Tracker mounting apparatus with kinematic interfaces
There are provided tracker coupling apparatus for coupling an optical tracker to a patient anatomy. An apparatus comprises a body having a bone coupling interface located at a first end of the body, for coupling the apparatus to the bone, and a second end that comprises a tracker coupling interface to couple to the tracker. The second end is connected to the first end by an extension member to laterally space the tracker coupling interface from the bone coupling interface, e.g. to move the tracker away from an incision. In a resection guided embodiment, an apparatus comprises a body having a tracker coupling interface on an upper surface and a plurality of bone engaging projections extending from an under surface. Some projections are configured for positioning the platform in a same repeatable mounting position. The mounting position is defined by a cut line and an impression defined by the platform.
1. A side mount platform to mount a tracker to a bone via a coupling base, the platform comprising:
a body having a first end member and a second end member laterally connected to and spaced from the first end member by an extension member of the body;
wherein the first end member comprises an under surface providing a base coupling interface for coupling to the coupling base;
wherein the second end member comprises an upper surface providing a tracker coupling interface for coupling the platform to the tracker;
wherein the extension member is angled such that a plane occupied by an upper surface of the first end member is different from a plane occupied by the upper surface of the second end member; and
wherein an under surface of the extension member and an under surface of the second end member are configured to follow a contour along a portion of the bone over which the extension member and the second end member are to be placed.
2. The platform of claim 1 , wherein the tracker coupling interface comprises a cooperative interface for coupling to a quick connect mechanism of the tracker.
3. The platform of claim 1 , wherein the tracker coupling interface is magnetic.
4. The platform of claim 1 , wherein the first end defines at least one recess for the base coupling interface to receive a portion of the coupling base.
5. The platform of claim 1 , wherein the first end defines at least one projection for base coupling interface to fit a cooperating recess of the coupling base.
6. The platform of claim 1 , wherein the first end defines a recess for the base coupling interface to receive a cooperating projection of the coupling base for guiding a lateral coupling of the platform and coupling base.
7. The platform of claim 1 , wherein the base coupling interface comprises at least one magnet to couple with the coupling base.
8. The platform of claim 7 , wherein each of the at least one magnet is positioned on the first end to mate with a cooperating magnet of the coupling base.
9. The platform of claim 1 , wherein the base coupling interface constrains movement of the platform in 6 degrees of freedom when coupled to the coupling base.
10. The platform of claim 1 , wherein the base coupling interface constrains movement of the platform in 5 degrees of freedom when coupled to the coupling base, the base coupling interface permitting rotation of the platform about an axis of the coupling base.
11. The platform of claim 1 , wherein the platform is a component of an assembly comprising the coupling base.
12. The platform of claim 11 , wherein the coupling base comprises one of: a staple and a pair of pegs.
13. The platform of claim 11 , wherein the coupling base comprises a base body having a bone engaging surface and an opposing surface; the opposing surface providing a cooperative interface to engage the bone coupling interface of the platform.
14. The platform of claim 13 wherein the base body defines an aperture therethrough extending between the opposing surface and the bone engaging surface to receive a fastener for coupling the base body to a coupling portion of the bone.
15. The platform of claim 14 , wherein the aperture is angled from normal to direct the fastener.
16. A side mount platform to mount a tracker to a bone via a coupling base, the platform comprising:
a body having a first end member and a second end member laterally connected to and spaced from the first end member by an extension member of the body;
wherein the first end member comprises an under surface providing a base coupling interface for coupling to the coupling base;
wherein the second end member comprises an upper surface providing a tracker coupling interface for coupling the platform to the tracker:
wherein the first end defines a recess for the base coupling interface to receive a cooperating projection of the coupling base for guiding a lateral coupling of the platform and coupling base; and
wherein the recess is Y-shaped.
17. The platform of claim 16 , wherein the extension member is angled such that a plane occupied by an upper surface of the first end member is different from a plane occupied by the upper surface of the second end member.
18. A side mount platform to mount a tracker to a bone via a coupling base, the platform comprising:
a body having a first end member and a second end member laterally connected to and spaced from the first end member by an extension member of the body;
wherein the first end member comprises an under surface providing a base coupling interface for coupling to the coupling base; and
wherein the second end member comprises an upper surface providing a tracker coupling interface for coupling the platform to the tracker;
wherein the base coupling interface constrains movement of the platform in 5 degrees of freedom when coupled to the coupling base, the base coupling interface permitting rotation of the platform about an axis of the coupling base; and
wherein the base coupling interface comprises a pair of magnets coupled with a ferrous coupler, the magnets deposed over a pair of recesses configured to receive spherical projections of the coupling base.
19. The platform of claim 18 , wherein one of the pair of recesses comprises a socket and the other a channel.
20. A side mount platform to mount a tracker to a bone via a coupling base, the platform comprising:
a body having a first end member and a second end member laterally connected to and spaced from the first end member by an extension member of the body;
wherein the first end member comprises an under surface providing a base coupling interface for coupling to the coupling base;
wherein the second end member comprises an upper surface providing a tracker coupling interface for coupling the platform to the tracker;
wherein the base coupling interface constrains movement of the platform in 5 degrees of freedom when coupled to the coupling base, the base coupling interface permitting rotation of the platform about an axis of the coupling base; and
wherein the second end member comprises an under surface having a bone engaging projection, to engage a portion of the bone to stop rotation about the axis.
21. A side mount platform to mount a tracker to a bone via a coupling base, the platform comprising:
a body having a first end member and a second end member laterally connected to and spaced from the first end member by an extension member of the body;
wherein the first end member comprises an under surface providing a base coupling interface for coupling to the coupling base;
wherein the second end member comprises an upper surface providing a tracker coupling interface for coupling the platform to the tracker:
wherein the platform is a component of an assembly comprising the coupling base;
wherein the coupling base comprises one of: a staple and a pair of pegs; and
wherein each of the staple and the pair of pegs comprises a pair of spherical tips to engage a pair of recesses of the base coupling interface in the under surface of the first end.