Adjustable surgical guides, virtual plans, and their surgical navigation

Abstract

The surgical guide includes a base and a drill guide coupled to the base. The drill guide includes a drill guide body extending through the drill guide and defining a drill bore for receiving a drill bit, the drill guide is configured to translate relative to the base to adjust the drill guide angle defined by the drill bore and the base, the drill guide is further configured to transition between a locked state and an unlocked state, the drill guide angle is fixed in the locked state and adjustable in the unlocked state. The technical solutions described herein are also systems and methods for adjustable surgical guides, virtual plans, and surgical navigation.

Description

TECHNICAL FIELD

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims the benefit of priority to U.S. Patent Application No. 18 / 582,438, filed February 20, 2024, entitled "ADJUSTABLE SURGICAL GUIDE, VIRTUAL PLANNING, AND SURGICAL NAVIGATION OF SAME", which is a continuation-in-part of U.S. Patent Application No. 18 / 411,869, filed January 12, 2024, entitled "ADJUSTABLE SURGICAL GUIDE", which is a continuation application of U.S. Patent Application No. 18 / 240,217, filed August 30, 2023, entitled "ADJUSTABLE SURGICAL GUIDE", the contents of each of which are hereby incorporated herein by reference in their entirety.

[0002] (FIELD OF THE INVENTION) The present disclosure relates to pre-operative surgical planning. More particularly, the present disclosure relates to apparatuses, systems, and methods for generating and utilizing a virtual model of a surgical guide. BACKGROUND ART

[0003] Various types of surgical procedures involve removing tissue (e.g., bone, soft tissue, etc.) from a subject. For example, a surgical procedure may include drilling into a subject. A surgical guide may be used to facilitate drilling into the subject. SUMMARY OF THE INVENTION

[0004] According to one aspect of the present disclosure, a surgical guide includes a base and a drill guide coupled to the base, the drill guide including a drill guide body extending through the drill guide and defining a drill bore configured to receive a drill bit, the drill guide being configured to translate relative to the base to adjust a drill guide angle defined by the drill bore and the base, the drill guide being further configured to transition between a locked state and an unlocked state, the drill guide angle being fixed in the locked state and adjustable in the unlocked state.

[0005] According to various embodiments, the base includes a first leg including a first leg end, a second leg including a second leg end, and a third leg including a third leg end, and the base plane is defined by the first leg end, the second leg end, and the third leg end, and the drill guide angle is defined by the drill bore and the base plane. According to various embodiments, the surgical guide includes a first track connected to the base and defining a first track opening, a second track connected to the base and defining a first track opening, and a second track connected to the base and defining a second track opening, and the drill guide is configured to translate relative to the base within the first and second track openings. According to various embodiments, the first track is rotatably connected to the base and configured to rotate around a first axis. According to various embodiments, the first axis is parallel to the base plane. According to various embodiments, the second track is rotatably coupled to the base and configured to rotate about a second axis. According to various embodiments, the second axis is perpendicular to the first axis. According to various embodiments, the first and second axes are parallel to the base plane. According to various embodiments, the drill guide includes a lock nut configured to rotate relative to the drill bore, the rotation of which causes the drill guide to move between a locked and unlocked state. According to various embodiments, the drill guide further includes a clamping member, the rotation of which in a first direction compresses the clamping member relative to the second track, thereby locking the drill guide in place. According to various embodiments, the drill guide further includes a first projection and a second projection extending from the outer portion of the drill guide body, the rotation of which in a first direction compresses the first projection and the second projection relative to the first track, thereby locking the drill guide in place. According to various embodiments, the first track opening is a linear opening extending in a direction parallel to the base plane. According to various embodiments, the second track opening is a curved opening that defines a convex curvature with respect to the base plane.According to various embodiments, the drill guide includes an adapter adjacent to a first end of the drill guide body, the adapter being configured to receive a drill guide retainer. According to various embodiments, the adapter includes a plurality of spines surrounding the outer portion of the drill guide body.

