Systems and methods to compute a positional change between two bones
Systems, methods and a sensor alignment mechanism are disclosed for medical navigational guidance systems. In one example, a system to make sterile a non-sterile optical sensor for use in navigational guidance during surgery includes a sterile drape having an optically transparent window to drape the optical sensor in a sterile barrier and a sensor alignment mechanism. The alignment mechanism secures the sensor through the drape in alignment with the window without breaching the sterile barrier and facilitates adjustment of the orientation of the optical sensor. The optical sensor may be aligned to view a surgical site when the alignment mechanism, assembled with the sterile drape and optical sensor, is attached to a bone. The alignment mechanism may be a lockable ball joint and facilitate orientation of the sensor in at least two degrees of freedom. A quick connect mechanism may couple the alignment mechanism to the bone.
1. A navigational guidance system configured to compute and present a positional change between a first bone and a second bone, comprising:
a sensor, oriented towards a surgical site, to measure pose measurements of a target coupled to an object;
an alignment mechanism to orient the sensor towards the surgical site; and
a processing unit configured to:
communicate with the sensor to receive pose measurements;
while the target is coupled to the first bone, determine a baseline pose and a reduction pose from applicable pose measurements;
perform a range of motion procedure in which a plurality of pose measurements are received from the sensor in response to the movement of the object through a range of motion;
compute a centre of rotation defined by the plurality of pose measurements from the range of motion procedure; and
compute and present the positional change between the first bone and the second bone using the baseline pose, the reduction pose and the centre of rotation.
2. The system of claim 1 wherein the target is coupled to the first bone during the range of motion procedure.
3. The system of claim 1 wherein the sensor is coupled to the second bone.
4. The system of claim 3 wherein the first bone is a femur, the second bone is a pelvis and the centre of rotation is a hip joint and the processing unit is configured to compute and present the positional change as a difference in leg length and offset.
5. The system of claim 1 wherein the pose measurements from the range of motion procedure are separated into at least two planes, each plane corresponding to an anatomical direction and the processing unit is further configured to compute an anatomical registration using the pose measurements from the range of motion procedure.
6. The system of claim 5 wherein the processing unit is further configured to present the positional change as a difference in leg length and offset in an anatomical coordinate frame.
7. The system of claim 1 wherein the processing unit is further configured to compute the positional change between the first bone and the second bone by:
generating an orientation-compensated reduction pose by virtually rotating the reduction pose about the centre of rotation; and
expressing the positional change as a difference between the orientation-compensated reduction pose and the baseline pose.
8. The system of claim 1 wherein the processing unit is configured to use pose measurements from the sensor to calculate and present, using a user interface, directional instructions to move into alignment the sensor and target.
9. The system of claim 1 wherein the sensor comprises an optical sensor and wherein the system further comprises a sterile drape having an optically transparent window to drape the sensor in a sterile barrier.
10. The system of claim 9 wherein the alignment mechanism is configured to secure the optical sensor through the sterile drape in alignment with the optically transparent window without breaching the sterile barrier and further configured to facilitate adjustment of the orientation of the optical sensor to align the optical sensor to view the surgical site when the optical sensor is draped in the sterile barrier and mounted via the alignment mechanism.
11. The system of claim 10 wherein the alignment mechanism comprises a shroud, which when engaged with the optical sensor when draped, secures the optical sensor through the sterile drape in alignment with the optically transparent window; and a clamp, which in a closed position is configured to rigidly hold the shroud, sterile drape and optical sensor when assembled while preserving the alignment of the optical sensor in the optically transparent window.
12. The system of claim 11 wherein the shroud includes a clip member to secure the optical sensor in alignment with the optically transparent window.
13. The system of claim 1 wherein the alignment mechanism facilitates orientation adjustment of the optical sensor in at least two degrees of freedom.
14. The system of claim 1 wherein the alignment mechanism is configured as a lockable ball joint.
15. The system of claim 1 wherein the alignment mechanism further comprises a clamp comprising a body having a repeatable magnetic quick connect component, an inner surface and a clamping mechanism to facilitate clamping by the inner surface of the body;
the inner surface is configured to cooperate with a mating surface of the sensor;
the alignment mechanism is configured to orient the sensor towards the surgical site prior to rigidly clamping the sensor in an oriented position via the inner surface using the clamping mechanism; and
the repeatable magnetic quick connect component is configured to attach the clamp to a cooperating magnetic quick connect component of a mounting platform for alignment and repeatable attachment of the sensor for use in a navigational surgical procedure.