Intraoperative systems and methods for determining and providing for display a virtual image overlaid onto a visual image of a bone

1. A system comprising:

a measurement device to (i) collect information of a surface of a bone of a limb of a patient including capturing a live image of the bone, to track one or more reference points positioned on one or more bones or an anatomy of the patient, and to (ii) collect information of a surgical device to track one or more reference points positioned on a surgical device;

one or more processors; and

data storage including instructions executable by the one or more processors for performing functions comprising:

tracking movement of the bone in physical space based on the tracked reference points positioned on the one or more of the bone or the anatomy of the patient;

calculating an axis of the limb based on the tracked reference points positioned on the one or more of the bone or the anatomy of the patient;

tracking movement of the surgical device in physical space based on the tracked reference points positioned on the surgical device; and

providing for display a virtual image overlaid onto the live image of the bone, wherein the virtual image includes information for assisting in placement of the surgical device at a position on the bone, wherein the virtual image is overlaid at a position onto the live image of the bone based on the movement of the surgical device in physical space and includes a display of the axis of the limb.

2. The system of claim 1 , wherein the function of calculating the axis of the limb comprises:

determining the axis of the limb based on reference points positioned on a medial malleoli of the patient, a lateral malleoli of the patient, and a base of an anterior cruciate ligament of the patient.

3. The system of claim 1 , wherein the function of calculating the axis of the limb comprises:

extrapolating a point of rotation of a hip of the patient during movement of the limb based on the tracked reference points.

4. The system of claim 1 , wherein the function of calculating the axis of the limb comprises:

tracking a reference point on a distal portion of a femur of the patient;

determining a center of rotation as a point about which the distal portion of the femur rotates based on the tracked reference point on the distal portion of the femur; and

determining the axis of the limb based on the center of rotation.

5. The system of claim 1 , wherein the function of calculating the axis of the limb comprises:

tracking reference points on an ankle of the patient;

determining peaks of sides of the ankle based on the tracked reference points on the ankle;

determining a median point between the peaks of the sides of the ankle; and

determining the axis of the limb based on a virtual line from the median point up to a point at a base of an anterior cruciate ligament of the patient.

6. The system of claim 1 , wherein the function of tracking movement of the bone in physical space comprises continuously taking measurements during surgery to identify the movement of the bone.

7. The system of claim 1 , wherein the function of tracking movement of the bone in physical space comprises:

tracking the one or more reference points positioned on one or more of a distal anterior tibial crest of the patient, a medial malleoli of the patient, a lateral malleoli of the patient, a reference off a medial third or other portion of the tibial tubercle of the patient, a base of an anterior cruciate ligament of the patient, and a posterior cruciate ligament and intercondylar eminences of the patient.

8. The system of claim 1 , wherein the one or more processors perform the functions intraoperatively during surgery.

9. The system of claim 1 , wherein the function of providing for display the virtual image further comprises:

providing for display a graphic illustrating placement of a prosthesis in relation to the bone.

10. The system of claim 1 , wherein the function of providing for display the virtual image further comprises:

providing for display information indicating one or more of a lateral gap of a knee of the patient, a medial gap of the knee of the patient, an alignment of the knee of the patient, a flexion of a femoral cut, and a slope of a tibial cut.

11. The system of claim 1 , wherein the function of providing for display the virtual image comprises:

displaying the virtual image including placement of the surgical device, a graphic illustrating placement of a prosthesis in relation to the bone, and information indicating one or more of a lateral gap, a medial gap, and an alignment of a knee of the patient with placement of the prosthesis.

12. The system of claim 1 , further comprising:

wherein the measurement device is one or more cameras for capturing live images.

13. A method comprising:

receiving information, collected by a measurement device, of (i) a surface of a bone of a limb of a patient including capturing a live image of the bone to track one or more reference points positioned on one or more bones or an anatomy of the patient, and of (ii) a surgical device to track one or more reference points positioned on a surgical device;

tracking movement of the bone in physical space based on the tracked reference points positioned on the one or more of the bone or the anatomy of the patient;

calculating an axis of the limb based on the tracked reference points positioned on the one or more of the bone or the anatomy of the patient;

tracking movement of the surgical device in physical space based on the tracked reference points positioned on the surgical device; and

providing for display a virtual image overlaid onto the live image of the bone, wherein the virtual image includes information for assisting in placement of the surgical device at a position on the bone, wherein the virtual image is overlaid at a position onto the live image of the bone based on the movement of the surgical device in physical space and includes a display of the axis of the limb.

14. The method of claim 13 , further comprising:

receiving the information of the surface of the bone as exposed from the limb of the patient in real time during surgery.

15. The method of claim 13 , wherein receiving the information, collected by the measurement device, of the surface of the bone of the limb of the patient comprises:

receiving the information using a scanning tool in real time during surgery.

16. The method of claim 13 , further comprising:

providing a virtual view of a resection on the bone.

17. The method of claim 13 , further comprising:

displaying the virtual image including placement of the surgical device, a graphic illustrating placement of a prosthesis in relation to the bone, and information indicating one or more of a lateral gap, a medial gap, and an alignment of a knee of the patient with placement of the prosthesis.

18. A non-transitory computer-readable medium having stored thereon instructions that when executed by a computing device that includes one or more processors causes the computing device to perform functions comprising:

receiving information, collected by a measurement device, of (i) a surface of a bone of a limb of a patient including capturing a live image of the bone to track one or more reference points positioned on one or more bones or an anatomy of the patient, and of (ii) a surgical device to track one or more reference points positioned on a surgical device;

tracking movement of the bone in physical space based on the tracked reference points positioned on the one or more of the bone or the anatomy of the patient;

calculating an axis of the limb based on the tracked reference points positioned on the one or more of the bone or the anatomy of the patient;

tracking movement of the surgical device in physical space based on the tracked reference points positioned on the surgical device; and

providing for display a virtual image overlaid onto the live image of the bone, wherein the virtual image includes information for assisting in placement of the surgical device at a position on the bone, wherein the virtual image is overlaid at a position onto the live image of the bone based on the movement of the surgical device in physical space and includes a display of the axis of the limb.

19. The non-transitory computer-readable medium of claim 18 , wherein the function of providing for display the virtual image comprises:

receiving the live image of the bone;

providing for display the live image of the bone; and

displaying a virtual cutting plane onto the live image of the bone.

20. The non-transitory computer-readable medium of claim 18 , wherein the function of providing for display the virtual image comprises:

receiving the information of the bone as exposed from the limb of the patient in real time during surgery.