JP6121406B2 - 基準を用いた外科手術アライメント - Google Patents
基準を用いた外科手術アライメント Download PDFInfo
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- JP6121406B2 JP6121406B2 JP2014515887A JP2014515887A JP6121406B2 JP 6121406 B2 JP6121406 B2 JP 6121406B2 JP 2014515887 A JP2014515887 A JP 2014515887A JP 2014515887 A JP2014515887 A JP 2014515887A JP 6121406 B2 JP6121406 B2 JP 6121406B2
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
- A61B17/1742—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the hip
- A61B17/1746—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the hip for the acetabulum
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/8897—Guide wires or guide pins
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B2017/568—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor produced with shape and dimensions specific for an individual patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/32—Joints for the hip
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2/4603—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof
- A61F2/4607—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof of hip femoral endoprostheses
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2/4603—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof
- A61F2/4609—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof of acetabular cups
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2002/4632—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using computer-controlled surgery, e.g. robotic surgery
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Transplantation (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Physical Education & Sports Medicine (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Prostheses (AREA)
- Surgical Instruments (AREA)
Description
本出願は、参照により本明細書に組み込まれている、2011年6月16日に出願した米国仮出願第61/497,604号、名称「Surgical Alignment Using References」および2011年6月16日に出願した米国仮特許出願第61/497,601号、名称「Surgical Alignment Using References」の優先権および完全な利益を主張するものである。両出願とも内容全体が参照により本明細書に組み込まれる。
外科医は、システム100を使用して、関節に対して外科手術アライメントの位置を決定することができる。例えば、外科医は、システム100を使用して、患者の解剖学的構造に対する既知の位置を有する固着軸の位置を決定することができる。
図3Aを参照すると、股関節10の外形を示す情報が取得される。この情報は、外科手術の前に取得される股関節10に対する撮像データ55を含むことができる。関節10は、コンピュータ断層撮影法(CT)または核磁気共鳴映像法(MRI)などの断層撮影技術を使用して撮像されうる。撮像データの他の例として、X線画像および超音波走査データが挙げられる。
