Polyhedral fiducial markers for computer-assisted surgery.

Abstract

Systems and methods for polyhedral fiducial marker configurations are disclosed that improve mechanisms for placement of polyhedral fiducial marker configurations and increase reliability during surgery. The disclosed fiducial markers are configured with a polyhedral shape and increased marker surface area, and the improved marker design improves placement and system tracking, thereby improving procedural efficiency and surgical outcomes. The disclosed polyhedral fiducial markers can have geometries with an increased number of surfaces compared to existing markers, improving placement mechanisms and tracking by camera systems. Additionally, improved placement tools for polyhedral fiducial markers can be utilized, which can be based on a configuration in which the fiducial marker is held at the distal end of the placement tool. These classifications of placement tools include magnet-based embodiments, clip-based embodiments (e.g., O-ring and spring clip variations), and friction-based embodiments.

Description

[Technical Field] 【0001】 CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to U.S. Provisional Application No. 63 / 393,063, entitled "Polyhedral Fiducial Markers For Computer-Assisted Surgery," filed July 28, 2022, which is incorporated herein by reference as if reproduced in its entirety below. 【0002】 The present disclosure relates generally to computer-assisted surgery, and more particularly to a polyhedral fiducial marker placement tool and the use of polyhedral fiducial markers for computer-assisted surgery. [Background technology] 【0003】 Traditional soft tissue and ligament surgery, such as anterior cruciate ligament (ACL) reconstruction procedures, utilizes navigation technology to aid in the outcome. For example, video-based technology can be used not only to perform the surgery, but also to place fiducial markers used during surgery. Summary of the Invention 【0004】 The disclosed systems and methods provide novel fiducial marker configurations that not only aid in surgical success but also improve the mechanics of fiducial marker placement. As described in more detail below, the disclosed systems and methods provide polyhedral fiducial markers configured with polyhedral shapes and increased marker surfaces, where the improved marker design improves placement and system tracking, thereby improving procedural efficiency and surgical outcomes. 【0005】 By way of background, navigation-based surgical techniques can assist surgeons in accurately placing femoral tunnels during ACL reconstruction by using video-based navigation. A key part of this procedure is the placement of fiducial markers. According to some embodiments, the markers may contain unique patterns that can be detected and observed by the arthroscope and serve as data that enables video-based navigation. 【0006】 However, traditional marker shapes, patterns, and configurations can lose tracking connection with the camera system during the procedure, resulting in intermittent connection that can reduce the speed and efficiency of the overall procedure as well as lead to errors or mistakes that can ultimately require a corrective procedure. For example, the surface of existing fiducial markers (e.g., based on a cube shape), which is typically parallel to the arthroscope lens, can have female threads that secure the marker to a driver during placement and removal. However, the female threads themselves can create unusable surface area on the marker, resulting in the intermittent connection described above. 【0007】 Thus, as described herein, the disclosed systems and methods provide novel configurations for polyhedral fiducial markers and mechanisms for placing such markers. 【0008】 According to some embodiments, the disclosed polyhedral fiducial markers can include an increased number of surfaces (e.g., an increased surface area for placement of the fiducial marker) compared to existing markers. This improves placement mechanisms and improves tracking by camera systems, as will be apparent from the description herein. Indeed, an increased number of surfaces can proportionally increase the number of patterns that can be used (e.g., one pattern per surface). In some embodiments, each surface can have the same or interchangeable (i.e., different) patterns that are trackable and detectable by a camera system. 【0009】 As described below, the disclosed polyhedral fiducial markers can have at least a predetermined number of more sides (e.g., four or more sides) than existing markers. In some embodiments, rather than simply utilizing a cube for the marker as in traditional marker systems (e.g., traditionally having four usable sides for fiducial marking), the disclosed systems and methods can utilize additional shapes, thereby increasing not only the surface area of the marker but also the number of sides to which a camera can be connected and reliably attached during a procedure. For example, the disclosed polyhedral fiducial markers can include geometries that evolve from a cube to a hexahedron, as described in more detail below. 