WO2000048507A1 - Optimizing alignment of an appendicular - Google Patents
Optimizing alignment of an appendicular Download PDFInfo
- Publication number
- WO2000048507A1 WO2000048507A1 PCT/US2000/003171 US0003171W WO0048507A1 WO 2000048507 A1 WO2000048507 A1 WO 2000048507A1 US 0003171 W US0003171 W US 0003171W WO 0048507 A1 WO0048507 A1 WO 0048507A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- movement
- bone
- marker
- articulation
- intermediary
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1079—Measuring physical dimensions, e.g. size of the entire body or parts thereof using optical or photographic means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4528—Joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/14—Surgical saws ; Accessories therefor
- A61B17/15—Guides therefor
- A61B17/154—Guides therefor for preparing bone for knee prosthesis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2072—Reference field transducer attached to an instrument or patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
- A61B5/6867—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive specially adapted to be attached or implanted in a specific body part
- A61B5/6878—Bone
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
Definitions
- the present invention concerns a process for determining the pivot center of proximal and
- intermediary articulations also known as joints, of an appendicular skeleton.
- the appendicular skeleton comprises arms and legs and includes the proximal articulations
- limbs i.e., hips and shoulders
- intermediary articulations i.e., elbows or knees
- distal articulations (wrists or ankles).
- the articulations are connected by proximal bone
- Determining the pivot point can also be used as a diagnostic
- the pivot center corresponds to the articulation center of
- the hip which is spherical. This is not the case with a non-spherical articulation, such as, for
- the pivot center of the knee corresponds to the average of a range
- Prior art techniques for generating data include
- pivot points generated even by computer-assisted techniques.
- One improvement to traditional pre-surgical determinations of the pivot point utilizes at
- positioning is the x, y and z cartesian coordinates of the marker, and orientation is the
- articulation may be determined in the same manner by moving the femur toward the trunk, and the
- the present invention overcomes these drawbacks, in that it provides a means for
- pivot point that is fast and less traumatic to the patient as compared to prior art methods.
- the invention is a method for determining pivot centers for the proximal and
- novel method of the invention requires the affixation of a single marker to the bone, which may be affixed by screws or by less traumatic
- proximal and intermediary articulations may be determined through the use of at least one
- articulations may be determined through the use of at least one marker placed over or at least near
- the pivot center is determined using rotational
- sequence of the invention utilizes at least the first and second rotations of the proximal bone
- postures of the skeleton during the movement sequence are selected, and to each posture is ascribed
- Figure 1 is a perspective view diagram of a patient in a supine position, showing three
- Figure 2 is a side perspective view showing a patient whose appendicular skeleton is
- Figures 3 is a side perspective view of the appendicular skeleton of a patient that is
- Figure 4 is a top perspective view of the appendicular skeleton of a patient that is
- Figure 5 is a side perspective view showing a patient whose appendicular skeleton is
- Figure 6 is a schematic representation of the hardware required for determining the optimal
- Figure 1 represents, in a simplified drawing, a patient lying down, with a complete
- This patient has a trunk 4, two upper appendicular skeletons 6 and two
- the position of a patient is defined by three physiological planes, with three corresponding
- the frontal plane designated by reference 10, is associated a beam of frontal
- the sagittal plane 14 is the median plane of the patient, extending from the medial axis to
- a beam of sagittal axes 16, perpendicular to sagittal plane 14, are
- Axial plane 18 is the horizontal plane perpendicular to the frontal plane 12 as well as the
- sagittal plane 14 that is going through the cranium of the patient.
- Figures 2 to 4 show the patient in Figure 1 undergoing a first movement in the
- the lower appendicular skeleton 8 of the patient 2 includes a proximal articulation 22, i.e.
- the distal segment 28 ends with a distal articulation 30, i.e. the ankle
- an appendicular skeleton such as, for instance, the hip 22 and knee 26
- the preferred embodiment illustrated here will be the hip and knee, although the
- skeleton such as but not limited to the articulations of the arm, and the knee-shoulder articulations.
