Polyhedral fiducial markers for computer-assisted surgery

Abstract

Systems and methods for polyhedral fiducial marker constructs are disclosed that improve mechanisms for placement of the polyhedral fiducial marker constructs and how surgery is performed depending on the polyhedral fiducial marker constructs. The disclosed fiducial markers are constructed with a polyhedral shape and increased marker surfaces, as well as improved marker designs that provide improved installation and system tracking that result in improved surgical efficiency and surgical outcomes. The disclosed polyhedral fiducial markers may have a geometry with multiple increased faces compared to existing markers. This provides an improved mechanism for installation and tracking with a camera system. Further, an improved mounting tool for a polyhedral fiducial marker may be utilized, which may be retained at the distal end of the mounting tool based on how the fiducial marker is retained. Such a classification installation tool may include: a magnet-based embodiment; clamp-based embodiments (e.g., O-rings and spring clamp variations); and friction-based embodiments.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of U.S. Provisional Application No. 63 / 393,063, entitled “Polyhedral Fiducial Markers For Computer-Assisted Surgery,” filed on July 28, 2022. This provisional application is incorporated herein by reference as if fully reproduced below. Technical Field

[0003] The present disclosure relates generally to computer-assisted surgery, and more particularly, to a polyhedral fiducial marker mounting tool, and the use of polyhedral fiducial markers for computer-assisted surgery. Background Art

[0004] Traditional soft tissue and ligament surgeries, such as anterior cruciate ligament (ACL) reconstruction surgeries, utilize navigation technology to aid in their performance. For example, video-based technology can be used not only to perform the surgery, but also to place fiducial markers that are relied upon during surgery. Summary of the invention

[0005] The disclosed systems and methods provide novel fiducial marker configurations that improve the mechanisms for placement of fiducial marker configurations and how the fiducial marker configurations are relied upon for successful surgery. As discussed in more detail below, the disclosed systems and methods provide polyhedral fiducial markers configured with polyhedral shapes and increased marking surfaces, as well as improved marker designs that provide improved mounting and system tracking, which results in improved surgical efficiency and surgical outcomes.

[0006] As background, navigation-based surgical techniques can use video-based navigation to help surgeons accurately place femoral tunnels during ACL reconstruction. Critical to the surgery is the placement of (multiple) fiducial markers. According to some embodiments, (multiple) markers can contain unique patterns that can be detected and viewed by an arthroscope and used as a fiducial to enable video-based navigation.

[0007] However, conventional marker shapes, patterns, and configurations may result in a loss of tracking connection with the camera system during surgery, resulting in intermittent connectivity, which not only slows down the overall speed and efficiency of the procedure, but can also result in errors or mistakes (which ultimately lead to the need for revision surgery). For example, the faces of existing fiducial markers (e.g., based on a cube shape) that are generally parallel to the arthroscopic lens may have female threads to secure the marker to the driver during placement and removal of the marker. However, the female threads themselves may create spaces of unusable surface area on the marker, resulting in the intermittent connectivity described above.

[0008] Thus, as discussed herein, the disclosed systems and methods provide novel configurations of polyhedral fiducial markers and mechanisms for mounting such markers.

[0009] According to some embodiments, the disclosed polyhedral fiducial marker may include multiple faces that increase the number of faces (e.g., increased surface area(s) for placement of the fiducial marker) compared to existing markers. As can be seen from the discussion herein, this provides an improved mechanism for mounting and tracking with a camera system. In fact, the increased number of faces can result in a proportional increase in the number of patterns that can be used (e.g., patterns per face). In some embodiments, each face can have the same or alternative (or different) patterns that can be tracked and detected by a camera system.

[0010] As discussed below, the disclosed polyhedral fiducial markers can have at least a predetermined number of more faces than existing markers (e.g., four or more). In some embodiments, rather than simply using a cube for the marker as in conventional marking systems (e.g., which typically have four available faces for fiducial markers), the disclosed systems and methods can utilize additional shapes, thereby increasing not only the surface area of ​​the marker, but also the number of faces that a camera can attach to and rely on during surgery. For example, the disclosed polyhedral fiducial markers can include evolving geometries from a cube to a hexahedron, as discussed in more detail below.

[0011] Furthermore, according to some embodiments, the disclosed systems and methods may additionally utilize improved installation tools for polyhedral fiducial markers. As discussed in more detail below, installation tools may be divided into at least three categories based on how the fiducial marker is held at the distal end of the installation tool. According to some embodiments, as discussed in more detail below, such classified installation tools may include: 1) magnet-based embodiments; 2) clamp-based embodiments (e.g., O-ring and spring clip variations); and 3) friction-based embodiments.

