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

Abstract

An implant positioning device and a method of using the device are described. The positioning device includes an end effector configured to contact an implant component during a surgical procedure, the end effector connected to an actuator for imparting an impact force to the implant component during the surgical procedure, a motor mechanically connected to the actuator and configured to move the actuator to produce one or more impacts on the end effector, thereby imparting the impact force to the implant component, and a control circuit coupled to the motor. The control circuit is configured to generate at least one motor control signal, transfer the at least one motor control signal to the motor, and, as a result of the at least one motor control signal, cause the motor to move the actuator to produce one or more impacts on the end effector.

1 - 19 . (canceled) 
     
     
         20 . An implant positioning system, comprising:
 an implant positioning device comprising one or more actuators and a positioning arm having a proximal fixed portion and a distal moveable portion coupled to an end effector;   a tracking device configured to identify a first location of a first tracking marker attached to anatomy of an implant host and a second location of a second tracking marker attached to the implant positioning device; and   a control device coupled to the tracking device via a communication interface and comprising one or more processors coupled to a memory, the memory including instructions that, when executed by the one or more processors, cause the control device to:
 obtain an implant plan for positioning a prosthetic acetabular cup attached to the end effector into an acetabulum of the implant host, wherein the implant plan comprises a virtual implant host model and a planned location and orientation of the prosthetic acetabular cup within the implant host, 
 register the implant host and the implant positioning device within a coordinate system based on the identified first and second locations, 
 align the virtual implant host model with the registered implant host, 
 generate a visualization based on the registration and alignment, wherein the visualization comprises the virtual implant host model, an indication of the planned location and orientation, and a representation of the prosthetic acetabular cup, wherein the representation of the prosthetic acetabular cup is located in the visualization based on the identified second location, and 
 output the visualization to a display device to facilitate implantation of the prosthetic acetabular cup via linear motion imparted by the one or more actuators on the distal moveable portion or the end effector. 
   
     
     
         21 . The implant positioning system of  claim 20 , wherein the visualization further comprises a cross-hair alignment guide and the one or more processors are further configured to execute the instructions to cause the control device to generate the cross-hair alignment guide based on one or more of a current location of the prosthetic acetabular cup, the planned location and orientation, a location and orientation of the implant positioning device, or a location and orientation of the implant host. 
     
     
         22 . The implant positioning system of  claim 20 , wherein the visualization further comprises a three-dimensional representation of the implant host, the implant positioning device, and the prosthetic acetabular cup, wherein the three-dimensional representation provides real-time feedback to assist with alignment of the prosthetic acetabular cup with the implant host. 
     
     
         23 . The implant positioning system of  claim 20 , wherein the control device is coupled to the implant positioning device via another communication interface, wherein the implant positioning device further comprises control circuitry electrically connected to the one or more actuators, and wherein the one or more processors are further configured to execute the instructions to cause the control device to:
 determine that the planned location and orientation has not been reached based on the identified first and second locations, and   transmit one or more control signals to the control circuitry to move one or more of the one or more actuators to thereby induce a movement of the prosthetic acetabular cup.   
     
     
         24 . The implant positioning system of  claim 23 , wherein the one or more of the control signals further comprise an impact frequency or an impact amplitude and the one or more processors are further configured to execute the instructions to cause the control device to generate the one or more control signals based on the identified first and second locations and the planned location and orientation. 
     
     
         25 . The implant positioning system of  claim 23 , wherein the one or more actuators comprise a plurality of actuators coupled to the:
 distal moveable portion and the end effector; or   the distal moveable portion and the proximal fixed portion.   
     
     
         26 . The implant positioning system of  claim 25 , wherein the one or more control signals are further configured to cause the control circuitry to move one or more of the plurality of actuators to impart one or more impact forces to induce, during insertion, a rotational motion on the prosthetic acetabular cup. 
     
     
         27 . The implant positioning system of  claim 23 , wherein the proximal fixed portion and the distal moveable portion collectively comprise a telescoping arm and wherein the one or more control signals are further configured to control extension of the telescoping arm. 
     
     
         28 . An implant positioning system, comprising:
 an implant positioning device comprising:
 a positioning arm having a proximal fixed portion and a distal moveable portion coupled to an end effector, and 
 control circuitry electrically connected to one or more actuators; 
   a tracking device configured to identify a first location of a first tracking marker attached to anatomy of an implant host and a second location of a second tracking marker attached to the implant positioning device; and   a control device coupled to the implant positioning device and the tracking device via one or more communication interfaces and comprising one or more processors coupled to a memory, the memory including instructions that, when executed by the one or more processors, cause the control device to:
 obtain an implant plan for positioning a prosthetic acetabular cup attached to the end effector into an acetabulum of the implant host, wherein the implant plan comprises a planned location and orientation of the prosthetic acetabular cup within the implant host, 
 receive the first and second locations from the tracking device, 
 determine that the planned location and orientation of the prosthetic acetabular cup has not been reached based on the received first and second locations, and 
 transmit one or more control signals to the control circuitry to move the one or more actuators to thereby induce a movement of the prosthetic acetabular cup toward the planned location and orientation. 
   
     
     
         29 . The implant positioning system of  claim 28 , wherein the one or more control signals comprise an impact frequency or an impact amplitude and the one or more processors are further configured to execute the instructions to cause the control device to generate the one or more control signals based on the received first and second locations and the planned location and orientation. 
     
