Patient registration for total hip arthroplasty procedure using pre-operative computed tomography (CT), intra-operative fluoroscopy, and/or point cloud data
A system for computer assisted navigation during surgery includes a computer platform that operates to register a target surgical area of a patient. In certain cases, a process includes: obtaining a pre-op CT image of a pelvic region of a patient and intra-operatively obtaining a point cloud data about the pelvic region with a navigated instrument, generating a 3D bone model which excludes non-targeted area such as a femur, and then merging the 3D bone model to the point cloud to register the target surgical area.
1 . A system for computer assisted navigation during a surgery, comprising a computer platform operative to:
obtain a fluoroscopy image of the pelvic region of the patient captured during the surgery,
determine a first center of rotation (C1) of an acetabulum of the patient in the fluoroscopy image,
determine a second center of rotation (C2) of the acetabulum of the patient using a navigated instrument trackable by an optical tracking device, and
register the fluoroscopy image in an optical coordinate system of the optical tracking device based on the determined first center of rotation (C1) and second center of rotation (C2)
wherein determining C2 is performed using a femur tracker,
wherein determining C2 using the femur tracker includes:
attaching the femur tracker to the patient, and
manipulating a leg of the patient
wherein determining C2 using the femur tracker further includes:
obtaining three-dimensional (3D) cone data representing manipulation of the leg of the patient relative to a center of rotation, and
identifying a center of the 3D cone data as C2.
2 . The system of claim 1 , wherein the surgery includes a total hip arthroplasty.
3 . The system of claim 1 , wherein the fluoroscopy image includes an anterior/posterior (AP) image of the pelvic region.
4 . The system of claim 3 , wherein the AP image is obtained at approximately 90 degrees relative to the patient such that the fluoroscopy image identifies a functional pelvic plane (FPP).
5 . The system of claim 1 , wherein determining C1 includes receiving user input about a curvature of the acetabulum, and wherein the computer platform is operative to generate a boundary and a center point of the boundary as C1.
6 . The system of claim 1 , wherein C1 is a two-dimensional coordinate.
7 . The system of claim 1 , wherein C2 is a three-dimensional coordinate.
8 . The system of claim 1 , wherein the navigated instrument is used to obtain point cloud data from the acetabulum.
9 . The system of claim 8 , wherein the computer platform is further operative to identify C2 using the point cloud data.
10 . The system of claim 9 , wherein C2 is identified as a center point in a best fit sphere defined by the point cloud data.
11 . The system of claim 1 , wherein the 3D cone data represents a range of motion of the leg of the patient relative to the acetabulum.
12 . The system of claim 1 , wherein registering the fluoroscopy image includes mating C1 and C2 coincident using vector manipulation.
13 . The system of claim 1 , wherein the computer platform is further operative to receive an input from the navigated instrument indicating a location of a verification divot, wherein the verification divot enables confirmation of navigational integrity during movement of the navigated instrument relative to the acetabulum.
14 . The system of claim 1 , wherein registering a location of the target surgical area includes generating a registration matrix of the acetabulum.
15 . The system of claim 14 , wherein the computer platform further displays the registration matrix on a user interface in a surgical area during the surgery.
16 . The system of claim 14 , wherein the computer platform is further operative to: generate a model of the acetabulum based on the registered location.