図3Cを参照すると、外科医は関節10に近づけるように切開部を形成し、関節10を外す。外科医は、ガイド60を寛骨臼13と嵌合するように関節10内に挿入する。ガイド60は、寛骨臼13の一部分に実質的に形状適合するので、寛骨臼13は、ガイド60と既知の向きで嵌合する。その結果、ガイド60が寛骨臼13内に受け入れられた場合、ガイド穴64またはガイド60の他のマーキングによって示される位置は、関節10に対する固着軸14の位置を示す。
外科医が制御ユニット50を使用して第1のセンサ70に対する固着軸14の位置を決定した後、外科医はガイド60を関節10から取り外して、寛骨臼13を露出させる。外科医が、関節10に対して器具30を位置決めする場合に、システム100は、外科医が固着軸14に対して器具30を向き付けるのを補助する。例えば、システム100は、リーマの現在の向きへの変更を示すことができ、変更の結果、リーマは固着軸14に沿って位置決めされる。したがって、システム100は、外科医が例えば軟骨および骨を取り除くことによって寛骨臼13を準備している間に外科医が固着軸14に沿ってリーマを位置決めするのを補助する。システム100は、寛骨臼インプラントを準備された寛骨臼13内に押し込むための固着工具(impaction tool)のアライメントを示すこともできる。
外科医は、システム100を使用して、手術を受ける関節に対する撮像データを使用することなく、患者の解剖学的軸に対して、関節のための外科手術アライメントを決定することができる。患者の解剖学的構造に対して既知のアライメントを有する外科軸の位置は、複数の個人の関節のデータに基づき識別されうる。例えば、データベースは、複数の関節の組の特性、および各関節に対する既知の位置における外科手術アライメントの位置を示す関節データを格納することができる。格納されている関節データとその組に含まれていない関節のデータとの間の相関関係を使用して、その組に含まれていない関節に対する特定の傾斜角度および前傾角度に対応する位置を決定することができる。
システム100は、外科医の後の手術を補助するために使用されうる関節データを取得するために使用されうる。一例として、システム100は、股関節データのデータベースに収められうる、複数の股関節の固着軸についてのデータを取得するために使用されうる。いくつかの実施では、股関節データは、患者特有のガイドを使用した股関節の測定を通じて取得される。
図12Aを参照すると、制御ユニット50を備えていても、備えていなくてもよい、コンピュータシステム310は、1つまたは複数のストレージデバイスから複数の関節を記述したデータにアクセスする。例えば、コンピュータシステム310は、異なる股関節を記述したデータを格納しているデータベース300にアクセスすることができる。簡単のため、それぞれの関節のデータは、記録と称される。それでも、データは特定の形式で格納される必要はなく、適切なデータ構造体またはストレージシステムに格納されうる。複数の関節のデータは、単一のデータ構造体に格納することができ、また単一の関節のデータは、多くの異なるデータ構造体上に分散させることができる。
システム100は、手術を受けている関節の撮像データを必要とすることなく、データベース300内の股関節データを使用して固着軸の位置を決定することによって外科医を補助することができる。データベース300内のデータは、データベース300内の記録302a〜302cに記述されていない関節に対する固着軸の位置を決定するために使用される。
外科医は、システム100を使用して大腿骨が大腿骨インプラントを受け入れるよう準備することができる。大腿ネックの位置および寸法に対する入力を使用して、システム100は、大腿骨ガイドピンの軸を計算する。大腿ネックは手術中に測定することができるため、関節の撮像データは不要である。システム100は、軸に沿ってガイドピンの取り付けを案内するように計算された軸に対して器具のアライメントも示す。次いで、取り付けられたガイドピンを使用して、大腿骨頭をリーミングすることができる。
外科医は、システム100を使用して、関節の一方の骨に対する外科手術アライメントを関節の別の骨の位置に基づき決定することができる。例えば、股関節400について、大腿骨ガイドピン軸464(図18)の位置は、骨盤402に対して固着軸の位置を決定するために使用されうる。この技術は、以下でさらに詳しく説明されるが、ガイドを使用して、または他の関節についての関節データを使用して固着軸の位置を決定する方法の代替的方法である。
EM場センサなどの基準を試用コンポーネント(例えば、試用インプラント)または永久的インプラントに取り付けて特定の関節について試用コンポーネントまたはインプラントが適切であるかどうかを判定することができる。例えば、外科医は、システム100を使用して股関節400に対する適切な大腿コンポーネントを選択することができる。類似の技術を使用することで、寛骨臼インプラントを選択するか、または肩関節などの、別の種類の関節のインプラントを選択することができる。
外科医は、システム100を使用して、関節の特性を測定することができる。測定された特性を、関節について既に測定されている特性と比較して、コンポーネントの適切さを判定するか、または完了した手術の質を評価することができる。
外科医は、システム100を使用して、調整を決定し、人工関節再置換術用のインプラントを選択することができる。例えば、外科医は、システム100を使用して、関節の回転の中心の位置などの関節特性を素早く決定することができる。
10´ 表現
12a〜12c センサ
13 寛骨臼
13´ 側面図
14 固着軸
14´ 指示
15 回転の中心点
16 骨盤
18 腸骨稜
20 識別装置
21 電磁(EM)場発生装置