- articulations of the arm and the knee-shoulder articulations.
- knee-shoulder articulations are also embodiments of the invention, and the same principles are
- an optical marker 34 is
- the marker be
- the invention provides an
- markers may be affixed without the use of screws, although
- markers may be affixed to a bone, such as a tibia, with glue or an elastic band, or any
- the marker can be affixed anywhere
- the tibia 28 is most optimally located
- the marker 34 includes transmitters 40, in this embodiment most optimally at least three
- transmitters connected to a receiver, or locator 42 (such as but not limited to a camera), in contact
- processing device 44 such as but not limited to a computer, as shown in Figure 6.
- transmitters 40 may be infrared diodes, for example, or any other marker material suitable for use
- ultrasound or accelerometer markers including but not limited to ultrasound or accelerometer markers
- receivers 42 are adapted to receive signals from the transmitters 40.
- processing device 44 may be any commercially available system, such as that marketed by the manufacturer.
- the receiver insures the locating, on a continuous basis, of the position and orientation of the
- axis 36 of the tibia 28 is inclined with regard to the main axis 38 of the femur 24, at an angle ⁇ of
- the first movement of the sequence in accordance with the invention requires a moving
- angle ⁇ varies alternatingly between around 40° and 60°
- angle ⁇ varies alternately between around 20° and 120°, while angle ⁇ increases continuously
- the diameter D of the helix along which the ankle 30 moves is about 30
- the locator enables finding the position and orientation of the
- posture i.e. three cartesian coordinates and three polar coordinates of the marker for the point of
- the sequence in accordance with the invention includes a second movement shown in
- the computer determines the axis connecting these pivot centers. The surgeon then
- the invention has been described as a sequence which prompts a first movement generating
- any other marker such as a magnetic or inertial marker combined with a tracking device
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU33574/00A AU3357400A (en) | 1999-02-16 | 2000-02-07 | Optimizing alignment of an appendicular |
US09/936,585 US6692447B1 (en) | 1999-02-16 | 2000-02-07 | Optimizing alignment of an appendicular |
EP00911719A EP1156740A4 (en) | 1999-02-16 | 2000-02-07 | Optimizing alignment of an appendicular |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12070699P | 1999-02-16 | 1999-02-16 | |
US60/120,706 | 1999-02-16 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2000048507A1 true WO2000048507A1 (en) | 2000-08-24 |
Family
ID=22392064
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2000/003171 WO2000048507A1 (en) | 1999-02-16 | 2000-02-07 | Optimizing alignment of an appendicular |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP1156740A4 (en) |
AU (1) | AU3357400A (en) |
WO (1) | WO2000048507A1 (en) |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2002047559A1 (en) * | 2000-12-15 | 2002-06-20 | Aesculap Ag & Co. Kg | Method and device for determining the mechanical axis of a femur |
WO2003053244A3 (en) * | 2001-12-11 | 2003-08-21 | Ecole Technologie Superieure | Method of calibration for the representation of knee kinematics and harness for use therewith |
WO2003041611A3 (en) * | 2001-11-14 | 2003-12-11 | Michael R White | Apparatus and methods for making intraoperative orthopedic measurements |
FR2841118A1 (en) * | 2002-06-20 | 2003-12-26 | Perception Raisonnement Action | DETERMINING THE POSITION OF A RADIOGRAPHY OR RADIOSCOPY DEVICE |
WO2004049941A1 (en) * | 2002-12-03 | 2004-06-17 | Aesculap Ag & Co. Kg | Method of determining the position of the articular point of a joint |