[0006] According to another aspect of the present disclosure, a surgical system includes a surgical guide comprising a base and a drill guide coupled to the base, the drill guide comprising a drill guide body extending through the drill guide and defining a drill bore configured to receive a drill bit, the drill guide being configured to translate relative to the base to adjust a drill guide angle defined by the drill bore and the base, the drill guide being further configured to transition between a locked state and an unlocked state, the drill guide angle being fixed in the locked state and adjustable in the unlocked state. The surgical system further includes an adjustment device configured to cause a change in the drill guide angle. The adjustment device comprises an adjustment base and a drill guide adjuster coupled to the adjustment base, the drill guide adjuster comprising a handle adjacent to a first drill guide adjuster end of the drill guide adjuster, an adjustment projection adjacent to a second drill guide adjuster end of the drill guide adjuster, and a drill guide adjuster body positioned between the handle and the adjustment projection, the adjustment projection being configured to be received in the drill bore such that movement of the handle causes a change in the drill guide angle. The surgical system further includes an adjustment stand configured to selectively couple to a surgical guide, and the adjustment base is configured to receive at least a portion of the adjustment stand to restrict relative movement between the adjustment base and the adjustment stand.

[0007] According to various embodiments, the drill guide adjuster further includes a first adjustment track coupled to an adjustment base and defining a first adjustment track opening, and a second adjustment track coupled to an adjustment body and defining a second adjustment track opening, wherein the drill guide adjuster is translated within at least one of the first or second adjustment track openings by the movement of a handle. According to various embodiments, the first adjustment track is rotatably coupled to the adjustment base and configured to rotate about a first adjustment axis. According to various embodiments, the first adjustment axis is parallel to a base plane defined by the base while the drill guide adjuster and drill guide are coupled to the adjustment stand. According to various embodiments, the second adjustment track is rotatably coupled to the adjustment base and configured to rotate about a second adjustment axis. According to various embodiments, the second adjustment axis is perpendicular to the first adjustment axis. According to various embodiments, the rotation of the handle is configured to move the drill guide between a locked and unlocked state while the drill guide adjuster is coupled to the drill guide. According to various embodiments, the drill guide includes a lock nut configured to rotate relative to the drill bore, and the rotation of the lock nut moves the drill guide between a locked and unlocked state. According to various embodiments, the lock nut includes a plurality of lock nut splines, and the drill guide adjuster body includes a plurality of drill guide adjuster body splines configured to interface with the plurality of lock nut splines, and the drill guide adjuster is coupled to the drill guide such that the rotation of the handle is configured to move the drill guide between a locked and unlocked state. According to various embodiments, the adjustment base defines an adjustment base plane, and the drill guide adjuster includes a first adjustment track indicator configured to indicate a first relative angular orientation of the drill guide with respect to the adjustment base plane. According to various embodiments, the drill guide adjuster includes a second adjustment track indicator configured to indicate a second relative angular direction of the drill guide with respect to the adjustment base.According to various embodiments, the adjustment stand includes a first clamp arm and a second clamp arm configured to selectively connect a surgical guide to the adjustment stand.

[0008] According to another aspect of the present disclosure, the method includes providing an adjustment stand and coupling a surgical guide to the adjustment stand. The surgical guide includes a base and a drill guide coupled to the base, the drill guide including a drill guide body that defines a drill bore and extends through the drill guide, the drill bore and base defining a drill guide angle. The method further includes providing an adjustment device. The adjustment device includes a drill guide adjuster coupled to the base, the drill guide adjuster including a handle adjacent to a first drill guide adjuster end of the drill guide adjuster, an adjustment projection adjacent to a second drill guide adjuster end of the drill guide adjuster, and a drill guide adjuster body positioned between the handle and the adjustment projection. The method further includes inserting the adjustment projection into the drill bore. The method further includes adjusting the position of the handle, thereby translating the drill guide relative to the base and adjusting the drill guide angle. The method further includes locking the drill guide so that the drill guide angle is fixed.

[0009] According to various embodiments, the method includes removing an adjustment projection from the drill bore, separating the drill guide from the adjustment stand, and positioning the drill guide in a desired location close to the bone. According to various embodiments, the method includes rotating the handle while the adjustment projection is positioned within the drill guide to move the drill guide into a locked position and prevent changes in the drill guide angle.

