Reference frame adaptable mount and methods
Devices and methods used to mount a patient reference frame for image-guided surgery are disclosed. The devices include an adaptable mount having first, second, and third joints that provide up to five axes of movement. One or more of the joints include discrete positions detectable by a visual tracking device to allow re-registration of the patient reference frame.
1 . An adaptable reference frame mount for supporting a reference frame for image-guided spinal surgery, comprising:
a first joint comprising:
an elongated shaft;
an outer sleeve slidably disposed over the elongated shaft;
a locking mechanism configured to lock the outer sleeve in a vertical position relative to the shaft;
a first axis of movement configured to position the reference frame vertically relative to a longitudinal axis of the first joint; and
a second axis of movement configured to position the reference frame rotationally relative to the longitudinal axis of the first joint;
a second joint comprising a third axis of movement configured to position the reference frame laterally relative to the longitudinal axis of the first joint; and
a third joint comprising a fourth axis of movement configured to position the reference frame rotationally relative to a rotational axis of the third joint;
wherein one or more of the first joint, the second joint, and the third joint further comprise positioning features configured to position the reference frame in discrete poses.
2 . The adaptable mount of claim 1 , wherein the second joint further comprises:
an elongate rail;
a socket portion configured to slidably receive the rail; and
a locking mechanism configured to lock the rail in a lateral position relative to the socket portion.
3 . The adaptable mount of claim 1 , wherein the second joint further comprises a fifth axis of movement and is configured to position the reference frame forward of or back of a longitudinal axis of the second joint.
4 . The adaptable mount of claim 1 , wherein the second joint further comprises:
a ball portion;
a socket portion configured to receive the ball portion;
an outer sleeve rotatable relative to the socket portion;
a ball seat configured to engage with the ball portion; and
a piston configured to compress the ball seat against the ball portion,
wherein the ball portion is locked in a position relative to the socket portion when the ball seat is compressed against the ball portion.
5 . The adaptable mount of claim 1 , wherein the third joint further comprises:
a stem coupled to the second joint at a first end;
a locking cylinder comprising a first plate comprising a first plurality of teeth and coupled to the stem at a second end;
a reference frame support comprising a second plate comprising a second plurality of teeth;
and
a knob configured to press the first plate against the second plate,
wherein the first plurality of teeth are configured to mesh with the second plurality of teeth to lock the third joint in a position relative to a rotational axis of the third joint.
6 . The adaptable mount of claim 1 , further comprising indicia configured to visually indicate a position of one or more of the first joint, the second joint, and the third joint.
7 . The adaptable mount of claim 6 wherein the indicia comprise any one of a light emitting diode (LED), a label, a marking, and any combination thereof.
8 . The adaptable mount of claim 1 , further comprising a clamp coupled to the first joint and configured to couple the adaptable mount to a spinous process of a patient.
9 . The adaptable mount of claim 1 , wherein the first joint comprises a telescoping joint.
10 . The adaptable mount of claim 1 , wherein the second joint comprises a sliding joint.
11 . An adaptable reference frame mount for supporting a reference frame for image-guided spinal surgery, comprising:
a telescoping first joint comprising:
a first axis of movement configured to position the reference frame vertically relative to a longitudinal axis of the first joint; and
a second axis of movement configured to position the reference frame rotationally relative to the longitudinal axis of the first joint;
a second joint comprising a third axis of movement configured to position the reference frame laterally relative to the longitudinal axis of the first joint, wherein the second joint is in axial alignment with the first joint; and
a third joint comprising a fourth axis of movement configured to position the reference frame rotationally relative to a rotational axis of the third joint.
12 . The adaptable mount of claim 11 , wherein the second joint comprises a fifth axis of movement and is configured to position the reference frame forward of or back of a longitudinal axis of the second joint.
13 . The adaptable mount of claim 11 , wherein the second joint further comprises a ball-and-socket joint.
14 . The adaptable mount of claim 11 , wherein the third joint further comprises a swivel joint configured to allow displacement of the reference frame in a single plane.
15 . The adaptable mount of claim 11 , further comprising a clamp coupled to the first joint and configured to couple the adaptable mount to a spinous process of a patient.
16 . An adaptable reference frame mount for supporting a reference frame for image-guided spinal surgery, comprising:
a first joint comprising:
a first axis of movement configured to position the reference frame vertically relative to a longitudinal axis of the first joint; and
a second axis of movement configured to position the reference frame rotationally relative to the longitudinal axis of the first joint;
a second joint comprising:
a third axis of movement configured to position the reference frame laterally relative to the longitudinal axis of the first joint;
an elongate rail;
a socket portion configured to slidably receive the rail; and
a first locking mechanism configured to lock the rail in a lateral position relative to the socket portion; and
positioning features configured to position the reference frame in discrete poses; and
a third joint comprising a fourth axis of movement configured to position the reference frame rotationally relative to a rotational axis of the third joint.
17 . The adaptable mount of claim 16 , wherein the first joint comprises a telescoping joint.
18 . The adaptable mount of claim 16 , wherein the first joint further comprises:
an elongate shaft;
an outer sleeve slidably disposed over the elongate shaft; and
a second locking mechanism configured to lock the outer sleeve in a vertical position relative to the shaft.
19 . The adaptable mount of claim 16 , wherein the third joint further comprises:
an arm coupled to the second joint at a first end;
a first locking cylinder comprising a first plurality of teeth and coupled to the arm at a second end;
a second locking cylinder comprising a second plurality of teeth and coupled to a reference frame support; and
a knob configured to press the first locking cylinder against the second plate second locking cylinder,
wherein the first plurality of teeth are configured to mesh with the second plurality of teeth to lock the third joint in a position relative to the arm.