[0012] According to some embodiments, a method for a polyhedral fiducial marker, and its installation and use during a surgical procedure are disclosed. According to some embodiments, the method may correspond to installing a fiducial marker (also referred to as a bone marker, which may be used interchangeably). In some embodiments, the method may include retaining at least the bone marker at a distal end of an installation tool, wherein the installation tool defines a longitudinal center axis and a handle on a proximal end. The method may continue by installing the bone marker into the bone by rotating the installation tool about the longitudinal center axis, and then disconnecting the installation tool from the bone marker and leaving the bone marker in the bone by pulling the installation tool away from the bone without interacting with a mechanical release on the handle.

[0013] According to some embodiments, a mounting tool for a bone marker is disclosed. In some embodiments, the mounting tool may include an elongated shaft defining a distal end and a proximal end and a handle disposed at the proximal end of the elongated shaft. The mounting tool may also include a receptacle disposed at the distal end, wherein the receptacle defines an inner surface having a shape complementary to an outer surface of the bone marker. The mounting tool may also include a device for holding the bone marker and releasing the bone marker from the receptacle, wherein the device for holding and releasing is operable without interaction by a user interacting with the handle.

[0014] In some embodiments, the means for holding and releasing may further include a magnet disposed within the elongated shaft proximal to the receiving portion. In some embodiments, the means for holding and releasing may further include a retaining member disposed in operative relationship with the receiving portion, wherein the retaining member is configured to interact with a notch or groove of the bone marker to retain the bone marker within the receiving portion. In some embodiments, the retaining member may be at least one selected from the group consisting of: an elastomeric material; an O-ring; and a spring.

[0015] In some embodiments, the means for holding and releasing may further include a friction member configured to be disposed between the bone marker and the inner surface of the receiving portion. In some embodiments, the friction member may include an inner surface configured to abut the outer surface of the bone marker, and an outer surface defining a protrusion, wherein the protrusion may be configured to interact with an aperture through a side wall of the receiving portion. In some embodiments, the friction member holds the bone marker within the receiving portion by friction, and the installation tool is configured to release the bone marker by a force applied along the longitudinal center axis to overcome the friction. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Features and advantages of the present disclosure will be apparent from the following description of the embodiments shown in the accompanying drawings, in which reference numerals refer to the same parts in various views. The accompanying drawings are not necessarily drawn to scale, but emphasis is placed on illustrating the principles of the present disclosure:

[0017] Figure 1A-1B shows a non-limiting example embodiment of a polyhedral fiducial marker configuration according to some embodiments of the present disclosure;

[0018] Figure 2 shows a non-limiting example embodiment of a polyhedral fiducial marker configuration according to some embodiments of the present disclosure;

[0019] Figure 3A-3B shows a non-limiting example embodiment of a polyhedral fiducial marker configuration according to some embodiments of the present disclosure;

[0020] Figure 4 shows a non-limiting example embodiment of a polyhedral fiducial marker according to some embodiments of the present disclosure;

[0021] Figure 5A-5B illustrates a non-limiting example embodiment of a polyhedral fiducial marker according to some embodiments of the present disclosure; and

[0022] Figures 6A-6C A non-limiting example embodiment of a polyhedral fiducial marker configuration in accordance with some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0023] The present disclosure will now be described more fully below with reference to the accompanying drawings, which form a part of the present disclosure and illustrate certain exemplary embodiments by way of non-limiting illustration. However, subject matter may be embodied in a variety of different forms, and thus subject matter covered or claimed is intended to be construed as not limited to any exemplary embodiment set forth herein; the provision of exemplary embodiments is merely illustrative. Likewise, it is intended to provide a reasonably broad scope for subject matter claimed or covered. For example, subject matter may be embodied as a method, device, component, or system, among other things. Therefore, the following detailed description is not intended to be understood in a limiting sense.

[0024] Throughout the specification and claims, terms may have nuanced meanings that are suggested or implied by the context beyond those explicitly stated. Likewise, the phrase "in one embodiment" as used herein does not necessarily refer to the same embodiment, and the phrase "in another embodiment" as used herein does not necessarily refer to a different embodiment. For example, it is intended that the claimed subject matter includes a combination of all or part of the exemplary embodiments.

