INTELLIJOINT SURGICAL INC.

Disclosed are methods and systems to provided planning tools for surgery, particularly for THA. Images of musculoskeletal structure of a patient (e.g. associated with respective planes and in a same or different functional position) may be displayed together and via co-registration and spatial transformations, 3D implants or other objects may be rendered and overlaid in a same position correctly with respect to each image. Measures may be represented with respect to various planes associated with the respective image and/or with respect to an existing implant. A safe zone (graphical element) may be rendered and overlaid with respect to each displayed image to indicate a clinically accepted safe range of positions for the 3D implant. Different instances of implants having respective characteristics affecting range of motion may be available for use during a procedure. For a set of available implants minimal and maximal safe zones may be presented for planning assistance.

Systems, methods and devices for use in tracking are described, using optical modalities to detect spatial attributes or natural features of objects, such as, tools and patient anatomy. Spatial attributes or natural features may be known or may be detected by the tracking system. The system, methods and devices can further be used to verify a calibration of a tool either by a computing unit or by a user. Further, the disclosure relates to detection of spatial attributes, including depth information, of the anatomy for purposes of registration or to create a 3D surface profile of the anatomy.

There is provided a method to perform bone resection using a planer. Under guidance of a surgical navigation system, and, optionally, under command of a robotic system, a trackable surgical instrument is guided to a target pose on a target bone. The bone may be a femur or tibia in a TKA. The trackable instrument comprises a drill or a pin guide for mounting a pair of pins, preferably graduated pins to select a resection depth. A pin end is inserted into the planer and the planer operated to resect until the pin end bottoms out. A robot may command movement of the trackable instrument to the target pose. The target pose may be received or determined from surgical pre-planning or intra-operative activities such as tracked measurements, user input, etc. The navigation system presents information such as measurements and/or image overlays to guide the placement.

Systems and methods for hybrid registration of a portion of patient anatomy facilitate surgical navigation. A navigation system track objects comprising any one or more of surgical tools and portions of patient anatomy and receives a first subset of anatomical reference information for a portion via at least one intra-operative image. Each image has a common image reference frame and shows a same portion of patient anatomy. The image reference frame is registered with a navigation system reference frame. One or more navigational system sensors provide signals identifying a second subset of anatomical reference information for the portion of anatomy, different from the first subset. The portion of patient anatomy is registered to the navigation system using at least one item of anatomical reference information from each of the first subset of anatomical reference information and the second subset of anatomical reference information for performing navigation of the patient anatomy

Disclosed are methods and systems to provided planning tools for surgery, particularly for THA. Images of musculoskeletal structure of a patient (e.g. associated with respective planes and in a same or different functional position) may be displayed together and via co-registration and spatial transformations, 3D implants or other objects may be rendered and overlaid in a same position correctly with respect to each image. Measures may be represented with respect to various planes associated with the respective image and/or with respect to an existing implant. A safe zone (graphical element) may be rendered and overlaid with respect to each displayed image to indicate a clinically accepted safe range of positions for the 3D implant. Different instances of implants having respective characteristics affecting range of motion may be available for use during a procedure. For a set of available implants minimal and maximal safe zones may be presented for planning assistance.

There is provided a method to perform bone resection using a planer. Under guidance of a surgical navigation system, and, optionally, under command of a robotic system, a trackable surgical instrument is guided to a target pose on a target bone. The bone may be a femur or tibia in a TKA. The trackable instrument comprises a drill or a pin guide for mounting a pair of pins, preferably graduated pins to select a resection depth. A pin end is inserted into the planer and the planer operated to resect until the pin end bottoms out. A robot may command movement of the trackable instrument to the target pose. The target pose may be received or determined from surgical pre-planning or intra-operative activities such as tracked measurements, user input, etc. The navigation system presents information such as measurements and/or image overlays to guide the placement.

Described are targets for use in optical tracking, as well as related methods. A target comprises a plurality of light dispersers, optically coupled to at least one light source. The light dispersers are illuminated for detection and tracking by a tracking system. In some implementations, the at least one light source is optically coupled to the plurality of light dispersers by a plurality of light directors. In other implementations, the at least one light source includes a plurality of light sources positioned within or proximate to the plurality of dispersers. In some implementations, dispersers are lenses; in some implementations, dispersers are light scattering elements. Targets include or are coupled to a power source. In some implementations, targets include additional electrical components which utilize power from the power source.

Methods and systems for ligament reconstruction provide navigational assistance localizing at least one desired tunnel aperture on surface of a bone of a joint. In an embodiment, each of: a kinematic range of motion of the joint, a first tunnel aperture point for a first bone and a ligament graft; and a plurality of candidate second tunnel aperture points relative to a second bone; are registered. A plurality of datasets corresponding to the plurality of candidate second tunnel aperture points are defined, where the datasets represent the relationship of either or both of a graft length or a graft tension along the kinematic range of motion. A desired second tunnel aperture point is determined in response to a selection of a desired dataset. A user interface is provided to guide a probe to a target on the bone for the desired tunnel aperture.

Provided are optically detectable markers for tracking, as well as related methods. A marker comprises a mask unit and a (removable) cartridge comprising an optically detectable surface exposed through at least three faces of the mask unit. Respective materials present a measurable contrast under optical detection conditions. An optical detectable surface can be detectable using IR and a contrasting surface is not. Faces can define openings to the cartridge. The cartridge can comprise a sheet of optically detectible material foldable to fit into the mask unit. A sheet can provide multiple connected cartridges. Securing devices including any of a support unit, a clip, a magnet, an adhesive, etc., can secure a cartridge in a mask unit. A marker, or maker kit, may comprise a plurality of mask units and cartridges connected via a marker body. Some of the mask units may be on different planes in such a marker.

Methods and systems are disclosed for improved surgical navigation and intra-operative surgical planning for joint arthroplasty procedures. A computing device receives tracking information of a patient's anatomic structure and of one or more surgical tools. A computing device further receives at least one plurality of anatomic points. A mesh is generated for each region of interest of the patient's anatomic structure from the one or more pluralities of anatomic points. One or more planar profiles and/or one or more non-planar profiles may be generated from each mesh and may be displayed to a user via a user interface. Planar and non-planar profiles may be updated as the user repositions a trackable cut plane on or adjacent the patient's anatomic structure, such as during resection planning during a TKA, for example.