Femoral medial condyle spherical center tracking
Systems and methods for femoral medial condyle spherical center identification and tracking are described herein. Once the spherical center of the medial condyle is identified, the spherical center is tracked using a pin or internal reference. The spherical center may be used to provide a key kinematic motion reference, such as when the medial condyle is adjusted during a surgical procedure. The tracking may be used to provide optical tracking, inertial tracking, or other tracking. In contrast with surface-mounted optical trackers, the spherical center tracking is not lost during resection (e.g., removal) of a bone surface. Tracking the medial condyle spherical center may reduce or eliminate the need for a surface-mounted optical tracker or preoperative 3-D modeling or of the joint.
1. A coordinate-based robotically assisted surgical method comprising:
fixing a first tracking mechanism relative to an anatomical location of a bone;
registering, using a surgical tracking system, a virtual coordinate system relative to the first tracking mechanism;
fixing a second tracking mechanism of a robotic surgical device relative to the anatomical location of the bone;
transferring the virtual coordinate system from the surgical tracking system to the robotic surgical device;
removing the first tracking mechanism from the bone; and
causing the robotic surgical device to execute a portion of a surgical procedure based on the virtual coordinate system.
2. The method of claim 1 , further including receiving coordinates of a spherical center of a femoral medial condyle, wherein:
the first tracking mechanism is fixed relative to the coordinates of the anatomical location; and
registering the virtual coordinate system is relative to the coordinates of the anatomical location.
3. The method of claim 1 , wherein transferring the virtual coordinate system from the surgical tracking system to the robotic surgical device includes transferring the coordinates of the anatomical location.
4. The method of claim 1 , wherein executing the portion of the surgical procedure based on the virtual coordinate system includes executing the portion of the surgical procedure relative to the anatomical location.
5. The method of claim 1 , further including:
placing a surgical cut guide prior to transferring the coordinate system and location of the anatomical location to the robotic surgical device; and
removing the surgical cut guide subsequent to executing the portion of the surgical procedure.
6. The method of claim 1 , further including verifying the portion of the surgical procedure relative to the robotic surgical device.
7. A coordinate-based robotically assisted surgical system comprising:
a first tracking mechanism fixed relative to an anatomical location of a bone;
a second tracking mechanism of a robotic surgical device fixed relative to the anatomical location of the bone; and
a processor configured to:
register, using a surgical tracking system, a virtual coordinate system relative to the first tracking mechanism;
transfer the virtual coordinate system from the surgical tracking system to the robotic surgical device; and
cause the robotic surgical device to execute a portion of a surgical procedure based on the second tracking mechanism, the portion of the surgical procedure to be executed subsequent to the first tracking mechanism is removed from the bone.
8. The system of claim 7 , the processor further configured to receive coordinates of an anatomical location, the first tracking mechanism fixed relative to the coordinates of the anatomical location, wherein the virtual coordinate system is registered relative to the coordinates of the anatomical location.
9. The system of claim 7 , wherein transferring the virtual coordinate system to the robotic surgical device includes transferring the coordinates of the anatomical location.
10. The system of claim 7 , wherein executing the portion of the surgical procedure based on the virtual coordinate system includes executing the portion of the surgical procedure relative to the anatomical location.
11. The system of claim 7 , further including a surgical cut guide positioned prior to transferring the coordinate system and location of the anatomical location to the robotic surgical device, wherein the surgical cut guide is removed subsequent to the execution of the portion of the surgical procedure.
12. The system of claim 7 , the processor further configured to verify the portion of the surgical procedure relative to the second tracking mechanism.