DE10313747A1 (en) * | 2003-03-27 | 2004-10-28 | Aesculap Ag & Co. Kg | Joint hinging and articulation investigation system is used for examination of problems with knee joints and uses pins with markers fixed to tibia and femur with positions sensed by navigation system |
WO2005007004A1 (en) * | 2003-07-15 | 2005-01-27 | Orthosoft Inc. | Method and system for locating the mechanical axis of a femur |
WO2010082157A1 (en) * | 2009-01-16 | 2010-07-22 | Koninklijke Philips Electronics N.V. | Method for determining the rotation axis of a joint and device for monitoring the movements of at least one body part |
US8551108B2 (en) | 2010-08-31 | 2013-10-08 | Orthosoft Inc. | Tool and method for digital acquisition of a tibial mechanical axis |
US20140276885A1 (en) * | 2013-03-18 | 2014-09-18 | Orthosensor Inc | System and method for measuring muscular-skeletal alignment to a mechanical axis |
WO2015022037A1 (en) * | 2013-08-13 | 2015-02-19 | Brainlab Ag | Determining the positional information of characteristic points of a leg for osteotomy |
US10350089B2 (en) | 2013-08-13 | 2019-07-16 | Brainlab Ag | Digital tool and method for planning knee replacement |
CN113133800A (en) * | 2021-04-27 | 2021-07-20 | 中国人民解放军陆军军医大学第一附属医院 | Intelligent human bone grinding equipment for joint replacement surgery |
US11246719B2 (en) | 2013-08-13 | 2022-02-15 | Brainlab Ag | Medical registration apparatus and method for registering an axis |
US11284964B2 (en) | 2013-08-13 | 2022-03-29 | Brainlab Ag | Moiré marker device for medical navigation |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4631676A (en) * | 1983-05-25 | 1986-12-23 | Hospital For Joint Diseases Or | Computerized video gait and motion analysis system and method |
US4649934A (en) * | 1985-06-07 | 1987-03-17 | Faro Medical Technologies, Inc. | Joint laxity measurement |
US4813436A (en) * | 1987-07-30 | 1989-03-21 | Human Performance Technologies, Inc. | Motion analysis system employing various operating modes |
US5249581A (en) * | 1991-07-15 | 1993-10-05 | Horbal Mark T | Precision bone alignment |
US5402800A (en) * | 1993-08-02 | 1995-04-04 | Hollis; J. Marcus | Ankle laxity measurement system |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2699271B1 (en) * | 1992-12-15 | 1995-03-17 | Univ Joseph Fourier | Method for determining the femoral anchor point of a cruciate knee ligament. |
AU680267B2 (en) * | 1993-06-21 | 1997-07-24 | Howmedica Osteonics Corp. | Method and apparatus for locating functional structures of the lower leg during knee surgery |
-
2000
- 2000-02-07 EP EP00911719A patent/EP1156740A4/en not_active Withdrawn
- 2000-02-07 AU AU33574/00A patent/AU3357400A/en not_active Abandoned
- 2000-02-07 WO PCT/US2000/003171 patent/WO2000048507A1/en not_active Application Discontinuation
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4631676A (en) * | 1983-05-25 | 1986-12-23 | Hospital For Joint Diseases Or | Computerized video gait and motion analysis system and method |
US4649934A (en) * | 1985-06-07 | 1987-03-17 | Faro Medical Technologies, Inc. | Joint laxity measurement |
US4813436A (en) * | 1987-07-30 | 1989-03-21 | Human Performance Technologies, Inc. | Motion analysis system employing various operating modes |
US5249581A (en) * | 1991-07-15 | 1993-10-05 | Horbal Mark T | Precision bone alignment |
US5402800A (en) * | 1993-08-02 | 1995-04-04 | Hollis; J. Marcus | Ankle laxity measurement system |
Cited By (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2002047559A1 (en) * | 2000-12-15 | 2002-06-20 | Aesculap Ag & Co. Kg | Method and device for determining the mechanical axis of a femur |
US7331932B2 (en) | 2000-12-15 | 2008-02-19 | Aesculap Ag & Co. Kg | Method and device for determining the mechanical axis of a femur |