[0025] In general, terms can be understood at least in part from the use in the context. For example, as used herein, terms such as "and", "or" or "and / or" can include various meanings that can depend at least in part on the context in which such terms are used. Generally, if used in an association list, such as A, B or C, "or" is intended to represent A, B and C used in an inclusive sense here, and A, B or C used in an exclusive sense here. In addition, as used herein, the term "one or more", which depends at least in part on the context, can be used to describe any feature, structure or characteristic in a singular sense, or can be used to describe a combination of features, structures or characteristics in a plural sense. Similarly, terms such as "a", "an" or "the" can again be understood to express a single use or to express multiple uses, depending at least in part on the context. In addition, the term "based on" can be understood to not necessarily be intended to express a set of exclusive factors, but can allow the presence of additional factors that are not necessarily explicitly described again, which depends at least in part on the context.

[0026] Unless otherwise limited, the terms "connect", "couple" and "install" and their variations are used extensively herein and cover direct and indirect connections, couplings and installations. In addition, the terms "connect" and "couple" and their variations are not limited to physical or mechanical connections or couplings. In addition, terms such as "upper", "lower", "bottom", "top", "front", "rear", "upper", "lower", "upward", "downward" and other orientation descriptors are intended to facilitate the description of the exemplary embodiments of the present disclosure, and are not intended to limit the structure of the exemplary embodiments of the present disclosure to any particular position or orientation. Those skilled in the art understand that degree terms such as "substantially" or "approximately" refer to a reasonable range around a given value, and include a given value and a range outside a given value, such as general tolerances associated with the manufacture, assembly and use of an embodiment. When referring to a structure or characteristic, the term "substantially" includes characteristics that are primarily or completely present in the characteristic or structure.

[0027] The principles discussed herein provide novel and improved fiducial (or bone) marker constructions and installation mechanisms. According to some embodiments, as discussed below, disclosed fiducial marker constructions have polyhedral shapes and increased marking surfaces, as well as improved marker designs that provide improved installation and system tracking, which produce improved surgical efficiency and surgical outcomes. The disclosed polyhedral fiducial markers can have a geometric shape that has multiple faces increased compared to existing markers. This provides an improved mechanism for installation and tracking with a camera system. In addition, an improved installation tool for a polyhedral fiducial marker can be utilized, which can be based on how the fiducial marker is held at the distal end of the installation tool.

[0028] Certain embodiments will now be described in more detail with reference to the accompanying drawings. Figure 1A , a novel polyhedral fiducial marker (or bone marker, used interchangeably) configuration 100 is depicted. Figure 1A The structure 100 depicted in FIG. 1 includes an installation tool 102 and a bone marker 112. The installation tool 100 may also be referred to as a marker driver instrument assembly, which may be disposable or reusable for a single operation, and includes a driver shaft 104. The driver shaft 104 is configured as an elongated shaft. In some embodiments, as Figure 1A As shown in , the proximal end of the driver shaft 104 can be configured with a screw or insertion device that a medical professional (e.g., a surgeon) can use to drive the bone landmark 112 into the patient's body. Figure 1A As shown in FIG, the proximal end of the driver shaft 104 may include a handle 106 and a knob 108 that may be used to rotate the tool when the bone landmark 112 is deployed into the patient's body.

[0029] According to some embodiments, the distal end of the driver shaft 104 can include an opening or aperture. Thus, in some embodiments, the distal end of the driver shaft 104 can be configured to receive, retain, and deploy the bone landmark 112, and in some embodiments, as discussed in more detail below (at least with respect to Figure 2 , 3A -3B and 6A-6C), including components or devices that can assist in the retention and deployment of bone markers into a patient's body.

[0030] In some embodiments, the distal end of the driver shaft 104 can be configured to a specific shape to receive a bone marker (or instrument / component). In some embodiments, the inner wall of the distal end of the driver shaft can be molded and / or shaped to fit the marker (or instrument / component). In some embodiments, the distal end of the driver shaft 104 can include a receptacle defining an inner surface of the driver shaft 104, wherein the receptacle has a shape complementary to the outer surface of the bone marker.

[0031] According to some embodiments, Figure 1A As shown in , the distal end of the driver shaft 104 may include a rod magnet 110. According to some embodiments, the distal end of the driver 104 can be configured such that the inner wall of the driver shaft 104 has a shape that is complementary to the outer wall and shape of the rod magnet 110. In some embodiments, the rod magnet 100 can have any type of known or to-be-known shape that can be used within the installation tool 102 to receive, hold and deploy the bone marker 112, such as but not limited to cylindrical, horseshoe, disc, spherical, annular, cubic, etc. Therefore, the distal end of the driver shaft 104 can be configured to fit the shaped rod magnet 110. For example, when the rod magnet 110 is cylindrical in shape, at least a portion of the inner surface of the distal end of the driver shaft 104 can be molded into a matching cylindrical shape.

