Intellijoint Surgical Inc.

Justin Aaron Michael

Andre Novomir Hladio

Joseph Arthur Schipper

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 system for assisting a bone reorientation that includes (or communicates with) localization system components comprising a reference element to mount to the patient's bone and a tracker element to mounting to a bone fragment; and at least one computing unit coupled to the localization system components. The computing unit is configured to: define change in bone fragment orientation data (CBFOD) responsive to tracking measurements received from the localization system components; receive mapping information (e.g. generated from a pre-operative medical image of the patient's bone and bone fragment region) to define a map between the CBFOD and clinical parameters; and calculate and provide for display one or more clinical parameters based on the CBFOD and the map. A tracker element coupling component is also described with quick-connect and adjustment features. Method and other aspects are provided.

Growing community of inventors

Vancouver, Canada

Justin Aaron Michael