Bone reconstruction and orthopedic implants
A surgical navigation system comprising a signal receiver communicatively coupled to a primary processor, the primary processor programmed to utilize a sequential Monte Carlo algorithm to calculate changes in three dimensional position of an inertial measurement unit mounted to a surgical tool, the processor communicatively coupled to a first memory storing tool data unique to each of a plurality of surgical tools, and a second memory storing a model data sufficient to construct a three dimensional model of an anatomical feature, the primary processor communicatively coupled to a display providing visual feedback regarding the three dimensional position of the surgical tool with respect to the anatomical feature.
1. A method of registering inertial measurement units in an operating room, the method comprising:
generating a patient-specific point cloud model based upon a scan of a patient;
registering a template point cloud model with the patient-specific point cloud model, the registering comprising a first registration, and a second registration, the first registration comprising
extracting features from the template point cloud model and the patient-specific point cloud model from different scale spaces, and
matching the features from the template point cloud model and the patient-specific point cloud model,
the second registration comprising
deforming the template point cloud model to match the patient-specific point cloud model,
generating correspondence vectors from each vertex in the template point cloud model and a plurality of matched vertices in the patient-specific point cloud model,
generating a distance for each of the plurality of matched vertices in the patient-specific point cloud model, and
selecting a single matched vertex in the patient-specific point cloud model for each vertex in the template point cloud model based upon the distances of the plurality of matched vertices;
forming a patient-specific registration tool based upon the patient-specific point cloud model;
mounting a first inertial measurement unit to a patient anatomy;
positioning the patient-specific registration tool against a portion of the patient anatomy, where the positioning of the patient-specific registration tool correctly engages the patient anatomy in only a single position and orientation that is known, and where the patient-specific registration tool includes a second inertial measurement unit mounted thereto in a known position and orientation; and
gathering data from the first and second inertial measurement units while the patient-specific registration tool is stationary with respect to the patient to establish a known location of the second inertial measurement unit with respect to the patient anatomy.
2. The method of claim 1 , comprising:
removing the second inertial measurement unit from the patient-specific registration tool after establishment of the known location; and,
mounting the second inertial measurement unit to a first surgical instrument.
3. The method of claim 2 , wherein the second inertial measurement unit is mounted to the first surgical instrument in a known location and orientation.
4. The method of claim 2 , comprising:
displaying a virtual model of the patient anatomy and a virtual model of the first surgical instrument; and
updating an orientation and a position of the virtual model of the patient anatomy with respect to the virtual model of the first surgical instrument in real time.
5. The method of claim 2 , comprising displaying, on the first surgical instrument, information about an orientation of the first surgical instrument with respect to a preoperative plan.
6. The method of claim 2 , comprising displaying, on the first surgical instrument, information about how to correct an orientation of the first surgical instrument based upon a preoperative plan.
7. The method of claim 2 , wherein the patient-specific registration tool including a head, and a stem extending from the head and configured to be received within an intramedullary canal cavity of the patient anatomy at only the single position and orientation that is known.
8. The method of claim 7 , comprising removing the second inertial measurement unit from the first surgical instrument and mounting the second inertial measurement unit to a second surgical instrument.
9. The method of claim 1 , wherein the patient-specific registration tool includes a cavity that is configured to receive a projection of the patient anatomy at only the single position and orientation that is known.
10. The method of claim 1 , wherein the patient anatomy comprises a bone.
11. The method of claim 1 , wherein the registering of the template point cloud model comprises iteratively aligning the template point cloud model and the patient-specific point cloud model.
12. A method of registering inertial measurement units in an operating room, the method comprising:
generating a patient-specific point cloud model based upon a scan of a patient;
registering a template point cloud model with the patient-specific point cloud model, the registering comprising a first registration, and a second registration, the first registration comprising
extracting features from the template point cloud model and the patient-specific point cloud model from different scale spaces, and
matching the features from the template point cloud model and the patient-specific point cloud model,
the second registration comprising
deforming surface vertexes of the template point cloud model to match surface vertexes of the patient-specific point cloud model,
generating correspondence vectors from each vertex in the template point cloud model and a plurality of matched vertices in the patient-specific point cloud model,
generating a distance for each of the plurality of matched vertices in the patient-specific point cloud model, and
selecting a single matched vertex in the patient-specific point cloud model for each vertex in the template point cloud model based upon the distances of the plurality of matched vertices;
forming a patient-specific registration tool based upon the registered template point cloud model;
mounting a first inertial measurement unit to a patient bone;
positioning the patient-specific registration tool against a portion of the patient bone, where the positioning of the patient-specific registration tool correctly engages the patient bone in only a single position and orientation that is known, and where the patient-specific registration tool includes a second inertial measurement unit mounted thereto in a known position and orientation; and
gathering data from the first and second inertial measurement units while the patient-specific registration tool is stationary with respect to the patient to establish a known location of the second inertial measurement unit with respect to the patient bone.
13. The method of claim 12 , comprising:
removing the second inertial measurement unit from the patient-specific registration tool after establishment of the known location; and,
mounting the second inertial measurement unit to a first surgical instrument.
14. The method of claim 12 , wherein the registering of the template point cloud model comprises iteratively aligning the template point cloud model and the patient-specific point cloud model.
15. The method of claim 12 , wherein the deforming of the surface vertexes comprises deforming vertexes of a same class from a plurality of different vertex classes.
16. The method of claim 15 , wherein the plurality of different vertex classes comprises a scale space feature vertex class, a normal scale feature vertex class, and a non-feature vertex class.