【0010】 Moreover, according to some embodiments, the disclosed systems and methods can additionally utilize improved installation tools for polyhedral fiducial markers. As described in more detail below, installation tools can be categorized into at least three categories based on the manner in which the fiducial markers are held at the distal end of the installation tool. According to some embodiments, as described in more detail below, installation tools so categorized can include 1) magnet-based embodiments, 2) clip-based embodiments (e.g., O-ring and spring clip variations), and 3) friction-based embodiments. 【0011】 According to some embodiments, methods for polyhedral fiducial markers and their placement and use during surgical procedures are disclosed. According to some embodiments, the methods can accommodate placement of fiducial markers (interchangeably referred to as bone markers). In some embodiments, the methods can include holding at least the bone marker at a distal end of an installation tool, where the installation tool defines a central longitudinal axis and a handle on a proximal end. The methods can then include placing the bone marker in the bone by rotating the installation tool about the central longitudinal axis, and removing the installation tool from the bone marker, leaving the bone marker in the bone, by pulling the installation tool away from the bone without interacting with a mechanical release member on the handle. 【0012】 According to some embodiments, a placement tool for a bone marker is disclosed. In some embodiments, the placement tool can include an elongate shaft defining a distal end and a proximal end, and a handle disposed at the proximal end of the elongate shaft. The placement tool can further include a receptacle disposed at the distal end, the receptacle defining an inner surface having a shape complementary to the outer surface of the bone marker. The placement tool can further include means for retaining and releasing the bone marker from the receptacle, the means for retaining and releasing operable by a user without interacting with the handle. 【0013】 In some embodiments, the means for retaining and releasing can further include a magnet disposed within the elongate shaft and proximate to the receptacle. In some embodiments, the means for retaining and releasing can further include a retaining member disposed in operable relationship with the receptacle, the retaining member configured to retain the bone marker within the receptacle by interacting with a notch or groove in the bone marker. In some embodiments, the retaining member can be at least one selected from the group consisting of an elastomeric material, an O-ring, and a spring. 【0014】 In some embodiments, the means for retaining and releasing can further include a friction member configured to be disposed between the bone marker and an inner surface of the receptacle. In some embodiments, the friction member can include an inner surface configured to abut an outer surface of the bone marker and an outer surface defining a protrusion configured to interact with an opening through a sidewall of the receptacle. In some embodiments, the friction member retains the bone marker in the receptacle by a frictional force, and the installation tool is configured to release the bone marker by a force applied along the central longitudinal axis that overcomes the frictional force. [Brief explanation of the drawings] 【0015】 Features and advantages of the present disclosure will become apparent from the following description of the embodiments illustrated in the accompanying drawings, in which like reference characters refer to like parts throughout the various views. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the present disclosure. 【0016】 [Figure 1A] 1A and 1B illustrate non-limiting exemplary embodiments of polyhedral fiducial marker configurations according to some embodiments of the present disclosure. [Figure 1B] Same as above. 【0017】 [Figure 2] FIG. 2 illustrates a non-limiting exemplary embodiment of a polyhedral fiducial marker configuration according to some embodiments of the present disclosure. 【0018】 [Figure 3A] 3A and 3B illustrate non-limiting exemplary embodiments of polyhedral fiducial marker configurations according to some embodiments of the present disclosure. [Figure 3B] Same as above. 【0019】 [Figure 4] FIG. 4 illustrates a non-limiting exemplary embodiment of a polyhedral fiducial marker according to some embodiments of the present disclosure. 【0020】 [Figure 5A] 5A and 5B illustrate non-limiting exemplary embodiments of polyhedral fiducial markers according to some embodiments of the present disclosure. [Figure 5B] Same as above. 