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.

1 .- 52 . (canceled) 
     
     
         53 . An implant positioning apparatus for a knee replacement procedure comprising:
 a positioning arm;   an end effector coupled to the positioning arm and configured to be manipulated manually by an operator;   a first tracking device configured to anchor to a femur;   a second tracking device configured to anchor to a tibia;   a tracking system configured to individually track at least each of the femur and the tibia using the first tracking device and the second tracking device;   a navigation system comprising 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 implant positioning apparatus to:
 access a surgical plan for positioning an implant in a target knee, 
 receive tracking information including a target knee position and an end effector position from the tracking system, and 
 generate a control signal based on the tracking information and the surgical plan; and 
   a motor configured to move the end effector based on the control signal to allow for positioning the implant.   
     
     
         54 . The apparatus of  claim 53 , further comprising a control circuit coupled to the motor and configured to:
 determine one or more parameters for the implant positioning apparatus; and   generate the control signal based on the one or more parameters.   
     
     
         55 . The apparatus  claim 54 , wherein the one or more parameters comprise at least one of an amplitude of impact, a frequency of impact, and a duration of impact. 
     
     
         56 . The apparatus of  claim 54 , wherein the one or more parameters comprise at least one of a location and an angle at which the implant positioning apparatus is directed to move the end effector. 
     
     
         57 . The apparatus of  claim 54 , wherein the end effector comprises a retention device configured to retain an implant component in a fixed position relative to the end effector. 
     
     
         58 . The apparatus of  claim 54 , further comprising a tracking marker configured to be tracked by the tracking system. 
     
     
         59 . The apparatus of  claim 54 , wherein the positioning arm is a telescoping positioning arm. 
     
     
         60 . The apparatus of  claim 59 , wherein the motor is further configured to control extension of the telescoping positioning arm.