Systems and methods for navigation and control of an implant positioning device

Abstract

Systems and methods for navigation and control of an implant positioning device are discussed. For example, a method can include operations for accessing an implant plan, establishing a 3-D coordinate system, receiving tracking information, generating control signals, and sending the control signals to the implant positioning device. The implant plan can include location and orientation data describing an ideal implant location and orientation in reference to an implant host. The 3-D coordinate system can provide spatial orientation for the implant positioning device and the implant host. The tracking information can identify current location and orientation data within the 3-D coordinate system for the implant positioning device and implant host during a procedure. The control signals can control operation of the implant positioning device to assist a surgeon in positioning the implant according to the implant plan.

The claimed invention includes: 
     
         1 . A method comprising:
 accessing an implant plan, the implant plan including location and orientation data describing an ideal implant location and orientation in reference to an implant host;   establishing a three dimensional (3-D) coordinate system associated with an implant positioning device and the implant host;   receiving tracking information identifying a current implant positioning device position and a current implant host position within the 3-D coordinate system;   generating control signals based on the tracking information and the implant plan; and   sending the control signals over a communication link with the implant positioning device, the control signals controlling operation of the implant positioning device to assist a surgeon in positioning an implant according to the implant plan, the implant removably coupled to an end effector of the implant positioning device.   
     
     
         2 . The method of  claim 1 , wherein the generating control signals includes generating a signal to control an amplitude of impact delivered by the implant positioning device. 
     
     
         3 . The method of  claim 1 , wherein the generating control signals includes generating a signal to control a frequency of impacts delivered by the implant positioning device. 
     
     
         4 . The method of  claim 1 , wherein the generating control signals includes generating a signal to control an extendable element within the implant positioning device. 
     
     
         5 . The method of  claim 1 , wherein the generating control signals includes generating a signal to direct positioning impacts delivered by the implant positioning device, wherein the positioning impacts induce a rotation along a particular axis of the implant. 
     
     
         6 . The method of  claim 1 , further comprising presenting an interface providing feedback assisting the surgeon in aligning the implant with the implant host. 
     
     
         7 . The method of  claim 6 , wherein the presenting the interface includes presenting a 3-D image illustrating the implant host, the implant positioning device and the implant, the 3-D image providing real-time feedback assisting the surgeon in aligning the implant with the implant host. 
     
     
         8 . The method of  claim 7 , wherein the presenting the 3-D image includes color-coding indicative of a position of the implant relative to the implant host and the ideal implant location and orientation. 
     
     
         9 . The method of  claim 6 , wherein the presenting the interface includes presenting cross-hair alignment guides associated with an illustration of the implant positioning device. 
     
     
         10 . The method of  claim 1 , wherein the accessing the implant plan includes extracting an implant model and a implant host model; and
 wherein the establishing the 3-D coordinate system includes aligning the implant host model and the implant model with the implant host.   
     
     
         11 . A system comprising:
 an implant positioning device including a tracking component, a communication link for receiving control signals, and an end effector for removably coupling to an implant component;   a tracking system including a tracking sensor, the tracking system monitoring, in real-time, three dimensional position and orientation of the implant positioning device and an implant host;   a control system, the control system including:
 a communication interface coupled to the implant positioning device via the communication link and the tracking system, the communication interface sending control signals to the implant positioning device and receiving tracking information identifying a current implant positioning device position and a current implant host position; 
 one or more processors coupled to a memory device, the memory device including instructions that, when executed by the one or more processors, cause the control system to generate control signals based on the tracking information and an implant plan, the control signals controlling operation of the implant positioning device to assist a surgeon in positioning an implant according to the implant plan. 
   
     
     
         12 . The system of  claim 11 , wherein the implant positioning device is a computer-controlled powered impactor including a communication link to receive parameters for controlling impaction forces imparted to an implant attached to an end effector of the implant positioning device. 
     
     
         13 . The system of  claim 12 , wherein the implant positioning device includes an extendable element attached to the end effector, the extendable element controlling a relative position of the end effector in reference to the surgeon. 
     
     
         14 . The system of  claim 13 , wherein the communication link of the implant positioning device receives control signals including parameters to control impact amplitude, impact frequency, and end effector position. 
     
     
         15 . The system of  claim 11 , further comprising a display device communicatively coupled to the control system, the display device presenting an interface providing feedback assisting the surgeon in aligning the implant with the implant host. 
     
     
         16 . The system of  claim 15 , wherein the display device presents a 3-D animation illustrating the implant host, the implant positioning device, and the implant, the 3-D animation providing real-time feedback assisting the surgeon in aligning the implant with the implant host. 
     
     
         17 . A machine-readable storage medium including instructions that, when executed by a machine, cause the machine to:
 access an implant plan, the implant plan including location and orientation data describing an ideal implant location and orientation in reference to an implant host;   establish a three dimensional (3-D) coordinate system associated with an implant positioning device and the implant host;   receive tracking information identifying a current implant positioning device position and a current implant host position within the 3-D coordinate system;   generate control signals based on the tracking information and the implant plan; and   transmit the control signals over a communication link with the implant positioning device, the control signals controlling operation of the implant positioning device to assist a surgeon in positioning the implant according to the implant plan, the implant removably coupled to an end effector of the implant positioning device.   
     
     
         18 . The machine-readable storage medium of  claim 17 , wherein the instructions to generate control signals include additional instructions to generate signals to control amplitude and frequency of impacts delivered by the implant positioning device. 
     
     
         19 . The machine-readable storage medium of  claim 18 , wherein the instructions to generate control signals include additional instructions to generate signals to control an extendable end effector on the implant positioning device. 
     
     
         20 . The machine-readable storage medium of  claim 17 , further including instructions that cause the machine to generate a three dimensional (3-D) representation illustrating the implant host, the implant positioning device, and the implant, the 3-D representation providing real-time feedback to assist the surgeon in aligning the implant with the implant host.