【0021】 [Figure 6A] 6A, 6B, and 6C illustrate non-limiting exemplary embodiments of polyhedral fiducial marker configurations according to some embodiments of the present disclosure. [Figure 6B] Same as above. [Figure 6C] Same as above. DETAILED DESCRIPTION OF THE INVENTION 【0022】 The present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, which form a part hereof and which show, by way of non-limiting illustration, specific exemplary embodiments. However, the subject matter may be embodied in a variety of different forms, and therefore, it is intended that the subject matter encompassed or claimed be construed as not being limited to any of the exemplary embodiments described herein, which exemplary embodiments are provided merely as examples. Likewise, a reasonable broad scope is intended with respect to the subject matter claimed or encompassed. Among other things, for example, the subject matter may be embodied as a method, device, component, or system. Accordingly, the following detailed description is not intended to be taken in a limiting sense. 【0023】 Throughout this specification and the claims, terms may have nuances of meaning that are suggested or implied by context beyond their explicitly stated meaning. Similarly, 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 different embodiments. For example, claimed subject matter is intended to include various combinations of multiple exemplary embodiments, in whole or in part. 【0024】 Generally, terms can be understood, at least in part, from their usage in context. For example, as used herein, terms such as "and," "or," or "and / or" can have a variety of meanings that can depend, at least in part, on the context in which such terms are used. Typically, when used in connection with a list such as A, B, or C, "or" is intended to refer to A, B, and C used in an inclusive sense, as well as to refer to A, B, or C used in an exclusive sense. Additionally, as used herein, depending, at least in part, on the context, the term "one or more" may be used to describe any feature, structure, or characteristic in the singular sense, or may be used to describe a combination of features, structures, or characteristics in the plural sense. Similarly, terms such as "a," "an," or "the" can be understood to convey either a singular or a plural usage, again depending, at least in part, on the context. Additionally, the term "based on" may be understood as not intended to convey a necessarily exclusive set of factors, but instead may allow for the presence of additional factors, again not necessarily explicitly recited, depending at least in part on the context. 【0025】 Unless otherwise limited, the terms "connected," "coupled," and "attached" herein, as well as variations thereof, are used broadly to encompass both direct and indirect connections, couplings, and attachments. Additionally, the terms "connected" and "coupled," as well as variations thereof, are not limited to physical or mechanical connections or couplings. Furthermore, terms such as "top," "bottom," "top surface," "front surface," "back surface," "upper," "lower," "upward," "downward," and other directional descriptors are intended to facilitate the description of exemplary embodiments of the present disclosure and are not intended to limit structures in exemplary embodiments of the present disclosure to any particular location or orientation. Those skilled in the art will understand that terms relating to degree, such as "substantially" or "approximately," refer to a reasonable range around and including a given value, including, for example, typical tolerances associated with the manufacture, assembly, and use of an embodiment, as well as to a range outside the given value. When referring to a structure or feature, the term "substantially" includes the feature being nearly completely present or completely present in the feature or structure. 【0026】 The principles described herein provide novel and improved fiducial (or bone) marker configurations and placement mechanisms. According to some embodiments, as described below, the disclosed fiducial markers are configured with a polyhedral shape and increased marker surface area, and the improved marker design improves placement and system tracking, thereby improving procedural efficiency and surgical outcomes. The disclosed polyhedral fiducial markers can have geometries with an increased number of surfaces compared to existing markers, improving placement mechanisms and tracking by camera systems. Furthermore, improved placement tools for polyhedral fiducial markers can be utilized, which can be based on a fiducial marker held at the distal end of the placement tool. 【0027】 Specific embodiments will now be described in more detail with reference to the drawings. FIG. 1A illustrates a novel polyhedral fiducial marker (or bone marker, as the terms are used interchangeably) configuration 100. The configuration 100 illustrated in FIG. 1A includes an installation tool 102 and a bone marker 112. The installation tool 100, which may also be referred to as a marker driver instrument assembly, may be single-procedure disposable or reusable, and includes a driver shaft 104. The driver shaft 104 is configured as an elongated shaft. In some embodiments, as illustrated in FIG. 1A, the proximal end of the driver shaft 104 can be configured with a thread or insertion means that a medical professional (e.g., a surgeon) can use to drive the bone marker 112 into a patient. For example, as illustrated in FIG. 1A, the proximal end of the driver shaft 104 can include a handle 106 and a knob 108 that can be used to rotate the tool when deploying the bone marker 112 into a patient. 