Systems and methods for intraoperatively measuring anatomical orientation
Systems and methods are disclosed in which changes in the position and/or orientation of an anatomical structure or of a surgical tool can be measured quantitatively during surgery. In some embodiments, the systems and methods disclosed herein can make use of inertial motion sensors to determine a position or orientation of an instrument or anatomy at different times and to calculate changes between different positions or orientations. In other embodiments, such sensors can be utilized in conjunction with imaging devices to correlate sensor position with anatomical landmarks, thereby permitting determination of absolute angular orientation of a landmark. Such systems and methods can facilitate real-time tracking of progress during a variety of procedures, including, e.g., spinal deformity correction, etc.
1. A method of measuring an absolute spinal angle, comprising:
coupling first and second sensors to respective first and second portions of a patient's spine;
capturing at least one image of the first and second sensors and the patient's spine using an imaging device;
identifying in the at least one captured image first and second vertebral endplates that define the absolute spinal angle to be measured;
calculating, by a processor, a first compensation angle between the first endplate and the first sensor in the at least one captured image;
calculating, by a processor, a second compensation angle between the second endplate and the second sensor in the at least one captured image;
obtaining a relative angle measured between the first and second sensors;
adjusting, by a processor, the relative angle based on the first and second compensation angles to calculate the absolute spinal angle; and
communicating the absolute spinal angle to a user.
2. The method of claim 1 , wherein the absolute spinal angle is calculated and communicated to the user in real-time or substantially in real-time.
3. The method of claim 1 , wherein the absolute spinal angle is at least one of lumbar lordosis and thoracic kyphosis.
4. The method of claim 1 , wherein communicating the absolute spinal angle comprises displaying the angle on an electronic display.
5. The method of claim 1 , wherein identifying the endplates comprises interacting with a graphical user interface that displays the at least one captured image to select the endplates with an input device.
6. The method of claim 1 , wherein coupling the first and second sensors comprises implanting the first and second sensors in the patient.
7. The method of claim 6 , wherein the first and second sensors are percutaneously implanted in the patient.
8. The method of claim 1 ,
wherein the identifying comprises identifying first and second vertebral endplates that define the absolute spinal angle to be measured;
wherein calculating the first compensation angle comprises calculating the first compensation angle between the first endplate and the first sensor in the at least one captured image; and
wherein calculating the second compensation angle comprises calculating the second compensation angle between the second endplate and the second sensor in the at least one captured image.
9. The method of claim 8 , wherein the first portion is a first vertebra of the patient and the second portion is a second vertebra of the patient, the second vertebra being non-adjacent to the first vertebra.
10. The method of claim 9 , wherein the absolutely spinal angle is an angle in the sagittal plane between the first vertebra and the second vertebra.
11. The method of claim 10 , further comprising:
conducting a surgical angular correction of the spine along the sagittal plane to move the patient's spine to a correct position while continuously communicating the absolute spinal angle to a user.
12. The method of claim 11 , further comprising:
conducting a surgical spinal fixation or stabilization procedure to secure the patient's spine in the corrected position.
13. The method of claim 1 , wherein each of the first and second sensors is an inertial motion sensor including any of an accelerometer, a gyroscope, and a magnetometer.
14. The method of claim 1 , comprising continuously communicating the absolute spinal angle to a user during a surgical operation to correct the angular orientation of the spine along the sagittal plane.