[0032] According to some embodiments, the bone marker 112 may include a top portion and a bottom portion. The bottom portion of the bone marker may include a driver (or base screw) attached to the top portion (or head). As shown, the driver has threads for insertion into the patient. According to some embodiments, the top / head portion may be configured as a polyhedron shape. As discussed herein, this shape configuration provides a novel mounting device and additional surfaces for placing a fiducial marker (e.g., a face that provides an increased surface area).

[0033] As background, as discussed above, conventional markers are cube-shaped and are configured to receive a threaded rod from a mounting tool used to drive the bone marker into the patient. Thus, at most, this provides four (4) usable faces for placement of the fiducial marker. That is, the top and bottom surfaces become unusable because they have apertures for receiving and passing the threaded rod of the mounting tool. Thus, this leaves only the remaining 4 outer faces of the cube.

[0034] The disclosed bone markers 112 (and their implementation with the integrated rod magnet 110) enable additional surfaces to be used as reference markers. Figure 1A As shown in FIG. 1 , the bone marker 112 has five (5) available faces for placement of the fiducial marker. In addition, the top surface of the marker 112 can be magnetized or coated with a material containing magnetism, which enables retention by the rod magnet 110 (e.g., retention in place within the tool 102 via the rod magnet 110). In some embodiments, the magnetism of the top surface can be provided based on, but not limited to, the material of the bone marker 112, the material of the fiducial marker, and / or other materials provided, coated, machined, or injected into the marker 112.

[0035] According to some embodiments, the mark 110 can be machined as a single component from 17-4 stainless steel (or an alternative ferrous metal). In some embodiments, the fiducial marks on each face of the mark 110 can be provided via a two-step laser marking process that achieves a contrast fiducial mark (e.g., black and white) having a value that satisfies a threshold contrast (which enables detection via, for example, a camera system).

[0036] As a non-limiting example, according to some embodiments, at the beginning of the ACL surgery, the bone landmark 112 can be held at the distal end of the driver shaft 104 via the rod magnet 110, such as Figure 1A Once the marker 112 is screwed and anchored into the patient (eg, the condyle of the patient's knee), the knob 108 and handle 106 on the proximal end of the driver shaft 104 may be rotated to release the marker 112.

[0037] Thus, according to some embodiments, the installation tool 102 does not require a threaded rod to be disposed within the driver shaft 102 to be retained and subsequently released. Instead, once the fiducial marker 112 is placed within the patient, the surgeon must simply pull the installation tool 102 away from the marker 112, as provided by the magnetic connection between the top surface of the marker 112 and the rod magnet 110 within the distal end of the driver shaft 104 of the tool 102.

[0038] Go to Figure 1B , depicts a non-limiting embodiment in which the construction 100 (and tool 102) further includes a release button 120. In some embodiments, the release button 120 may include a handle and a plunger, such as Figure 1B In some embodiments, the plunger of the release button 120 can be configured as an elongated member that internally traverses the driver shaft 104 of the tool 102. In some embodiments, the handle of the release button 120 can be accessed by a user operating the tool 102 via an aperture on the elongated shaft, as discussed below.

[0039] According to some embodiments, the release button 120 can be configured as part of or within the driver shaft 104 and configured to contact the head of the marker 112. As discussed in more detail below, the release button 120 can be used (or, in some embodiments, required) to operably release (or disengage, used interchangeably) the bone marker 112 into the patient's bone, thereby releasing the tool 102 from engagement with the marker 112. As will be appreciated by those skilled in the art, the release button 120 and its engagement and disengagement with the bone marker 112 after installation helps reduce loosening of the marker 112 in the bone, which is critical to the performance of the tool 102 / construction 100.

[0040] According to some embodiments, the release button 120 may be operable to destabilize (and disengage) from the marker 112 when the delivery handle of the release button 120 is radially rotated (or rotated, or orbited, or moved) a predetermined number of degrees away from the axis of the marker (and in some embodiments, in a predetermined direction). In some embodiments, such action may be caused via activation of the release button (or interaction with it, such as pressing or depressing), thereby causing radial action of the plunger. Thus, for example, the tool 102 may be magnetically disconnected from the marker 112 when the release button 120 is depressed and rotated a certain number of degrees around the axis of the marker (e.g., 90 degrees in one direction).

[0041] In some embodiments, the release button 120 can be configured to be engaged by a user via a port, hole, aperture, or other type of recess or opening that can engage and interact with the release button 120. For example, the driver shaft 104 can be configured with an aperture on the side or at the distal end that enables the release button 120 to engage.