【0028】 According to some embodiments, the distal end of the driver shaft 104 may include an aperture or opening. In some embodiments, the distal end of the driver shaft 104 may thus be configured to receive, retain, and deploy the bone marker 112, and in some embodiments, includes components or tools that may assist in retaining and deploying the bone marker into the patient, as described in more detail below (at least in connection with FIGS. 2, 3A, and 3B, and 6A, 6B, and 6C). 【0029】 In some embodiments, the distal end of the driver shaft 104 can be specifically shaped and configured 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 against the marker (or instrument / component). In some embodiments, the distal end of the driver shaft 104 can include a receptacle that defines an inner surface of the driver shaft 104, the receptacle having a shape complementary to the outer surface of the bone marker. 【0030】 According to some embodiments, as illustrated in FIG. 1A , the distal end of the driver shaft 104 can 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 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 future 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, a cylindrical shape, a horseshoe shape, a disk shape, a spherical shape, a ring shape, a cube shape, and the like. Thus, the distal end of the driver shaft 104 can be configured to fit over the molded rod magnet 110. For example, at least a portion of the inner surface at the distal end of the driver shaft 104 can be molded to fit over the cylindrical shape when the rod magnet 110 is cylindrical. 【0031】 According to some embodiments, the bone marker 112 can include a top portion and a bottom portion. The bottom portion of the bone marker can include a driver (or base screw) attached to the top portion (or head). As shown, the driver is threaded for insertion into the patient. According to some embodiments, the top / head portion can be configured as a polyhedron shape. This configuration provides novel mounting means and additional surfaces (e.g., increased surface area) for positioning the fiducial marker, as described herein. 【0032】 By way of background, as discussed above, conventional markers are cube-shaped and configured to receive a threaded rod from a placement tool used to drive the bone marker into a patient. Therefore, at most, four (4) surfaces are available for placement of the fiducial marker. That is, the top and bottom surfaces are rendered unusable because they provide openings for receiving and passing the threaded rod of the placement tool. This leaves only the four exterior surfaces of the cube. 【0033】 The disclosed bone marker 112 (and those implemented with the integrated rod magnet 110) allows for additional surfaces to be utilized as fiducial markers. That is, as illustrated in FIG. 1A , the bone marker 112 has five usable surfaces for placing fiducial markers. Additionally, the top surface of the marker 112 can be magnetized or coated with a material containing magnetic properties, allowing it to be held by the rod magnet 110 (e.g., held in place within the tool 102 via the rod magnet 110). In some embodiments, the magnetic properties 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 markings, and / or other materials provided, coated, machined, or injected into the marker 112. 【0034】 In some embodiments, the marker 110 can be machined as a single piece from 17-4 stainless steel (or an alternative ferrous metal). In some embodiments, the fiducial markings on each side of the marker 110 can be provided by a two-stage laser marking process that achieves fiducial markings (e.g., black and white) with contrast that meets a threshold contrast (e.g., to allow detection via a camera system). 【0035】 By way of non-limiting example, according to some embodiments, at the start of an ACL procedure, bone marker 112 can be held within the distal end of driver shaft 104 via rod magnet 110, as shown in Figure 1A. After marker 112 is threaded and anchored into the patient (e.g., the condyle of the patient's knee), marker 112 can be released by rotating knob 108 and handle 106 on the proximal end of driver shaft 104. 【0036】 Thus, according to some embodiments, the installation tool 102 does not need to hold a threaded rod disposed within the driver shaft 102, nor does it need to later release such a threaded rod. Rather, the surgeon simply pulls the installation tool 102 away from the marker 112 after the fiducial marker 112 has been placed within the patient, 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. 【0037】 1B, a non-limiting embodiment is shown in which configuration 100 (and tool 102) further includes a release button 120. In some embodiments, release button 120 can include a handle and a plunger, as illustrated in FIG. 1B. In some embodiments, the plunger of release button 120 can be configured as an elongate member that traverses the driver shaft 104 of tool 102. In some embodiments, the handle of release button 120 can be accessible to a user operating tool 102 through an opening on the elongate shaft, as described below. 