Point and click alignment method for orthopedic surgeons, and surgical and clinical accessories and devices
View Patent ↗The invention is a point and click method for positioning an external fixator on a patient, in which a surgeon—using a computer mouse or similar device—inscribes lines or points on a computer screen displaying an x-ray or other photographic image of the bones of a patient together with two rings in position adjacent the bones. By inscribing lines on the computer screen, the underlying drawings program detects the x-y coordinates of any point on the screen when the user (the surgeon or other practitioner) clicks on it, and outputs the x-y coordinates of every point identified by the user including the two points defining any desired line. The practitioner thus can, using “point and click” operation, govern the repositioning of two fixator rings on the bones of a patient.
1. A point and click method to implement intended manipulation of an external fixator frame by an orthopedic professional, comprising the steps of:
a) providing a computer, said computer having an input screen in association therewith wherein said input screen has a plurality of sensors associated therewith to detect and register a plurality of position data inscribed on said input screen;
b) providing to said computer an algorithm which computes orientation data from said position data according to equations set forth in g) below;
c) taking at least two medical images of a patient to create two views, with each view's showing at least one bone with at least one external fixator, said external fixator comprising external fixator hardware having at least one ring and said ring's further forming a part of a six-axis external fixator device and further comprising fixator hardware, with said at least two views being oriented from different angles and displayed on said input screen;
d) marking by said orthopedic professional one or more points or one or more lines on said input screen to create said position data, with said position data's representing either or both of a position or positions of a bone, bones, bone segments, joint space, anatomic loci or osteotomy or one or more elements of said external fixator hardware;
e) extracting, using said algorithm, two or more sets of two dimensional coordinates corresponding to said points or lines on said images, calibrating said images, and thereby producing three-dimensional x, y and z coordinates for i) angular orientations of bone or bone segments; ii) angular orientations of said external fixator hardware, and iii) coordinates of a center of said ring; and
f) further calculating, via said algorithm, at least one pivot point as output to an orthopedic professional to depict as output to said orthopedic professional one or more adjustments to said angular orientations necessary to achieve an intended bone manipulation configuration, wherein said algorithm further comprises
g) defining orthogonal coordinates (x′, y′, z′) for said fixator hardware, defining said coordinates as one of three translational displacements for each of three axes; assigning Euler angles in the following sequence
Rotate an angle ψ (yaw) around the z-axis
Rotate an angle θ (pitch) around the y-axis
Rotate an angle ϕ (roll) around the x-axis
wherein the coordinates q i with respect to a Base reference framework of an anchor point p i of a i th leg are given by the equation
q i =T+R B *p i
where T is the translation vector, giving a positional linear displacement of the origin of the platform frame with respect to the Base reference framework, and p i is the vector defining the coordinates of the anchor point P i with respect to platform framework and, similarly,
the length of the i th leg is given by
l i =T+R B *p i −b i
wherein a vector b i defines the coordinates of the lower anchor point B in order to set up 18 simultaneous non-linear equations as to six unknowns representing position and attitude of the platform by implementing a mathematical optimization algorithm to extract data from said views to correlate a desired strut length with a desired geometric position for said fixator hardware.
2. The point and click method of claim 1 wherein said medical images are x-rays, said x-rays are taken from views normal to one another, wherein the inscribing step d) is accomplished using a computer mouse and further wherein said external fixator hardware includes at least two rings and at least six struts interconnecting said two rings in a six axis interconnection.
3. The point and click method according to claim 2 , wherein necessary bone and fixator repositioning further comprises manual adjustment guided by the method's output to the orthopedic professional of a daily length adjustment, one or more times each day, for each of said six struts as well as a further output of a calculated value indicating when one or more of said struts is approaching its length limit.
4. The point and click method according to claim 2 , wherein necessary bone and fixator repositioning further comprises automated adjustment guided by the method's output to the orthopedic professional of a daily length adjustment, one or more times each day, for each of said six struts as well as a further output of a calculated value indicating when one or more of said struts is approaching its length limit.
5. The point and click method of claim 1 wherein a step is added prior to steps a) through g) wherein a pre-positioning investigation of the bones of a patient is undertaken, using two medical images taken from different angles and using the same input screen analysis of points or lines, but without any external fixator hardware's initially being in place for said pre-positioning investigation.