22 結合部材
23 ハウジング
24 ドリルガイドアタッチメント
26 ドリルガイド
27 ケーブル
30 手術器具
30´ 表現
31 端部
34 センサリード
40 EM場センサ
50 制御ユニット
52 ユーザインターフェース
53 インジケータ
54 三次元図
55 撮像データ
56 傾斜角度
57 前傾角度
59a 好ましいリーミング深さ
59b 現在のリーミング深さ
59c 違い
60 ガイド
62 外形
64 ガイド穴
65 基準点
66 部分
70 EM場センサ
72 第2のEM場センサ
78 指示
80 マーカ
81 第2のマーカ
82 インプラントの画像
84 画像
85 表面
89 指示
90 画像
91 画像
92 インジケータ
93 回転位置
94 回転位置
95 穴
100 アライメントシステム
110 入力モジュール
112 センサインターフェース
114 識別装置入力インターフェース
116 ユーザ入力コントロール
120 処理モジュール
122 処理デバイス
124 ストレージデバイス
130 出力モジュール
132 ディスプレイ
140 制御モジュール
150 通信モジュール
200 関節
200´ 表現
202 骨盤
204 寛骨臼
206 大腿骨
208 大転子
210 第1のEM場センサ
212 第2のEM場センサ
220 点
221 外れ点
230 球体
232 中心点
234 運動の範囲の表面
236 交点
237 境界
260 ガイド
270 固着軸
300 データベース
302a〜302c 記録
304a〜304c 三次元の運動の範囲の表面
305a〜305c 境界全体
306a〜306c 交点
307a、307b、307c 第1のランドマーク
308a、308b、308c 第2のランドマーク
309a〜309c 中点
310 コンピュータシステム
320 複合表現
322 運動の複合範囲の表面
325 境界
326 最良適合交点
328 回転の中心点
329 複合軸
330、331、332 領域
400 関節
402 骨盤
406 大腿骨
406´ 三次元ビュー
408 大転子
409 大腿骨頭
410 大腿ネック
411 開口部
420 第1のEM場センサ
422 第2のEM場センサ
424 ロケーション
400´、424´ 表現
426 点
430 球体
432 中心点
434 運動の範囲の表面
435 境界
437 ランドマーク
440 交点
446 固着軸
450 プローブ
452 EM場センサ
453 幹軸
454 端部
456 ロケーション
456´ 指示
457 関節の回転の中心点
459 モデル
461a、461b ランドマーク
462 円筒形
463 試用コンポーネント
464 中心軸
464´ 指示
465 固着軸
466 点
467 第3のEMセンサ
468 ネック軸
469 点
470 ドリル
470´ 指示
471a〜471c 試用コンポーネントモデル
472 EM場センサ
474 ガイドピン
477 ロケーション
480 第2の球体
481、483、485 EMセンサ
482 中心点
484 第2の運動の範囲の表面
490 大腿骨インプラント
491 寛骨臼インプラント
493 回転の中心点
494 大腿骨ネック軸
495 回転の中心点
497 回転の中心点
498 大腿骨インプラント
499 寛骨臼インプラント
500 代替的アライメントシステム
520 識別装置
521 赤外線カメラ
523 赤外線放射体
525 通信リンク
540a〜540c 赤外線反射体
542 赤外線反射要素
550 制御ユニット
552 ユーザインターフェース
Claims (14)
- 関節の受け側部分に実質的に形状適合する外形を有する、あらかじめ形成されたガイドであって、前記ガイドが前記関節に嵌合した場合に前記関節に対して既知の位置を有する軸を画成する、あらかじめ形成されたガイドと、
前記関節の骨に取り付けるための第1の基準デバイスと、
前記ガイドに対する既知のアライメントで結合する第2の基準デバイスと、
前記第1の基準デバイスおよび前記第2の基準デバイスと通信する制御ユニットであって、前記第2の基準デバイスが前記ガイドと既知のアライメント調整をなされ、かつ前記ガイドが前記関節に嵌合する場合に、前記第1の基準デバイスに対する前記第2の基準デバイスの位置を示すデータに基づき前記第1の基準デバイスに対する前記軸の前記位置を決定するように構成された制御ユニットと、
を備え、前記ガイドの外形は、前記外形が前記関節の受け側部分に実質的に形状適合し、かつ前記ガイドが特定の方向で前記関節の前記受け側部分と嵌合するように前記ガイドの使用に先だって形成されたシステム。 - 前記軸は、前記ガイドが前記関節に結合された場合の前記関節に対する既知の傾斜角度および既知の前傾角度を有する請求項1に記載のシステム。
- 第2の基準デバイスは、前記軸に対する既知のオフセットを有する位置で前記ガイドに取り付けられるように構成される請求項1に記載のシステム。
- 前記関節は、特定の患者の股関節であり、
前記軸は、前記股関節の撮像データに基づき決定された、前記股関節の寛骨臼固着軸であり、
前記ガイドは、前記特定の患者について画成された前記外形を有する患者特有のガイドであり、前記外形は、前記ガイドが特定の方向で寛骨臼と嵌合するように前記股関節の寛骨臼の1つまたは複数の部分に実質的に形状適合する請求項1に記載のシステム。 - 電磁場発生装置をさらに備え、