【0038】 According to some embodiments, the release button 120 may be configured as part of or within the driver shaft 104 and may be configured to contact the head of the marker 112. As described in more detail below, the release button 120 may be utilized (or, in some embodiments, may be required) to operatively release (or, the terms detach are used interchangeably) the bone marker 112 into the patient's bone, thereby releasing the tool 102 from its 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 placement helps reduce loosening of the marker 112 within the bone, which is important to the performance of the tool 102 / arrangement 100. 【0039】 According to some embodiments, the release button 120 can be operable to destabilize (and decouple) from the marker 112 when the delivery handle of the release button 120 is rotated (or rotated, orbited, or translated) radially from the axis of the marker a predetermined angular amount (and, in some embodiments, in a predetermined orientation). In some embodiments, such action can be caused by actuating (or interacting with, e.g., pressing or depressing) the release button, which can cause a radial action of the plunger. Thus, for example, when the release button 120 is depressed and rotated a particular angular amount about the axis of the marker (e.g., 90 degrees in a predetermined orientation), the tool 102 can be magnetically disconnected from the marker 112. 【0040】 In some embodiments, release button 120 can be configured so that user engagement can occur through a port, a hole, an opening, or other type of notch or other type of opening that allows for engagement and interaction with release button 120. For example, driver shaft 104 can be configured with an opening on the side or at the distal end that allows for engagement with release button 120. 【0041】 According to some embodiments, the release button 120 can be constructed with or coated with a magnetic material. In some embodiments, the release button 120 can be constructed with a magnet 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, thereby enabling engagement with the marker 112. According to some embodiments, the release button 120 can be retracted proximally (with a predetermined force and / or for a predetermined duration) to release the magnetic hold on the marker 112. 【0042】 2 illustrates one non-limiting embodiment of a polyhedral fiducial marker configuration 200 according to some embodiments of the present disclosure. According to some embodiments, configuration 200 can be configured with a retention member for retaining and releasing marker 112 (this should not be considered limiting in that, as will be seen from the following description, additional and / or alternative forms of markers may be utilized via configuration 200 without departing from the scope of the present disclosure). 【0043】 The configuration 200 includes a retention member 202 at the distal end of the driver shaft 104 of the installation tool 102. According to some embodiments, the retention member may be comprised of an elastomeric member and may be molded into a ring shape. Thus, in some embodiments, the member 202 may be an O-ring 202. The O-ring 202 may be circular in shape, as shown in FIG. 2, and may be molded / configured to fit the outer shape of the installation tool 102. 【0044】 According to some embodiments, an O-ring 202 can be utilized as an alternative to the rod magnet 110 (see FIG. 4 ). In some embodiments, the O-ring 202 can be sized and positioned within an O-ring groove in the distal end of the driver shaft 104 to provide a frictional engagement with at least two corners of the marker 112, thereby providing a reliable retention force for the marker 112 during deployment and retrieval. A non-limiting example of frictional engagement relative to the corners of the marker 112 is illustrated in FIG. 2 via feature 204. Thus, for example, the bone marker 112 can be inserted into the tool 102 and held in place via feature 204 that clips onto the lower corners 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, although such interaction does not interfere with the fiducial pattern on the surface of the marker 112. 【0045】 Thus, according to some embodiments, the installation tool 102 does not need to retain or later release the threaded rod disposed within the driver shaft 104. Rather, due to the functionality of the O-ring 202, the surgeon can simply pull the installation tool 102 away from the marker 112 after the fiducial marker 112 has been placed into the patient. In some embodiments, the marker 112 can be released from the tool 102 by utilizing a release button 120, as shown in FIG. 1B and described above. 【0046】 3A and 3B illustrate a non-limiting embodiment of a polyhedral fiducial marker configuration 300 according to some embodiments of the present disclosure and of a utilized bone marker 304. Configuration 300 can be utilized as an alternative to O-ring configuration 200 described above in connection with FIG. 