[0042] According to some embodiments, the release button 120 can be constructed of or coated with a magnetic material. In some embodiments, the release button 120 can be constructed with a magnet located at the distal end of the plunger of the release button 120. In some embodiments, the magnet can be rigidly coupled to the distal end of the release button 120 so as to be able to engage with the marker 112. According to some embodiments, the release button 120 can be retracted proximally (with a predetermined amount of force and / or duration) to break the magnetic hold with the marker 112.

[0043] exist Figure 2 , a non-limiting embodiment of a polyhedral fiducial marker configuration 200 according to some embodiments of the present disclosure is depicted. According to some embodiments, the configuration 200 can be configured with a retaining member to retain and release the marker 112 (which should not be limiting, as from the discussion below, additional and / or alternative forms of markers can be utilized via the configuration 200 without departing from the scope of the present disclosure).

[0044] Configuration 200, at the distal end of the driver shaft 104 of the installation tool 102, includes a retaining member 202. According to some embodiments, the retaining member can be composed of an elastomeric member and molded into an annular shape. Thus, in some embodiments, the member 202 can be an O-ring 202. The O-ring 202 can be circular in shape and molded / configured to conform to the outer shape of the installation tool 102, such as Figure 2 as shown in .

[0045] According to some embodiments, the O-ring 202 may be used as a rod magnet 110 (from Figure 4 In some embodiments, the O-ring 202 can be sized and positioned within an O-ring groove within the distal end of the driver shaft 104 to provide a friction fit on at least two corners of the marker 112, thereby providing a secure retention force on the marker 112 during placement and retrieval. Figure 2 A non-limiting example of a friction fit associated with a corner of a marker 112 is depicted in FIG. 1 via item 204. Thus, for example, a bone marker 112 is inserted into the tool 102 and held in place via item 204 that clamps onto the lower corner of the head of the marker 112. According to some embodiments, the O-ring 202 can be configured to interact with notches and / or grooves on the corners of the marker 112; however, such interaction does not interfere with the fiducial pattern on the face of the marker 112.

[0046] Thus, according to some embodiments, the installation tool 102 does not require a threaded rod to be disposed within the driver shaft 104 for retention and subsequent release. Instead, once the fiducial marker 112 is placed in the patient, the surgeon must simply pull the installation tool 102 away from the marker 112, as functionally provided by the O-ring 202. In some embodiments, the release button 120 can be used to destabilize the marker 112 from the tool 102, such as Figure 1B As shown in and discussed above.

[0047] exist Figure 3A-3B , a non-limiting example of a polyhedral fiducial marker configuration 300 and a bone marker 304 utilized according to some embodiments of the present disclosure is depicted. The configuration 300 may be used as described above with respect to Figure 2 An alternative to the O-ring configuration 200 discussed.

[0048] Go to Figure 3A , configuration 300 includes a retaining member configured as a spring clip 602 (or spring clip mechanism, used interchangeably). The spring clip 302, constructed of an elastomeric material and positioned at the distal end of the driver shaft 104 of the installation tool 102, is a clip retainer that engages machined into five-sided markings (e.g., Figure 3BThe spring clip 302 may be configured with a geometry to fit within the inner wall of the distal end of the driver shaft 104 of the installation tool. In some embodiments, the shape of the spring clip 302 may be any shape that can hold and release the bone marker with a threshold amount of friction. In some embodiments, such a shape may be, but is not limited to, a rectangular shape (e.g., Figure 3A ), square, circle, oval, etc., or some combination thereof.

[0049] In some embodiments, the release button 120 can be used to destabilize the marker 112 from the tool 102, such as Figure 1B As shown in and discussed above.

[0050] Go to Figure 3B , depicting bone marker 304. As discussed above, marker 304 may include a groove or notch, as identified by items 304a and 304b. It should be understood that although in Figure 3B Only two grooves / notches are depicted in the illustration, but should not be construed as limiting, as additional grooves / notches may be included on additional or the same edge of the head of the bone marker 304 without departing from the scope of the present disclosure. According to some embodiments, the placement, positioning, size (e.g., depth), and number of grooves / notches (e.g., 304a, 304b) on the marker 304 may directly correspond to the type and configuration of the spring clip 302, which enables secure yet releasable retention of the marker 304 during a medical procedure.

[0051] According to some embodiments, when the flag 304 is inserted into the driver shaft 104 of the installation tool 102 , the spring clip 302 expands until it snaps into the edge grooves ( 304a , 304b ) of the flag 304 to lock the flag within the driver shaft 104 .

