Automated pedicle screw planning
Systems and methods for automatically determining pedicle screw trajectories for surgery may be provided. A scan of a spine may be received, and positions of one or more vertebra and one or more components of the one or more vertebra in the scan may be identified. Next, a screw trajectory planning algorithm may determine an initial screw trajectory plan using the positions of the one or more vertebra and the one or more components. The screw trajectory planning algorithm may then determine a revised screw trajectory plan by revising the initial screw trajectory plan according to weighted factors.
1 . A method for generating custom pedicle screw trajectories comprising:
receiving a scan of a spine from an imaging device;
identifying positions of one or more vertebra and one or more components of the one or more vertebra in the scan, including any one of (i) an endplate, (ii) a pedicle, (iii) laminae, (iv) facets, and (v) a combination of (i)-(iv);
determining, by a screw trajectory planning algorithm stored in a computer, an initial screw trajectory plan using the positions of the one or more vertebra and the one or more components, the initial screw plan trajectory defining an initial position and initial orientation for a screw; and
determining, by the screw trajectory planning algorithm, a revised screw trajectory plan by revising the initial screw trajectory plan according to weighted factors associated with an entry angle of a selected pedicle screw into the one or more vertebra relative to a reference plane and dimensions of the selected pedicle screw.
2 . The method of claim 1 , wherein identifying positions of the one or more vertebra and components includes using a vertebral segmentation neural network.
3 . The method of claim 1 , wherein the initial screw trajectory plan includes an defines the initial position and initial orientation for pedicle screws the pedicle screw having a predetermined pedicle screw length and a predetermined pedicle screw diameter.
4 . The method of claim 1 , wherein determining the initial screw trajectory plan includes performing an atlas technique.
5 . The method of claim 1 , wherein the weighted factors comprise weights assigned to parameters associated with any one of (a) a screw length, (b) a screw width, (c) a medial entry angle, (d) a cranial entry angle, (e) an entry point, and (f) any combination of (a)-(f).
6 . The method of claim 1 , further comprising receiving a selection, from a user, of the weighted factors.
7 . The method of claim 1 , wherein the weighted factors are associated with a pedicle screw insertion technique, wherein the pedicle screw insertion technique is any one of a Magerl technique, a Roy-Camile technique, an Anderson technique, an Ann technique, an anatomical technique, or a modified technique.
8 . The method of claim 7 , further comprising:
implanting one or more pedicle screws into the one or more vertebra based on the revised screw trajectory plan.
9 . The method of claim 1 , further comprising:
receiving one or more completed screw trajectory plans; and
determining the weighted factors using the one or more completed screw trajectory plans.
10 . The method of claim 1 , further comprising:
providing the initial screw trajectory plan to a user; and
receiving one or more modifications to the initial screw trajectory plan, wherein determining the revised screw trajectory plan includes using the one or more modifications.
11 . The method of claim 1 , wherein the revised screw trajectory plan includes a screw inventory that includes one or more amounts of screws of one or more screw dimensions for performing the revised screw trajectory plan.
12 . The method of claim 1 , further comprising causing a robotic system to position a robotic component based on the revised screw trajectory plan.