【0047】 Turning to FIG. 3A , the configuration 300 includes a retention member configured as a spring clip 602 (or the terms spring clip mechanism are used interchangeably). The spring clip 302 is constructed from an elastomeric material and is disposed at the distal end of the driver shaft 104 of the installation tool 102. The spring clip 302 is a clip-type retention member that engages with a corresponding groove or notch machined into the edge of a five-sided marker (e.g., marker 304 of FIG. 3B , as described herein). The spring clip 302 can be configured with a shape that fits within the inner wall at the distal end of the driver shaft 104 of the installation tool. In some embodiments, the shape of the spring clip 302 can be any shape that allows it to retain the bone marker with an amount of friction that satisfies the threshold for retaining and releasing the bone marker. In some embodiments, such a shape can be, but is not limited to, rectangular (e.g., as shown in FIG. 3A ), square, circular, oval, the like, or a combination thereof. 【0048】 In some embodiments, the marker 112 can be released from the tool 102 by utilizing a release button 120, as shown in FIG. 1B and described above. 【0049】 Turning to FIG. 3B , bone marker 304 is illustrated. As mentioned above, marker 304 may include grooves or notches, as identified via configurations 304a, 304b. While only two grooves / notches are illustrated in FIG. 3B , it should be understood that this should not be construed as limiting, as additional grooves / notches may be included on additional edges or on the same edge of the head of bone marker 304 without departing from the scope of the present disclosure. According to some embodiments, the placement, positioning, size (e.g., depth), and quantity of grooves / notches (e.g., 304a, 304b) on marker 304 can directly correspond to the type and configuration of spring clip 302, thereby enabling secure and releasable retention of marker 304 during a medical procedure. 【0050】 According to some embodiments, as the marker 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 marker 304, thereby locking the marker within the driver shaft 104. Thus, according to some embodiments, due to the functionality provided by the spring clip 602, once the bone marker 304 has been placed into the patient, the surgeon simply pulls the installation tool 102 away from the marker 304, which causes the spring clip 302 to release the marker 304, allowing the surgeon to simply pull the installation tool 102 away from the marker 402. 【0051】 Turning to FIG. 4, one non-limiting exemplary embodiment of a polyhedral fiducial marker 400 according to some embodiments of the present disclosure is illustrated. 【0052】 4 illustrates a marker 400. Marker 400 has a cube shape 402 and is configured as a five-sided marker with sloped top surfaces. The sloped top surfaces are sloped over a range of angles to allow for detection even when driver 404 is fixed relative to cube 402, allowing for additional top surfaces compared to existing cube configurations. According to some embodiments, the sloped top surfaces of cube 402 improve visibility to arthroscopes and camera systems, thereby improving the detectability and accuracy of the marker under operating conditions (e.g., fluids, tissue, debris, and the like). 【0053】 In some embodiments, the marker 400 can be secured to the driver via a "spring-loaded ball plunger" mechanism that can be actuated on one side of the cube 402. The side fiducial pattern of the cube 402 can be non-existent (typically using the side of the cube that is located behind the camera's viewpoint) or can have a design that allows for the attachment of a spring ball without compromising the detectability and accuracy of such a side. 【0054】 5A and 5B, non-limiting exemplary embodiments 500, 510 of polyhedral fiducial markers according to some embodiments of the present disclosure are illustrated, which provide non-limiting exemplary modifications of the bone marker 112 as described above in connection with FIG. 【0055】 Turning to FIG. 5A, according to some embodiments, the marker 500 can be manufactured using an injection molded thermoplastic polymer (e.g., polyetherether, PEEK, or polyetherimide PEI). In some embodiments, the marker 500 can have a five-sided design and be a two-piece assembly, where the cube portion 502 of the marker 500 can be detachable from a driver 504 (or base screw) of the marker 500. FIG. 5A illustrates an embodiment in which both portions are attached, and FIG. 5B illustrates an embodiment showing the removal of both portions. 【0056】 According to some embodiments, the cubical portion 802 can be attached and / or secured to the driver 804 by any known means for securely and temporarily attaching two surgical members, such as, but not limited to, by threading, via magnets, via adhesive, the like, or some combination thereof. 【0057】 In some embodiments, the markers in embodiments 500, 510 can be machined from 17-4 stainless steel (or alternative ferrous metals, as described above) for retention within an installation tool via a rod magnet (in a manner similar to that described above in connection with FIGS. 1A and 1B). 