[0052] Thus, according to some embodiments, through the functionality provided by the spring clip 602, once the bone landmark 304 is placed in the patient's body, the surgeon must simply pull the installation tool 102 away from the landmark 304 and the spring clip 302 will release the landmark 304, and the surgeon must simply pull the installation tool 10 away from the landmark 402.

[0053] Go to Figure 4 , depicts a non-limiting example embodiment of a polyhedral fiducial marker 400 in accordance with some embodiments of the present disclosure.

[0054] exist Figure 4, a marker 400 is depicted. The marker 400 has a cube shape 402 configured as a five (5) sided marker with an inclined top surface. The inclination of the top surface, which is inclined at an angle within a predetermined range to enable detection when an actuator 404 is secured to the cube 402, enables an additional top surface from an existing cube configuration. According to some embodiments, the inclined top surface of the cube 402 provides increased visibility to the arthroscope and camera system, thereby increasing the detectability and accuracy of the marker under operating conditions (e.g., fluid, tissue, debris, etc.).

[0055] In some embodiments, the marker 400 may be secured to the driver via a "spring loaded ball plunger" mechanism that may be actuated on one of the sides of the cube 402. The side fiducial pattern of the cube 402 may be absent (by using the cube face that generally faces away from the camera viewpoint), or have a design that would allow for the inclusion of a spring ball insert without reducing the detectability and accuracy of such a face.

[0056] Go to Figure 5A-5B , depicting non-limiting example embodiments 500 and 510 of polyhedral fiducial markers according to some embodiments of the present disclosure. Embodiments 500 and 510 provide non-limiting example modifications of bone markers 112, as described above with respect to Figure 1A discussed, and as discussed below.

[0057] Go to Figure 5A According to some embodiments, the marker 500 can be manufactured using an injection molded thermoplastic polymer (e.g., polyetheretherether, PEEK, or polyetherimide PEI). In some embodiments, the marker 500 (which is a five-sided design) can be a two-piece assembly, where the cube portion 502 of the marker 500 can be attached to and detached from the driver 504 (or base screw) of the marker 500. Figure 5A An embodiment is depicted wherein the parts are attached, and Figure 5B An embodiment showing disassembly of the parts is depicted.

[0058] According to some embodiments, cube portion 802 may be attached and / or secured to driver 804 according to any known means for securely and temporarily attaching two surgical pieces, such as but not limited to by screwing, by magnets, by adhesive, etc., or some combination thereof.

[0059] In some embodiments, the indicia of embodiments 500 and 510 may be machined from 17-4 stainless steel (or an alternative ferrous metal, as described above) for retention within an installation tool via a rod magnet (in accordance with the above with respect to Figure 1A and 1B in a similar manner as discussed above).

[0060] Go to Figures 6A-6C , depicting non-limiting example embodiments of polyhedral fiducial marker configurations 600 , 620 , and 640 , according to some embodiments of the present disclosure.

[0061] like Fig. 6A As shown in , according to some embodiments, the configuration 600 includes an installation tool 602, a flexible plastic component 604, and a bone marker 606. In some embodiments, the installation tool 602 can be configured in a manner similar to the installation tool 102 described above. In some embodiments, the installation tool 602 can have its distal end configured to receive and retain the component 604. Thus, as discussed below, the tool 602 can include a set of one or more apertures 602n (or notches or grooves, etc.), wherein the number, shape, and size of each aperture 602n directly corresponds to the number, shape, and size of the protrusions (or "spring tabs") 604n on the component 604.

[0062] In some embodiments, the marking 606 can be any type of marking discussed herein, such as the marking 112 (eg, a 5-sided marking).

[0063] In some embodiments, the flexible plastic component 604 (also referred to as a friction retainer or retaining member, interchangeably by the user) may be configured to be positioned within and fit within the distal end (or a receptacle at the distal end) of the installation tool 602 .

[0064] like Fig. 6A As shown in , in some embodiments, the flexible plastic component 604 can include an inner surface configured around the outer surface of the bone landmark 606, and an outer surface defining (multiple) protrusions configured to interact with the apertures 602n through the sidewall of the component 604.

[0065] As described above, in some embodiments, the flexible plastic component 604 can be configured with a predetermined number of protrusions (e.g., referred to as "spring tabs") 604n. In some embodiments, each spring tab 604n can be configured to fit within a corresponding number of apertures 602n within the distal end of the installation tool 602. This enables the tool 602 to receive and retain the component 604 and subsequently the marker 606, as discussed herein. In some embodiments, as discussed below, when the marker 606 is inserted into the component 604, the spring tabs 604n of the flexible plastic component 604 can expand, as discussed below.

