IP Library › Granted Patent US 12,514,640
Granted Patent B2
US 12,514,640 · App. 17/180,573 · Granted Jan 6, 2026

Systems and methods for visually guiding bone removal during a surgical procedure on a joint

Inventors: Brian Fouts (Morgan Hill, CA); Ruth Godbey (San Jose, CA); Christopher Zeh (Parker, CO); Ulrich Hoffmann (Breisach, DE)
Assignee: Stryker Corporation
A61B34/10A61B90/37A61B2034/105A61B2034/107A61B2090/365A61B2090/374A61B2090/3764
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Quick Facts
Patent No.
US 12,514,640
App. No.
17/180,573
Granted
Jan 6, 2026
Kind
B2
Abstract

A method for guiding bone removal during a surgical procedure includes receiving a two-dimensional image of at least a portion of a joint during the surgical procedure, determining an alignment of a pre-generated three-dimensional model of the at least a portion of the joint with the two-dimensional image based on one or more features in the two-dimensional image that are associated with the at least a portion of the joint, wherein the pre-generated three-dimensional model comprises a representation of planned bone removal, generating an overlay image based on the determined alignment, the overlay image comprising an overlay of at least a portion of the representation of planned bone removal on the two-dimensional image, and displaying the overlay image to guide bone removal during the surgical procedure.

Claims (52)

1 . A method for guiding bone removal during a surgical procedure, the method comprising:

receiving a two-dimensional image of at least a portion of a joint during the surgical procedure;

determining an alignment of a pre-generated three-dimensional model of the at least a portion of the joint with the two-dimensional image based on one or more features in the two-dimensional image that are associated with the at least a portion of the joint, wherein the pre-generated three-dimensional model comprises a representation of planned bone removal;

generating an overlay image based on the determined alignment, the overlay image comprising an overlay of at least a portion of the representation of planned bone removal on the two-dimensional image; and

displaying the overlay image to guide bone removal during the surgical procedure.

2 . The method of claim 1 , wherein the three-dimensional model was pre-generated based on one or more scans of the joint.

3 . The method of claim 1 , wherein the one or more features are associated with at least one of a center of a femoral head, a centerline of a femoral neck, and a perimeter of the femoral head.

4 . The method of claim 1 , wherein determining the alignment of a pre-generated three-dimensional model of the at least a portion of the joint with the two-dimensional image comprises translating and rotating the three-dimensional model based on the one or more features.

5 . The method of claim 1 , wherein determining the alignment of a pre-generated three-dimensional model of the at least a portion of the joint with the two-dimensional image comprises detecting an edge in the two-dimensional image that is associated with a periphery of bone.

6 . The method of claim 1 , wherein determining the alignment of a pre-generated three-dimensional model of the at least a portion of the joint with the two-dimensional image comprises determining a center of a femoral head in the two-dimensional image, determining a centerline of a femoral neck in the two-dimensional image, aligning a center of a model femoral head in the three-dimensional model with the center of the femoral head in the two-dimensional image, and aligning a centerline of a model femoral neck in the three-dimensional model with the centerline of the femoral neck in the two-dimensional image.

7 . The method of claim 1 , wherein the representation of planned bone removal comprises at least one of a heat map indicating locations for and amounts of planned bone removal, a contour map indicating locations for and amounts of planned bone removal, and an outline of a planned bone removal area.

8 . The method of claim 1 , wherein the three-dimensional model includes a representation of bone that is outside of the planned bone removal and the representation of bone that is outside of the planned bone removal is omitted from the overlay.

9 . The method of claim 1 , further comprising determining a portion of the three-dimensional model associated with bone that has been removed during the surgical procedure and omitting the portion of the three-dimensional model from the overlay.

10 . The method of claim 9 , wherein the portion of the three-dimensional model omitted from the overlay is a portion of a heat map associated with planned bone removal.

11 . The method of claim 1 , further comprising, after displaying the overlay image, modifying a position of the overlay of at least a portion of the representation of planned bone removal on the two-dimensional image in response to a user input.

12 . The method of claim 1 , further comprising capturing a new two-dimensional image of the portion of the joint in a new position, determining an updated alignment of the pre-generated three-dimensional model with the new two-dimensional image, generating an updated overlay image based on the determined updated alignment, and displaying the updated overlay image to indicate a progress of bone removal.

13 . The method of claim 1 , wherein the representation of planned bone removal is three-dimensional and generating the overlay image comprises projecting the representation of planned bone removal onto a two-dimensional plane.

14 . The method of claim 1 , wherein the representation of planned bone removal indicates planned bone removal associated with a cam-type femoroacetabular impingement.

15 . The method of claim 1 , wherein the representation of planned bone removal indicates planned bone removal associated with a pincer-type femoroacetabular impingement.

16 . The method of claim 1 , wherein the two-dimensional image is received intra-operatively from an x-ray system.

17 . The method of claim 1 , wherein the three-dimensional model is based on imaging data from an imaging system of a first type and the two-dimensional image is received from an imaging system of a second type that is different than the first type.

18 . The method of claim 17 , wherein the imaging system of the first type is an MRI system or a CT system and the imaging system of the second type is a C-arm x-ray system.

