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 - 20 . (canceled) 
     
     
         21 . A method of positioning an implant, the method comprising:
 attaching a first tracking marker to anatomy of an implant host;   attaching a second tracking marker to an implant positioning device, the 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;   identifying, by a tracking device, a first location of the first tracking marker;   identifying, by the tracking device, a second location of the second tracking marker;   obtaining, by a control device in operable communication with the tracking device, an implant plan for positioning a prosthetic acetabular cup attached to an 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;   registering, by the control device, the implant host and the implant positioning device within a coordinate system based on the identified first and second locations;   aligning, by the control device, the virtual implant host model with the registered implant host;   generating, by the control device, 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   outputting, by the control device, 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.   
     
     
         22 . The method of  claim 21 , wherein generating the visualization further comprises generating, by the control device, a 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. 
     
     
         23 . The method of  claim 21 , 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. 
     
     
         24 . The method of  claim 21 , further comprising:
 determining, by the control device, that the planned location and orientation has not been reached based on the identified first and second locations, and   transmitting, by the control device to control circuitry electrically connected to the one or more actuators, one or more control signals to move one or more of the one or more actuators to thereby induce a movement of the prosthetic acetabular cup.   
     
     
         25 . The method of  claim 24 , further comprising generating, by the control device, the one or more control signals based on the identified first and second locations and the planned location and orientation, wherein the one or more of the control signals further comprise an impact frequency or an impact amplitude. 
     
     
         26 . The method of  claim 24 , 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.   
     
     
         27 . The method of  claim 26 , further comprising causing, via the one or more control signals, 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. 
     
     
         28 . The method of  claim 24 , further comprising controlling, via the one or more control signals, extension of a telescoping arm, wherein the telescoping arm comprises the proximal fixed portion and the distal moveable portion. 
     
     
         29 . A method of positioning an implant, the method comprising:
 attaching a first tracking marker to anatomy of an implant host;   attaching a second tracking marker to an implant positioning device, the implant positioning device comprising control circuitry electrically connected to one or more actuators and a positioning arm having a proximal fixed portion and a distal moveable portion coupled to an end effector;   identifying, by a tracking device, a first location of the first tracking marker;   identifying, by the tracking device, a second location of the second tracking marker;   obtaining, by a control device in operable communication with the implant positioning device and the tracking device, an implant plan for positioning a prosthetic acetabular cup attached to an 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;   receiving, from the tracking device, the first and second locations;   determining, by the control device, that the planned location and orientation of the prosthetic acetabular cup has not been reached based on the received first and second locations; and   transmitting, by the control device, 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.   
     
     
         30 . The method of  claim 29 , further comprising generating the one or more control signals based on the received first and second locations and the planned location and orientation, wherein the one or more control signals comprise an impact frequency or an impact amplitude. 
     
     
         31 . The method of  claim 29 , 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.   
     
     
         32 . The method of  claim 31 , further comprising causing, via the one or more control signals, 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. 
     
     
         33 . The method of  claim 29 , further comprising controlling, via the one or more control signals, extension of a telescoping arm, wherein the telescoping arm comprises the proximal fixed portion and the distal moveable portion. 
     
     
         34 . The method of  claim 29 , further comprising:
 registering, by the control device, the implant host and the implant positioning device within a coordinate system based on the identified first and second locations;   aligning, by the control device, a virtual implant host model with the registered implant host, wherein the obtained implant plan comprises the virtual implant host model;   generating, by the control device, 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   outputting, by the control device, the visualization to a display device to facilitate implantation of the prosthetic acetabular cup.   
     
     
         35 . The method of  claim 34 , wherein generating the visualization further comprises generating, by the control device, a 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. 
     
     
         36 . The method of  claim 34 , 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. 
     
     
         37 . A method of positioning an implant, the method comprising:
 attaching a first tracking marker to anatomy of an implant host;   attaching a second tracking marker to an implant positioning device, the implant positioning device comprising control circuitry electrically connected to one or more actuators and a positioning arm having a proximal fixed portion and a distal moveable portion coupled to an end effector;   tracking, by a tracking device, a first location of the implant host;   tracking, by the tracking device, a second location of the implant positioning device;   obtaining, by a control device in operable communication with the implant positioning device and the tracking device, an implant plan for positioning a prosthetic acetabular cup attached to an 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;   receiving, from the tracking device, the first and second locations;   generating, by the control device, 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   transmitting, by the control device, 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.   
     
     
         38 . The method of  claim 37 , further comprising determining, by the control device, 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. 
     
     
         39 . The method of  claim 37 , 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.   
     
     
         40 . The method of  claim 39 , further comprising causing, via the one or more control signals, 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. 
     
     
         41 . The method of  claim 37 , further comprising controlling, via the one or more control signals, extension of a telescoping arm, wherein the telescoping arm comprises the proximal fixed portion and the distal moveable portion. 
     
     
         42 . The method of  claim 37 , further comprising:
 registering, by the control device, the implant host and the implant positioning device within a coordinate system based on the identified first and second locations;   aligning, by the control device, a virtual implant host model with the registered implant host, wherein the obtained implant plan comprises the virtual implant host model;   generating, by the control device, 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   outputting, by the control device, the visualization to a display device to facilitate implantation of the prosthetic acetabular cup.