[0066] In some embodiments, Figure 6BAs shown in , configuration 620 is a depiction of configuration 600 in which flexible plastic component 604 is pressed into the distal end of the driver shaft of installation tool 602. As a result, marker 606 has been inserted into flexible plastic component 604, causing spring tab 604n to expand accordingly to engage with aperture 602n. In some embodiments, the retaining force that retains marker 606 within component 604 (and tool 602) is the friction force between flexible plastic component 604 and marker 606.

[0067] According to some embodiments, when the spring tabs 604n of the flexible plastic component 604 expand, they have line-to-line to near line-to-line contact with the interior of the distal tip of the installation tool 602. This therefore allows the torque generated during the insertion of the marker 606 into the bone to be transmitted to the driver of the marker 606.

[0068] According to some embodiments, the spring tab 604n of the flexible plastic component 604 may also have features on its exterior that engage with the aperture 602n on the driver shaft of the installation tool 602 to prevent the friction retainer from separating from the driver shaft. According to some embodiments, such features may be based on the material of the spring tab 604n and / or other injection or coating materials provided to the surface of the spring tab 604n and / or the aperture 602n.

[0069] According to some embodiments, to remove the marker 606 from the flexible plastic component 604, the surgeon need only pull the handle of the installation tool 606 axially (at the proximal end, as discussed above at least with respect to Figure 1A discussed).

[0070] According to some embodiments, the flexible plastic component 604 may be made of and / or include a sufficiently soft material (e.g., a material having (multiple) softness properties that satisfy a softness threshold) so that it does not affect an etched fiducial mark (e.g., a quick response (QR) code) on the tag 606. In some embodiments, the spring tabs 604n of the flexible plastic component 604 may have concave and convex cuts to prevent them from contacting a fiducial mark (e.g., a QR code) on the tag 606. Alternatively, in some embodiments, instead of engaging a flat portion of the head of the tag 606, the spring tabs 604n of the flexible plastic component 604 may engage at least two corners of the head of the tag 606 to prevent contact with the fiducial mark (e.g., a QR code), which may be similar to the above description of the fiducial mark. Figure 2 Execute in a similar manner as discussed.

[0071] Figure 6CConfiguration 640 is shown, which is a schematic representation of configuration 620. Thus, configuration 640 depicts bone marker 606 engaged within component 604, which itself is engaged within the distal end of installation tool 602, whereby spring tab 604n has engaged aperture 602n.

[0072] According to some embodiments, the flexible plastic component 604 may be designed to undergo only elastic deformation so that it can reengage the flag 606 if necessary.

[0073] In some embodiments, the configurations 600, 620, and 640 may be further modified to include the above configurations with respect to Figure 1B A release button 120 is discussed, which allows for secure stabilization and release of the marker into the patient, as discussed above.

[0074] Thus, in some embodiments, by utilizing a flexible plastic component 604 to engage the marker 606, constructions 600, 620, and 640 enable the use of markers with additional faces (e.g., as the marker 606 discussed above), which enables improved visualization of the marker's QR code during surgery.

[0075] Those skilled in the art will recognize that the methods and systems of the present disclosure can be implemented in many ways and are therefore not limited by the foregoing exemplary embodiments and examples. In this regard, any number of features of the various embodiments described herein can be combined into a single or multiple embodiments, and alternative embodiments with fewer or more than all of the features described herein are possible. In fact, functionality can also be distributed in whole or in part among multiple components in a manner now known or to be known.

[0076] In addition, the embodiments of the methods presented and described as flow charts in the present disclosure are provided as examples to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of the various operations is changed and in which sub-operations described as part of a larger operation are performed independently.

[0077] Although various embodiments have been described for the purposes of this disclosure, such embodiments should not be construed as limiting the teachings of this disclosure to those embodiments. Various changes and modifications may be made to the above elements and operations to obtain results that remain within the scope of the systems and processes described in this disclosure.

Claims

1. A method for installing a bone marker, the method comprising: retaining at least the bone landmark at a distal end of a mounting tool, the mounting tool defining a longitudinal central axis and a handle on a proximal end; installing the bone marker into the bone by rotating the installation tool about the longitudinal center axis; as well as The installation tool is disconnected from the bone landmark and leaves the bone landmark in the bone by pulling the installation tool away from the bone without interacting with a mechanical release on the handle.

2. The method of claim 1, wherein the installation tool comprises an elastomeric material at a distal end of the installation tool, wherein at least the retention of the bone landmark occurs via the elastomeric material.

