Systems and methods for placement of surgical instrumentation

Abstract

A system and method is provided for estimating orientation and position of surgical instrumentation or tools relative to a patient's bone structure. The system and/or method may include registering an axis and/or plane associated with a patient's bone. The system and/or method may further include receiving, from magnetic and orientation sensors, information indicative of orientation and position of the surgical instrument or tool relative to the registered axis and/or plane.

What is claimed is: 
     
         1 . A method for estimating an orientation for placement of a surgical instrument, comprising:
 receiving, from a first orientation sensor, information indicative of an orientation of at least one anatomic axis or plane;   receiving, from a second orientation sensor, information indicative of an orientation of the surgical instrument; and   estimating an angle between the surgical instrument and the at least one anatomic axis or plane.   
     
     
         2 . The method of  claim 1 , wherein at least one of the first and second orientation sensors comprise at least one of a gyroscope, an accelerometer, or a magnetometer. 
     
     
         3 . The method of  claim 1 , wherein the anatomic axis is a mechanical axis of a femur. 
     
     
         4 . The method of  claim 1 , wherein the anatomic axis is a mechanical axis of a tibia. 
     
     
         5 . The method of  claim 1 , wherein estimating the angle between the surgical instrument and the at least one anatomic axis or plane comprises estimating an angle between the second orientation sensor and the at least one anatomic axis or plane, and wherein the angle between the second orientation sensor and the at least one anatomic axis or plane is indicative of at least one of varus or valgus of the surgical instrument relative to a bone. 
     
     
         6 . The method of  claim 1 , wherein estimating the angle between the surgical instrument and the at least one anatomic axis or plane comprises estimating an angle between the second orientation sensor and the at least one anatomic axis or plane, and wherein the angle between the second orientation sensor and the at least one anatomic axis or plane is indicative of at least one of flexion or extension of the surgical instrument relative to a bone. 
     
     
         7 . The method of  claim 1 , further comprising displaying the estimated angle between the surgical instrument and the at least one anatomic axis or plane. 
     
     
         8 . A method for estimating a position for placement of a surgical instrument, comprising:
 establishing an initial geometric relationship between an anatomic surface of a patient's bone and the surgical instrument;   receiving, from one or more magnetic sensors, information indicative of a first position of the surgical instrument relative to the anatomic surface; and   receiving, from the one or more magnetic sensors, information indicative of a change in a position of the surgical instrument relative to the anatomic surface.   
     
     
         9 . The method of  claim 8 , wherein the initial geometric relationship is established via a depth gauge. 
     
     
         10 . The method of  claim 8 , wherein a magnetic field generator is attached to the surgical instrument, and wherein the magnetic field generator creates a magnetic field that is detected by the one or more magnetic sensors attached to the patient's anatomy. 
     
     
         11 . The method of  claim 8 , wherein a magnetic field generator is attached to the patient's anatomy, and wherein the magnetic field generator creates a magnetic field that is detected by the one or more magnetic sensors attached to the surgical instrument. 
     
     
         12 . The method of  claim 8 , wherein the surgical instrument is a cutting guide. 
     
     
         13 . A system for estimating an orientation for placement of a surgical instrument relative to a bone of a patient, the system comprising:
 a base attached to the bone;   a first orientation sensor coupled to the base and configured to detect information indicative of an orientation of the bone;   a second orientation sensor coupled to the surgical instrument and configured to detect information indicative of an orientation of the surgical instrument; and   a processor communicatively coupled to the first and second orientation sensors and configured to:
 receive information indicative of an orientation of an anatomic axis or plane of the bone; and 
 estimate an angle between the surgical instrument and the anatomic axis or plane. 
   
     
     
         14 . The system of  claim 13 , wherein at least one of the first and second orientation sensors comprise an inertial measurement unit that includes at least one of a gyroscope, an accelerometer, or a magnetometer. 
     
     
         15 . A system for estimating a position for placement of a surgical instrument relative to a bone of a patient, the system comprising:
 a base attached to the bone;   a magnetic field generator attached to the surgical instrument;   one or more magnetic sensors coupled to the base and configured to detect information indicative of a position of the surgical instrument; and   a processor communicatively coupled to the magnetic sensors and configured to:
 receive information indicative of a first position of the surgical instrument relative to an anatomic surface of the bone; and 
 estimate change in position of the surgical instrument relative to the anatomic surface of the bone. 
   
     
     
         16 . The system of  claim 15 , wherein the magnetic field generator is a permanent magnet. 
     
     
         17 . The system of  claim 15 , wherein the magnetic field generator is a solenoid. 
     
     
         18 . The system of  claim 15 , wherein each of the one or more magnetic sensors comprises one or more magnetometers. 
     
     
         19 . A system for automated positioning of a surgical instrument relative to a bone of a patient, the system comprising:
 a base attached to the bone;   a surgical instrument that is movable with respect to the base;   a orientation sensor coupled to the base and configured to detect information indicative of an orientation of the bone; and   a processor communicatively coupled to the orientation sensor and the surgical instrument and configured to:
 receive information indicative of an orientation of an anatomic axis or plane of the bone; and 
 control the surgical instrument to a target position with respect to the anatomic axis or plane of the bone. 
   
     
     
         20 . The system of  claim 19 , wherein the surgical instrument comprises one or more robotic actuators configured to move the surgical instrument with respect to the base.