Registration tools, systems, and methods

Abstract

A registration system including a bone pin guide and a bone pin clamp. The bone pin guide may include a guide body, a first guide including a first guide through-hole having a first longitudinal axis, and a second guide including a second guide through-hole having a second longitudinal axis. The bone pin guide may guide first and second bone pins into a bone via the first and second guides. The bone pin clamp may include a clamp body, first, second, and third clamp through-holes extending through the clamp body, a plurality of registration indents defined on the clamp body, and a clamping mechanism including at least one adjustable fastener. The bone pin clamp may receive the first and second bone pins in the first and third clamp through-holes and guide a third bone pin into the bone via the second clamp through-hole.

1 .- 20 . (canceled) 
     
     
         21 . A registration system for use in a medical procedure on a bone of a patient, the registration system comprising:
 a bone pin clamp assembly comprising:
 a body including a guide configured to receive a bone pin there through, the bone pin defining an entry point at which the bone pin extends into the bone of the patient when the bone pin is in the bone; 
 a barrel extending from the body to a distal tip, the barrel having a lumen extending along a longitudinal axis from the body to the distal tip, the lumen aligned with the guide such that the lumen is configured to receive the bone pin there through, the distal tip configured to contact the bone of the patient such that the distal tip is located approximately at the entry point; and 
 a registration marker defined on the body, wherein the longitudinal axis of the lumen is normal to a defined plane extending through the registration marker, a known distance defined between the defined plane and the distal tip of the barrel such that, when the lumen receives the bone pin and the distal tip of the barrel contacts the bone, a location of the entry point is defined along the longitudinal axis at the known distance from the defined plane. 
   
     
     
         22 . The registration system of  claim 21 , wherein the registration marker is configured to receive a tip of a registration probe during registration to register a position of the registration marker. 
     
     
         23 . The registration system of  claim 21 , wherein the registration marker comprises an indent on the body. 
     
     
         24 . The registration system of  claim 21 , further comprising a registration probe configured to register a position of the registration marker. 
     
     
         25 . The registration system of  claim 21 , further comprising an adjustable fastener configured to engage the bone pin, wherein the adjustable fastener inhibits movement of the body relative to the bone pin when the adjustable fastener is engaged. 
     
     
         26 . The registration system of  claim 25 , wherein the body further comprises a threaded through-hole extending into the body and extending into the guide, wherein the adjustable fastener comprises a threaded fastener configured to be received within the threaded through-hole so as to extend into the threaded through-hole. 
     
     
         27 . The registration system of  claim 21 , wherein the body further comprises a tracker coupling configured to secure a tracker array thereto, the tracker array configured to be monitored by a tracking device of a navigation system. 
     
     
         28 . The registration system of  claim 21 , wherein a tracker array is integrated into the body, the tracker array configured to be monitored by a tracking device of a navigation system. 
     
     
         29 . The registration system of  claim 21 , further comprising a navigation system, a tracking device and at least one computer, the tracking device configured to be tracked by the navigation system, the at least one computer in communication with the navigation system and configured to receive positional data associated a position of the registration marker by way of the tracking device being tracked by the navigation system. 
     
     
         30 . The registration system of  claim 29 , wherein the at least one computer is configured to register the positional data with a computer bone model representative of a patient bone. 
     
     
         31 . The registration system of  claim 21 , wherein the guide is a through-hole extending through the body, the through-hole being coaxial with the lumen of the barrel. 
     
     
         32 . The registration system of  claim 21 , further comprising the bone pin. 
     
     
         33 . The registration system of  claim 21 , wherein the registration marker is a first registration marker, the body further comprising a second registration marker and a third registration marker, the first, second, and third registration markers each configured to receive a tip of a navigated probe during registration, the first, second, and third registration markers defining the defined plane. 
     
     
         34 . The registration system of  claim 21 , wherein the guide is a first through-hole, the body further comprising a second through-hole and a third through-hole, the second through-hole configured to receive a second bone pin there through, the third through-hole configured to receive a third bone pin there through. 
     
     
         35 . A method of surgical registration comprising:
 receiving a bone pin into a lumen of a barrel that defines a longitudinal axis, the barrel extending from a body to a distal tip, the bone pin extending from a bone of a patient such that the bone pin defines an entry point at which the bone pin extends into the bone;   contacting the distal tip of the barrel to the bone such that the distal tip is located approximately at the entry point;   contacting a registration marker defined on the body with a registration probe in a registration procedure, the longitudinal axis being normal to a defined plane extending through the registration marker, a known distance defined between the defined plane and the distal tip of the barrel; and   determining a location of the entry point from the defined plane and the known distance.   
     
     
         36 . The method of  claim 35 , wherein the entry point is located along the longitudinal axis. 
     
     
         37 . The method of  claim 35 , further comprising engaging an adjustable fastener to the bone pin such that the adjustable fastener inhibits movement of the body relative to the bone pin. 
     
     
         38 . The method of  claim 35 , wherein the bone is an ilium and the distal tip of the barrel contacts an iliac crest. 
     
     
         39 . The method of  claim 35 , further comprising tracking a tracker array with a tracking device of a navigation system, the tracker array coupled to the body. 
     
     
         40 . The method of  claim 35 , further comprising contacting one or more points on the bone of the patient with the registration probe.