3. The method of claim 2, wherein the elastomeric material comprises at least one of an O-ring and a spring clip.

4. The method of claim 1 , wherein the installation tool includes a flexible member inserted into a distal end of the installation tool, the flexible member being configured with a set of spring tabs that engage with the distal end of the installation tool in at least approximately line-to-line contact.

5. The method of claim 4, wherein the flexible member receives the bone marker and based on the received bone marker, the set of spring tabs expand for engagement within the distal end of the installation tool.

6. The method of claim 4, wherein the expanded spring tabs of the flexible member in the distal end of the installation tool include a retaining force for retaining the marker within the flexible member, the retaining force being a friction force between the flexible member and the bone marker.

7. The method of claim 1 , wherein the bone marker is a polyhedral fiducial marker, the bone marker comprising a head and a driver, wherein the head comprises a geometric shape having a predetermined number of faces, wherein each face comprises a fiducial marker detectable by a camera system, wherein the driver has threads for insertion into a bone of a patient.

8. The method of claim 7, wherein the head of the bone marker is hexahedral in shape, wherein the head includes at least four surfaces for placing the fiducial marker.

9. The method of claim 7, wherein the head of the bone marker is hexahedral in shape, wherein the head includes at least five surfaces for placement of the fiducial marker.

10. The method of claim 7, wherein the head includes a sloped top surface, the top surface being operable to place a fiducial marker. The method of claim 7 , wherein each face includes a reference pattern having the same pattern.

12. The method of claim 7, wherein each face includes a fiducial pattern having a unique pattern.

13. A mounting tool for bone marking, the mounting tool comprising: an elongated shaft defining a distal end and a proximal end; a handle disposed at the proximal end of the elongated shaft; a receiving portion disposed at the distal end, the receiving portion defining an inner surface having a shape complementary to an outer surface of a bone landmark, the bone landmark comprising a set of fiducial markings; as well as Means for retaining the bone landmark and releasing the bone landmark from the receptacle, the means for retaining and releasing being operable without interaction by a user interacting with the handle.

14. The installation tool of claim 13, wherein the means for retaining and releasing further comprises a magnet disposed within the elongated shaft proximal to the receptacle.

15. The installation tool of claim 13, wherein the means for retaining and releasing further comprises a retaining member disposed in operative relationship with the receptacle, the retaining member being configured to interact with a notch or groove of the bone landmark to retain the bone landmark within the receptacle.

16. The installation tool of claim 15, wherein the retaining member is at least one selected from the group consisting of: an elastomeric material; an O-ring; and a spring.

17. The installation tool according to claim 13, wherein the means for holding and releasing further comprises a friction member configured to be disposed between the bone landmark and an inner surface of the receiving portion, the friction member comprising: an inner surface configured to abut the outer surface of the bone landmark; as well as An outer surface defines a protrusion configured to interact with an aperture through a sidewall of the receptacle.

18. The installation tool of claim 17, wherein the friction member holds the bone landmark within the receptacle by a retaining force, and wherein the installation tool is configured to release the bone landmark by a force applied along the longitudinal center axis that overcomes the friction force.

19. The installation tool of claim 18, wherein the retaining force is based on friction between the retaining member and the bone landmark.

20. The installation tool of claim 13, wherein the retaining member is configured with concave and convex cutouts to prevent contact with the set of fiducial markings.

21. A method for installing a bone marker, the method comprising: retaining at least the bone landmark at a distal end of a mounting tool, the mounting tool defining a longitudinal central axis and a handle on a proximal end; installing the bone marker into the bone by rotating the installation tool about the longitudinal center axis; as well as The installation tool is broken away from the bone landmark by pulling the installation tool away from the bone and leaving the bone landmark in the bone.

22. The method of claim 21, wherein the installation tool further comprises a release button configured to contact the bone landmark.

23. The method of claim 22, further comprising: Upon installation of the bone landmark into the bone, the release button is activated to distally control disconnection of the installation tool from the bone landmark.

24. A mounting tool for bone marking, the mounting tool comprising: an elongated shaft defining a distal end and a proximal end; a handle disposed at the proximal end of the elongated shaft; a receiving portion disposed at the distal end, the receiving portion defining an inner surface having a shape complementary to an outer surface of a bone landmark, the bone landmark comprising a set of fiducial markings; as well as A release button includes a plunger configured as an elongated member that internally traverses the elongated shaft, the plunger being accessible to a user operating the installation tool via an aperture in the elongated shaft.

25. The installation tool of claim 24, wherein upon installation of the bone landmark into bone, the release button is activated to distally disconnect the installation tool from the bone landmark.

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