     
         30 . The implant positioning system of  claim 28 , wherein the one or more actuators comprise a plurality of actuators coupled to the:
 distal moveable portion and the end effector; or   the distal moveable portion and the proximal fixed portion.   
     
     
         31 . The implant positioning system of  claim 30 , wherein the one or more control signals are configured to cause the control circuitry to move one or more of the plurality of actuators to impart one or more impact forces to induce, during insertion, a rotational motion on the prosthetic acetabular cup. 
     
     
         32 . The implant positioning system of  claim 28 , wherein the proximal fixed portion and the distal moveable portion collectively comprise a telescoping arm and wherein the one or more control signals are configured to control extension of the telescoping arm. 
     
     
         33 . The implant positioning system of  claim 28 , wherein the obtained implant plan further comprises a virtual implant host model and wherein the one or more processors are further configured to execute the instructions to cause the control device to:
 register the implant host and the implant positioning device within a coordinate system based on the first and second locations,   align the virtual implant host model with the registered implant host,   generate a visualization based on the registration and alignment, wherein the visualization comprises the virtual implant host model, an indication of the planned location and orientation, and a representation of the prosthetic acetabular cup, wherein the representation of the prosthetic acetabular cup is located in the visualization based on the second location, and   output the visualization to a display device to facilitate implantation of the prosthetic acetabular cup.   
     
     
         34 . The implant positioning system of  claim 33 , wherein the visualization further comprises a cross-hair alignment guide and the one or more processors are further configured to execute the instructions to cause the control device to generate the cross-hair alignment guide based on one or more of a current location of the prosthetic acetabular cup, the planned location and orientation, a location and orientation of the implant positioning device, or a location and orientation of the implant host. 
     
     
         35 . The implant positioning system of  claim 33 , wherein the visualization further comprises a three-dimensional representation of the implant host, the implant positioning device, and the prosthetic acetabular cup, wherein the three-dimensional representation provides real-time feedback to assist with alignment of the prosthetic acetabular cup with the implant host. 
     
     
         36 . An implant positioning system, comprising:
 an implant positioning device comprising:
 a positioning arm having a proximal fixed portion and a distal moveable portion coupled to an end effector, and 
 control circuitry electrically connected to one or more actuators; 
   a tracking device configured to track a first location of an implant host and a second location of the implant positioning device; and   a control device coupled to the implant positioning device and the tracking device via one or more communication interfaces and comprising one or more processors coupled to a memory, the memory including instructions that, when executed by the one or more processors, cause the control device to:
 obtain an implant plan for positioning a prosthetic acetabular cup attached to the end effector into an acetabulum of the implant host, wherein the implant plan comprises a planned location and orientation of the prosthetic acetabular cup within the implant host, 
 receive the tracked first and second locations from the tracking device, 
 generate one or more control signals comprising an impact frequency or an impact amplitude based on the tracked first and second locations and the planned location and orientation, and 
 transmit the one or more control signals to the control circuitry to move the one or more actuators to thereby induce a movement of the prosthetic acetabular cup. 
   
     
     
         37 . The implant positioning system of  claim 36 , wherein the one or more processors are further configured to execute the instructions to cause the control device to determine prior to generating the one or more control signals that the planned location and orientation of the prosthetic acetabular cup has not been reached based on the tracked first and second locations. 
     
     
         38 . The implant positioning system of  claim 36 , wherein the one or more actuators comprise a plurality of actuators coupled to the:
 distal moveable portion and the end effector; or   the distal moveable portion and the proximal fixed portion.   
     
     
         39 . The implant positioning system of  claim 38 , wherein the one or more control signals are configured to cause the control circuitry to move one or more of the plurality of actuators to impart one or more impact forces to induce, during insertion, a rotational motion on the prosthetic acetabular cup. 
     
     
         40 . The implant positioning system of  claim 36 , wherein the proximal fixed portion and the distal moveable portion collectively comprise a telescoping arm and wherein the one or more control signals are configured to control extension of the telescoping arm. 
     
     
         41 . The implant positioning system of  claim 36 , wherein the obtained implant plan further comprises a virtual implant host model and wherein the one or more processors are further configured to execute the instructions to cause the control device to:
 register the implant host and the implant positioning device within a coordinate system based on the first and second locations,   align the virtual implant host model with the registered implant host,   generate a visualization based on the registration and alignment, wherein the visualization comprises the virtual implant host model, an indication of the planned location and orientation, and a representation of the prosthetic acetabular cup, wherein the representation of the prosthetic acetabular cup is located in the visualization based on the second location, and   output the visualization to a display device to facilitate implantation of the prosthetic acetabular cup.   
     
     
         42 . The implant positioning system of  claim 41 , wherein the visualization further comprises a cross-hair alignment guide and the one or more processors are further configured to execute the instructions to cause the control device to generate the cross-hair alignment guide based on one or more of a current location of the prosthetic acetabular cup, the planned location and orientation, a location and orientation of the implant positioning device, or a location and orientation of the implant host. 
     
     
         43 . The implant positioning system of  claim 41 , wherein the visualization further comprises a three-dimensional representation of the implant host, the implant positioning device, and the prosthetic acetabular cup, wherein the three-dimensional representation provides real-time feedback to assist with alignment of the prosthetic acetabular cup with the implant host.