example, to measure the existing position or plan for an initial or new position. Measures may be represented with respect to various planes associated with the respective image and/or with respect to an existing implant.

System and method for preoperative planning for total hip arthroplasty

Described are targets for use in optical tracking, as well as related methods. In some implementations, a target comprises a planar surface with an optically detectable pattern thereon, and at least one protrusion extending from the planar surface. In other implementations, a target comprises a planar surface with an optically detectable pattern thereon, with a specular reflective region. The optically detectable pattern provides accurate position information of the target, and provides accurate orientation information of the target about a first axis, but may not provide accurate orientation information of the target about other axes. The at least one protrusion or the specular reflective region provide accurate information of orientation of the target, particularly orientations about axes other than the first axis.

Targets for tracking, and systems and methods for tracking the targets

Systems and methods are described herein to generate a 3D surface scan of a surface profile of a patient's anatomy. The 3D surface scan may be generated by reflections of structured light off the surface profile of the anatomy. The 3D surface scan may be used during intra-operative surgical navigation by a localization system. Optionally, a pre-operative medical image may also be registered to the localization system or used to enhance the 3D surface scan.

Systems, methods and devices to scan 3D surfaces for intra-operative localization

Computing devices and methods are provided to automatically characterize a localization system tracker for a procedure. A starting tracker definition is refined until convergence using an iterative process and measured features of the tracker in images provided by a localization system camera. In each iteration, poses are determined from the measured features using a current tracker definition. The current definition is then refined using the poses and an optimization function. Tracker images may be captured passively, when performing other procedure steps. In a robotic context, command trajectories move a robot may be to respective poses where images to characterize the tracker are captured. An updated trajectory may be commanded to optimize convergence, additionally using the measured features at the updated pose in the iterative process. A robot kinematic model may be defined, refining a starting model using tracker poses from the localization system and sensor positions from the robot system.

Auto-tracker characterization with robotics applications

Preoperative planning techniques are described such as for hip surgery. Rather than pre-operatively planning by reorienting a model of the boundaries of the acetabulum derived from a 3D medical image, the proposed solution reorients portions of the 3D medical image itself and simulates one or more x-ray images using the reoriented 3D data. Optionally, simulated x-ray(s) of the un-modified CT scan may also be generated for comparison purposes. The user then measures acetabular metrics on the simulated x-ray(s) in order to determine the radiographic outcomes that a given magnitude and direction of reorientation would achieve. By iteratively selecting a reorientation and measuring the simulated x-ray(s), an optimal reorientation plan is determined by the user.

Pre-operative planning for reorientation surgery: surface-model-free approach using simulated x-rays

There is provided a tracing platform configured to rigidly attach to an anatomy of a patient that has at least one surface configured to provide a defined path (represented by path definition data) for tracing by a surgical instrument. An intra-operative computing unit receives pose data for the instrument when tracing the path and calculates a location of the defined path using the pose data and the path definition data. A change in location may be determined from pose data of different traces. Tracing the defined path generates a plurality of pose data which may increase accuracy of the location calculations. Redundant trace data may be received to eliminate bias. A geometric feature (e.g. V-groove), shape and/or magnetic properties of the platform may assist with tracing. The platform may rigidly attach to a bone using at least one of spikes, a bone screw, a cerclage wire, and a bone clamp.

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Kitchener, Canada

Joseph Arthur Schipper