【0058】 6A, 6B, and 6C, non-limiting exemplary embodiments of polyhedral fiducial marker configurations 600, 620, 640 according to some embodiments of the present disclosure are illustrated. 【0059】 6A , according to some embodiments, configuration 600 includes an installation tool 602, a flexible plastic part 604, and a bone marker 606. In some embodiments, installation tool 602 can be configured in a manner similar to installation tool 102 described above. In some embodiments, installation tool 602 can have a distal end configured to receive and hold part 604. Thus, as described below, tool 602 can include a set or plurality of openings 602n (or notches or grooves, or the like), where the number, shape, and size of each opening 602n corresponds directly to the number, shape, and size of protrusions (or “spring tabs”) 604n on part 604. 【0060】 In some embodiments, the marker 606 can be any type of marker described herein, such as, for example, the marker 112 (eg, a five-sided marker). 【0061】 In some embodiments, the flexible plastic part 604 (also referred to as a friction retainer or retaining member, interchangeable to the user) can be configured to be positioned within and fit within the distal end (or receptacle at the distal end) of the installation tool 602. 【0062】 As shown in FIG. 6A, in some embodiments, the flexible plastic part 604 can include an inner surface configured around the outer surface of the bone marker 606 and an outer surface defining a protrusion configured to interact with the opening 602n through the sidewall of the part 604. 【0063】 As described above, in some embodiments, the flexible plastic part 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 openings 602n in the distal end of the installation tool 602, thereby enabling the tool 602 to receive and hold the part 604 and subsequent marker 606, as described herein. In some embodiments, the spring tabs 604n of the flexible plastic part 604 can expand when the maker 606 is inserted into the part 604, as described below. 【0064】 6B, configuration 620 illustrates configuration 600 with flexible plastic part 604 pressed into the distal end of the driver shaft of installation tool 602. As a result, marker 606 is inserted into flexible plastic part 604 with spring tabs 604n expanding to engage openings 602n. In some embodiments, the retaining force that keeps marker 606 in part 604 (and tool 602) is friction between flexible plastic part 604 and marker 606. 【0065】 According to some embodiments, when the spring tabs 604n of the flexible plastic part 604 are expanded, they have line-to-line to quasi-line contact with the interior of the distal tip of the installation tool 602. This therefore allows torque generated during insertion of the marker 606 into bone to be transmitted to the driver of the marker 606. 【0066】 According to some embodiments, the spring tabs 604n of the flexible plastic part 604 can also have features on their exterior surfaces that engage with the openings 602n on the driver shaft of the installation tool 602 to prevent the frictional retaining member from separating from the driver shaft. According to some embodiments, such features can be based on the material of the spring tabs 604n and / or other potting or coating material on the surfaces of the spring tabs 604n and / or openings 602n. 【0067】 According to some embodiments, to remove the marker 606 from the flexible plastic part 604, the surgeon simply pulls axially on the handle of the installation tool 606 (at least at the proximal end, as described above in connection with FIG. 1A) in a manner similar to that described above. 【0068】 According to some embodiments, the flexible plastic part 604 can be made of and / or include a sufficiently soft material (e.g., a material having softness characteristics that meet a softness threshold) so as not to affect the fiducial markings (e.g., a quick response (QR) code) etched on the marker 606. In some embodiments, the spring tabs 604n of the flexible plastic part 604 can have relief cuts to prevent contact with the fiducial markings (e.g., a QR code) on the marker 606. Alternatively, in some embodiments, instead of engaging a flat portion of the head of the marker 606, the spring tabs 604n of the flexible plastic part 604 can engage at least two corner portions of the head of the marker 606 to prevent contact with the fiducial markings (e.g., a QR code), which can be implemented in a manner similar to that described above in connection with FIG. 2. 【0069】 6C illustrates configuration 640, which is a schematic diagram of configuration 620. Thus, configuration 640 illustrates bone marker 606 engaged within component 604, which itself is engaged within the distal end of installation tool 602, where spring tab 604n is engaged with opening 602n. 【0070】 According to some embodiments, the flexible plastic part 604 can be designed to only undergo elastic deformation so that it can re-engage with the marker 606 as needed. 