WO2003041611A3 (en) * | 2001-11-14 | 2003-12-11 | Michael R White | Apparatus and methods for making intraoperative orthopedic measurements |
US7001346B2 (en) | 2001-11-14 | 2006-02-21 | Michael R. White | Apparatus and methods for making intraoperative orthopedic measurements |
US7481780B2 (en) | 2001-12-11 | 2009-01-27 | ECOLE DE TECHNOLOGIE SUPéRIEURE | Method of calibration for the representation of knee kinematics and harness for use therewith |
WO2003053244A3 (en) * | 2001-12-11 | 2003-08-21 | Ecole Technologie Superieure | Method of calibration for the representation of knee kinematics and harness for use therewith |
FR2841118A1 (en) * | 2002-06-20 | 2003-12-26 | Perception Raisonnement Action | DETERMINING THE POSITION OF A RADIOGRAPHY OR RADIOSCOPY DEVICE |
WO2004000122A1 (en) * | 2002-06-20 | 2003-12-31 | Perception Raisonnement Action En Medecine | Determination of the position of a radiographic or radioscopic unit |
US7672709B2 (en) | 2002-06-20 | 2010-03-02 | Perception Raisonnement Action En Medecine | Determination of the position of a radiographic or radioscopic unit |
WO2004049941A1 (en) * | 2002-12-03 | 2004-06-17 | Aesculap Ag & Co. Kg | Method of determining the position of the articular point of a joint |
US7780677B2 (en) | 2002-12-03 | 2010-08-24 | Aesculap Ag | Method of determining the position of the articular point of a joint |
US7209776B2 (en) | 2002-12-03 | 2007-04-24 | Aesculap Ag & Co. Kg | Method of determining the position of the articular point of a joint |
DE10313747A1 (en) * | 2003-03-27 | 2004-10-28 | Aesculap Ag & Co. Kg | Joint hinging and articulation investigation system is used for examination of problems with knee joints and uses pins with markers fixed to tibia and femur with positions sensed by navigation system |
US7427272B2 (en) | 2003-07-15 | 2008-09-23 | Orthosoft Inc. | Method for locating the mechanical axis of a femur |
WO2005007004A1 (en) * | 2003-07-15 | 2005-01-27 | Orthosoft Inc. | Method and system for locating the mechanical axis of a femur |
WO2010082157A1 (en) * | 2009-01-16 | 2010-07-22 | Koninklijke Philips Electronics N.V. | Method for determining the rotation axis of a joint and device for monitoring the movements of at least one body part |
US9433473B2 (en) | 2010-08-31 | 2016-09-06 | Orthosoft Inc. | Tool and method for digital acquisition of a tibial mechanical axis |
US8551108B2 (en) | 2010-08-31 | 2013-10-08 | Orthosoft Inc. | Tool and method for digital acquisition of a tibial mechanical axis |
US9987021B2 (en) | 2010-08-31 | 2018-06-05 | Orthosoft Inc. | Tool and method for digital acquisition of a tibial mechanical axis |
US20140276885A1 (en) * | 2013-03-18 | 2014-09-18 | Orthosensor Inc | System and method for measuring muscular-skeletal alignment to a mechanical axis |
US9492238B2 (en) * | 2013-03-18 | 2016-11-15 | Orthosensor Inc | System and method for measuring muscular-skeletal alignment to a mechanical axis |
WO2015022037A1 (en) * | 2013-08-13 | 2015-02-19 | Brainlab Ag | Determining the positional information of characteristic points of a leg for osteotomy |
US10350089B2 (en) | 2013-08-13 | 2019-07-16 | Brainlab Ag | Digital tool and method for planning knee replacement |
US11246719B2 (en) | 2013-08-13 | 2022-02-15 | Brainlab Ag | Medical registration apparatus and method for registering an axis |
US11284964B2 (en) | 2013-08-13 | 2022-03-29 | Brainlab Ag | Moiré marker device for medical navigation |
CN113133800A (en) * | 2021-04-27 | 2021-07-20 | 中国人民解放军陆军军医大学第一附属医院 | Intelligent human bone grinding equipment for joint replacement surgery |
Also Published As
Publication number | Publication date |
---|---|
AU3357400A (en) | 2000-09-04 |
EP1156740A1 (en) | 2001-11-28 |
EP1156740A4 (en) | 2004-03-17 |
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