前記第1の基準デバイスは、第1の電磁場センサを備え、かつ前記第2の基準デバイスは、前記電磁場発生装置または第2の電磁場センサを備える請求項1に記載のシステム。 - 赤外線検出器をさらに備え、
前記第1の基準デバイスは、第1の基準マークを備え、かつ前記第2の基準デバイスは、第2の基準マークを備える請求項1に記載のシステム。 - 前記第1の基準デバイスに対する前記軸の位置を決定するために、前記制御ユニットは、基準フレーム内の前記軸の位置を決定するように構成され、第1の基準デバイスは前記基準フレームに対する定位置を有する請求項1に記載のシステム。
- 前記制御ユニットは、
前記軸に対する器具の位置を、前記第2の基準デバイスまたは第3の基準デバイスが前記器具に結合されている間に決定し、
ユーザインターフェース上に、前記軸に対する前記器具の位置を示すデータを出力するように構成される請求項1に記載のシステム。 - 前記制御ユニットは、前記ガイドが前記関節から取り外された後に前記器具の位置を決定するように構成される請求項8に記載のシステム。
- 前記軸に対する前記器具の前記位置を決定するために、前記制御ユニットは、前記軸の周りの前記器具の回転位置を決定するように構成され、
前記軸に対する前記器具の位置を示すデータを出力するために、前記制御ユニットは、前記軸の周りの前記器具の回転位置を示すデータを出力するように構成される請求項8に記載のシステム。 - 前記第1の基準デバイスに対する前記軸の位置を決定するために、制御ユニットは、
前記ガイドに対する前記軸の位置を示す第1のデータにアクセスし、
前記第2の基準デバイスが前記ガイドと前記既知のアライメント状態にある場合に第2の基準デバイスと前記ガイドとの間のオフセットを示す第2のデータにアクセスするように構成される請求項1に記載のシステム。 - 前記制御ユニットは、
前記関節または前記関節の表面の回転の中心に対する器具の位置を、第1の基準デバイスに対する前記器具の位置を示す情報に基づき決定し、
前記器具の位置に対して前記軸に沿ったリーミング深さを計算し、かつ
前記リーミング深さを示す情報を提供するように、さらに構成される請求項1に記載のシステム。 - 前記リーミング深さを計算するために、前記制御ユニットは、
インプラントの1つまたは複数の特性を示す情報にアクセスし、
前記インプラントの1つまたは複数の特性に基づき好ましいリーミング深さを決定し、
前記器具の現在位置と前記好ましいリーミング深さに対応する前記器具の好ましい位置との差を判定するように構成され、
前記リーミング深さを示す情報を提供するために、前記制御ユニットは、前記器具の現在位置と前記器具の好ましい位置との差を示す情報を提供するように構成される請求項12に記載のシステム。 - 関節に対するアライメントを決定する装置であって、
1つまたは複数の処理デバイスと、前記1つまたは複数の処理デバイスによって実行された場合に、オペレーションを前記1つまたは複数の処理デバイスに実行させるように動作可能である命令を格納する1つまたは複数のストレージデバイスと、を備え、
前記オペレーションは、
第2の基準デバイスに対する第1の基準デバイスの測定位置を示す情報を受信するステップであって、(i)前記第1の基準デバイスが、前記関節の骨に対する固定ロケーションに取り付けられ、(ii)前記関節の一部分に実質的に形状適合する外形を有する患者特有のガイドが前記骨に結合され、(iii)前記第2の基準デバイスが、前記患者特有のガイドに対して既知の位置に結合される間中、前記測定位置が発生し、前記患者特有のガイドが、請求項1から13のいずれか一項に記載のシステムのあらかじめ形成されたガイドである、ステップと、
前記測定位置に基づき前記第1の基準デバイスに対する外科軸の位置を決定するステップと、
前記第1の基準デバイスに対する器具の位置を示す情報を受信するステップと、
前記ガイドが前記関節から取り外された後に、前記第1の基準デバイスに対する前記器具の位置を使用して前記外科軸に対する前記器具の位置を決定するステップと、
を含む装置。
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EP2720631B1 (en) | 2022-01-26 |
WO2012173890A3 (en) | 2013-04-18 |
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US11103363B2 (en) | 2021-08-31 |
WO2012173890A2 (en) | 2012-12-20 |
EP2720631A2 (en) | 2014-04-23 |
US9168153B2 (en) | 2015-10-27 |
JP2014524776A (ja) | 2014-09-25 |
RU2013158108A (ru) | 2015-07-27 |
US20120323247A1 (en) | 2012-12-20 |
AU2016277694B2 (en) | 2019-04-04 |
AU2012270983B2 (en) | 2016-09-22 |
CN103732165A (zh) | 2014-04-16 |
BR112013032144A2 (pt) | 2016-12-13 |
AU2012270983A1 (en) | 2014-01-16 |
EP2720631A4 (en) | 2015-06-24 |
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