Ultra-wideband positioning for wireless ultrasound tracking and communication

1. A method of creating a virtual model of a subject knee joint, the method comprising:

dynamically imaging the subject knee joint using fluoroscopy across a plurality of positions of the subject knee joint to obtain images of the subject knee joint at the plurality of positions, the subject knee joint comprising a distal portion of a femur and a proximal portion of a tibia, the subject knee joint exhibiting at least one pathology;

creating a virtual model of the distal portion of the femur and a virtual model of the proximal portion of the tibia using the images;

creating a contact map for the distal portion of the femur and a contact map for the proximal portion of the tibia using the virtual model of the distal portion of the femur and the virtual model of the proximal portion of the tibia, the contact maps comprising respective contact regions between cartilage of the femur and the tibia over the plurality of positions of the subject knee joint;

creating a subject knee joint cartilage map by determining a subject knee joint cartilage thicknesses at the contact regions at the plurality of positions;

estimating an amount of cartilage loss in the subject knee joint at each of the contact regions at the plurality of positions by at least projecting the subject knee joint cartilage map onto a virtual normal cartilage model; and

changing a subject knee joint alignment of the virtual model of the distal portion of the femur and the virtual model of the proximal portion of the tibia to a predicted normal knee joint alignment by correcting the subject knee joint alignment, the correcting comprising compensating for the amount of cartilage loss in the subject knee joint at each of the contact regions at the plurality of positions with a mean cartilage thickness in the predicted normal knee joint alignment at each of the contact regions at the plurality of positions.

2. The method of claim 1 , wherein the dynamically imaging comprises performing single-plane fluoroscopy of the subject knee joint across the plurality of positions of the subject knee joint.

3. The method of claim 1 , wherein the plurality of positions of the subject knee joint comprises a deep knee bend endpoint and an opposing gait endpoint.

4. The method of claim 1 , wherein the creating the virtual model of the distal portion of the femur and the virtual model of the proximal portion of the tibia comprises extracting features from the images obtained during the dynamically imaging.

5. The method of claim 4 , wherein the creating the virtual model of the distal portion of the femur and the virtual model of the proximal portion of the tibia comprises performing sequential shape and pose estimation.

6. The method of claim 4 , wherein the creating the virtual model of the distal portion of the femur and the virtual model of the proximal portion of the tibia comprises performing a tree analysis.

7. The method of claim 6 , wherein the performing the tree analysis comprises:

extracting a plurality of volumes of interest; and

generating an and-or tree by recursively partitioning the plurality of volumes into partitions and representing the partitions by and-or node pairs.

8. The method of claim 1 , wherein the creating the subject knee joint cartilage map comprises determining a cartilage surface of each of the femur and the tibia.

9. The method of claim 1 , wherein the virtual normal cartilage model comprises an approximation of cartilage in the subject knee joint if the subject knee joint did not exhibit the at least one pathology.

10. The method of claim 1 , wherein the predicted normal knee joint alignment comprises an approximation of an alignment of the subject knee joint if the subject knee joint did not exhibit the at least one pathology.

11. The method of claim 1 , further comprising determining normal knee joint kinematics of the subject knee joint based upon at least the virtual model of the distal portion of the femur, the virtual model of the proximal portion of the tibia, and the predicted normal knee joint alignment.

12. A method of creating a virtual model of a normal anatomy of a pathological knee joint, the method comprising:

obtaining a virtual model of the pathological knee joint generated from fluoroscopic images, the pathological knee joint comprising a distal portion of a femur and a proximal portion of a tibia;

determining a plurality of contact regions between the femur and the tibia at a plurality of poses of the pathological knee joint;

determining a plurality of normal cartilage thicknesses at the plurality of contact regions;

determining a plurality of cartilage losses at the plurality of contact regions for each of the plurality of poses of the pathological knee joint by at least projecting a respective plurality of cartilage thicknesses of the pathological knee joint on the plurality of normal cartilage thickness; and

generating a virtual model of a normal anatomy of the pathological knee joint by realigning the femur and the tibia of the virtual model of the pathological knee joint to correct for the plurality of cartilage losses, the correcting comprising compensating for the plurality of cartilage losses at the plurality of contact regions for each of the plurality of poses of the pathological knee joint with a plurality of normal cartilage thicknesses at the plurality of contact regions.

13. The method of claim 12 , wherein the obtaining the virtual model of the pathological knee joint comprises obtaining fluoroscopic images of the pathological knee joint at the plurality of poses.

14. The method of claim 13 , wherein the plurality of poses comprises a deep knee bend endpoint and an opposing gait endpoint; and wherein the obtaining the virtual model of the pathological knee joint comprises obtaining fluoroscopic images of the pathological knee joint for at least the deep knee bend endpoint and the opposing gait endpoint.

15. The method of claim 13 , wherein the obtaining the virtual model of the pathological knee joint comprises:

extracting features of the femur and the tibia from the fluoroscopic images;

estimating an initial pose; and

determining an optimal pose by maximizing similarity between the fluoroscopic images and a three-dimensional surface mesh virtual model.

16. The method of claim 12 , wherein the determining the plurality of contact regions between the femur and the tibia at the plurality of poses comprises determining the plurality of contact regions based on a proximity of the femur and the tibia at the plurality of poses.

17. The method of claim 12 , further comprising determining a knee joint implant based upon at least the virtual model of the normal anatomy of the pathological knee joint.