19 . A system for guiding bone removal during a surgical procedure, the system comprising one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for:

receiving a two-dimensional image of at least a portion of a joint during the surgical procedure;

determining an alignment of a pre-generated three-dimensional model of the at least a portion of the joint with the two-dimensional image based on one or more features in the two-dimensional image that are associated with the at least a portion of the joint, wherein the pre-generated three-dimensional model comprises a representation of planned bone removal;

generating an overlay image based on the determined alignment, the overlay image comprising an overlay of at least a portion of the representation of planned bone removal on the two-dimensional image; and

transmitting the overlay image to a display for guiding bone removal during the surgical procedure.

20 . The system of claim 19 , wherein the system is configured for communicatively connecting to an intra-operative imaging system that generates the two-dimensional image.

21 . The system of claim 19 , wherein the one or more programs include instructions for receiving a user input for repositioning the overlay of the at least a portion of the representation of planned bone removal on the two-dimensional image.

22 . The system of claim 21 , comprising a touch screen display or augmented reality system for displaying the two-dimensional image and receiving the user input.

23 . The system of claim 19 , wherein the three-dimensional model was pre-generated based on one or more scans of the joint.

24 . The system of claim 19 , wherein the one or more features are associated with at least one of a center of a femoral head, a centerline of a femoral neck, and a perimeter of the femoral head.

25 . The system of claim 19 , wherein determining the alignment of a pre-generated three-dimensional model of the at least a portion of the joint with the two-dimensional image comprises translating and rotating the three-dimensional model based on the one or more features.

26 . The system of claim 19 , wherein determining the alignment of a pre-generated three-dimensional model of the at least a portion of the joint with the two-dimensional image comprises detecting an edge in the two-dimensional image that is associated with a periphery of bone.

27 . The system of claim 19 , wherein determining the alignment of a pre-generated three-dimensional model of the at least a portion of the joint with the two-dimensional image comprises determining a center of a femoral head in the two-dimensional image, determining a centerline of a femoral neck in the two-dimensional image, aligning a center of a model femoral head in the three-dimensional model with the center of the femoral head in the two-dimensional image, and aligning a centerline of a model femoral neck in the three-dimensional model with the centerline of the femoral neck in the two-dimensional image.

28 . The system of claim 19 , wherein the representation of planned bone removal comprises at least one of a heat map indicating locations for and amounts of planned bone removal, a contour map indicating locations for and amounts of planned bone removal, and an outline of a planned bone removal area.

29 . The system of claim 19 , wherein the three-dimensional model includes a representation of bone that is outside of the planned bone removal and the representation of bone that is outside of the planned bone removal is omitted from the overlay.

30 . The system of claim 19 , wherein the one or more programs include instructions for determining a portion of the three-dimensional model associated with bone that has been removed during the surgical procedure and omitting the portion of the three-dimensional model from the overlay.

31 . The system of claim 30 , wherein the portion of the three-dimensional model omitted from the overlay is a portion of a heat map associated with planned bone removal.

32 . The system of claim 19 , wherein the one or more programs include instructions for, after displaying the overlay image, modifying a position of the overlay of at least a portion of the representation of planned bone removal on the two-dimensional image in response to a user input.

33 . The system of claim 19 , wherein the one or more programs include instructions for capturing a new two-dimensional image of the portion of the joint in a new position, determining an updated alignment of the pre-generated three-dimensional model with the new two-dimensional image, generating an updated overlay image based on the determined updated alignment, and displaying the updated overlay image to indicate a progress of bone removal.

34 . The system of claim 19 , wherein the representation of planned bone removal is three-dimensional and generating the overlay image comprises projecting the representation of planned bone removal onto a two-dimensional plane.

35 . The system of claim 19 , wherein the representation of planned bone removal indicates planned bone removal associated with a cam-type femoroacetabular impingement.

36 . The system of claim 19 , wherein the representation of planned bone removal indicates planned bone removal associated with a pincer-type femoroacetabular impingement.

37 . The system of claim 19 , wherein the two-dimensional image is received intra-operatively from an x-ray system.

38 . The system of claim 19 , wherein the three-dimensional model is based on imaging data from an imaging system of a first type and the two-dimensional image is received from an imaging system of a second type that is different than the first type.

39 . The system of claim 38 , wherein the imaging system of the first type is an MRI system or a CT system and the imaging system of the second type is a C-arm x-ray system.

40 . A non-transitory computer readable medium storing instructions for execution by one or more processors of an imaging system for:

receiving a two-dimensional image of at least a portion of a joint during the surgical procedure;

determining an alignment of a pre-generated three-dimensional model of the at least a portion of the joint with the two-dimensional image based on one or more features in the two-dimensional image that are associated with the at least a portion of the joint, wherein the pre-generated three-dimensional model comprises a representation of planned bone removal;

generating an overlay image based on the determined alignment, the overlay image comprising an overlay of at least a portion of the representation of planned bone removal on the two-dimensional image; and

transmitting the overlay image to a display for guiding bone removal during the surgical procedure.

Assignments (2)
CHANGE OF ADDRESS Recorded Dec 18, 2024
From: STRYKER CORPORATION
To: STRYKER CORPORATION
Reel/Frame 069737/0184 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded May 11, 2021
From: FOUTS, BRIAN; GODBEY, RUTH; ZEH, CHRISTOPHER; HOFFMANN, ULRICH
To: STRYKER CORPORATION
Reel/Frame 056203/0806 →
Continuity (2)
Provisional Application 62979993 · Feb 21, 2020
Related Publication 20210259774A1 · Aug 26, 2021
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