【0071】 In some embodiments, configurations 600, 620, 640 can be further modified to include the release button 120 described above in connection with FIG. 1B, which can enable secure retention and release of the marker into the patient, as described above. 【0072】 Thus, in some embodiments, by utilizing a flexible plastic part 604 to engage the marker 606, configurations 600, 620, 640 allow for the use of markers with additional surfaces (e.g., marker 606 described above), which can improve the visibility of the QR code on the marker during the procedure. 【0073】 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 exemplary embodiments and examples described above. In this regard, any number of features of the different embodiments described herein may be combined into a single or multiple embodiments, and alternative embodiments are possible that have fewer or more features than all of the features described herein. Indeed, functionality may also be distributed, in whole or in part, across multiple components, in any manner now known or that becomes known in the future. 【0074】 Furthermore, methodological embodiments presented and described as flowcharts in this disclosure are provided as examples to provide a more complete understanding of the present technology. The disclosed methods are not limited to the operations and logical flow presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and in which sub-operations described as part of a larger operation are performed independently. 【0075】 While various embodiments have been described for purposes of this disclosure, they should not be construed as limiting the teachings of this disclosure to those embodiments. Various changes and modifications may be made to the components and operations described above, with results remaining within the scope of the systems and processes described in this disclosure.

Claims

[Claim 1] A placement tool for bone markers, A long shaft that defines the distal end and the proximal end, A handle positioned at the proximal end of the aforementioned long shaft, A receptacle located at the distal end, comprising an inner surface having a shape complementary to the outer surface of the bone marker, wherein the bone marker includes a set of reference markers, Installation tool comprising means for holding and releasing the bone marker to and from the receptacle, the means for holding and releasing being operable without user interaction with the handle. [Claim 2] The installation tool according to claim 1, wherein the means for holding and releasing further includes a magnet disposed in the elongated shaft in close proximity to the receptacle. [Claim 3] The installation tool according to claim 1, wherein the means for holding and releasing further includes a retaining member positioned in an operable relationship with the receptacle, the retaining member being configured to hold the bone marker within the receptacle by interacting with a notch or groove of the bone marker. [Claim 4] The installation tool according to claim 3, wherein the retaining member is at least one selected from the group consisting of an elastomer material, an O-ring, and a spring. [Claim 5] The means for holding and releasing further includes a friction member configured to be positioned between the bone marker and the inner surface of the receptacle, the friction member is An inner surface configured to contact the outer surface of the bone marker, The installation tool according to claim 3, comprising: an outer surface defining a projection configured to interact with an opening through the side wall of the receptacle. [Claim 6] The installation tool according to claim 5, wherein the friction member holds the bone marker within the receptacle by a holding force, and the installation tool is configured to release the bone marker by a force applied along the longitudinal central axis that overcomes the friction force. [Claim 7] The installation tool according to claim 6, wherein the holding force is based on the frictional force between the holding member and the bone marker. [Claim 8] The installation tool according to claim 1, wherein the holding member is configured to have a relief cut to prevent contact with the set of reference markers. [Claim 9] A placement tool for bone markers, A long shaft that defines the distal end and the proximal end, A handle positioned at the proximal end of the aforementioned long shaft, A receptacle located at the distal end, comprising an inner surface having a shape complementary to the outer surface of the bone marker, wherein the bone marker includes a set of reference markers, An installation tool comprising: a release button including a plunger, wherein the plunger is configured as a long member traversing the long shaft internally, and the plunger is accessible by the user operating the installation tool through an opening on the long shaft; [Claim 10] The installation tool according to claim 9, wherein when the bone marker is placed in the bone, the release button is activated, and the installation tool is removed distally from the bone marker.

Images