[0010] At least one aspect of the technical solution relates to a method for virtual surgical planning. The method may include processing preoperative image data of the glenoid fossa by one or more processors to identify defined anatomical landmarks. Defined anatomical landmarks may include the glenoid surface of the glenoid fossa. The method may include generating a virtual representation of the glenoid surface based on the defined anatomical landmarks by one or more processors. The visual representation may include dynamically adjustable virtual boundaries defined on the virtual surface of the glenoid surface. The method may include maintaining a virtual model of the surgical guide in a data structure by one or more processors. The method may include providing a user interface to present the virtual representation of the glenoid surface and the virtual model of the surgical guide by one or more processors. The virtual model of the surgical guide may be configured to align with the virtual representation of the glenoid surface. The virtual model of the surgical guide may include a virtual base plane defined by several virtual prongs. The virtual base plane may include at least three virtual prongs. Each virtual prong may be positioned on a virtual surface of the glenoid surface within a virtual boundary, thereby aligning the virtual base plane with the glenoid plane defined by the virtual surface of the glenoid surface. In response to aligning a virtual model of the surgical guide with a virtual representation of the glenoid surface, the method may include determining, by one or more processors, a rotation angle indicating at least one of posterior or anterior inclination of the axis of the surgical guide relative to the glenoid plane, and an inclination angle indicating at least one of downward or upward inclination of the axis of the surgical guide relative to the glenoid plane. The method may also include adjusting the position or orientation of the virtual model of the surgical guide based on at least one of the rotation angle or inclination angle.

[0011] The method may include, by one or more processors, presenting a view of a virtual representation of the glenoid surface and a virtual model of the surgical guide for display. The method may include, by one or more processors, receiving an interaction via a user interface to move the position or orientation of the virtual model of the surgical guide. The interaction may be received via an interaction element, a button, a voice command, a joystick, a gesture recognition system, or haptic / tactile feedback. The method may include, by one or more processors, modifying the view of the virtual representation of the glenoid surface and the virtual model of the surgical guide in response to the received interaction, the view being at least one of a coronal view, a sagittal view, or a transverse view.

[0012] The method may include restricting the positioning of a virtual model of a surgical guide within a virtual boundary using one or more processors. The method may also include providing feedback in response to one or more processors determining that the virtual model of the surgical guide extends outside the virtual boundary. The feedback may include at least one of an error message or a visual instruction.

[0013] The method may include receiving inputs via a user interface from one or more processors to adjust the position or orientation of a virtual model of a surgical guide. In response to receiving inputs, the method may include generating outputs from one or more processors that identify rotation and tilt angles.

[0014] The method may include, by one or more processors, automatically positioning the virtual prongs of a virtual model of a surgical guide to a first set of determined prong positions on a virtual surface of the glenoid surface. The method may also include, by one or more processors, automatically repositioning the virtual prongs of a virtual model of a surgical guide to a second set of determined prong positions on a virtual surface of the glenoid surface in response to adjustments to the position or orientation of the virtual model of the surgical guide. The surgical guide may include a base having at least three legs defining a base plane. The surgical guide may include a drill guide coupled to the base. The drill guide may include a drill guide body defining a drill bore configured to receive a drill bit and extend through the drill guide. The drill guide may be translated relative to the base to adjust the drill guide angle, which may be defined by the drill bore and the base. In addition, the drill guide may transition between a locked state and an unlocked state, and the drill guide angle may be fixed in the locked state and adjustable in the unlocked state. The surgical guide may include a first track connected to a base and defining a first track opening, and a second track connected to the base and defining a second track opening. The drill guide can be translated relative to the base within the first and second track openings.

[0015] The method may involve using one or more processors to represent varying anatomical densities on a virtual representation of the glenoid surface using color-coded regions. The varying anatomical densities can be determined from preoperative image data of the glenoid fossa.

[0016] The method may include determining rotation and tilt angles based on biomechanical data that reveals the patient's unique glenoid anatomical structure using one or more processors.

[0017] The method may include determining the spatial relationship between a virtual model of the surgical guide and a virtual representation of the glenoid surface using one or more processors. The spatial relationship may include one or more spatial parameters that indicate at least one of the following: distance, orientation angle, intersection, or overlapping region between the virtual base plane of the surgical guide and the glenoid plane.

[0018] At least one aspect of the technical solution relates to a method for performing virtual surgical planning. The method may include evaluating virtual planning data by one or more processors. The virtual planning data may include perforation locations based on defined anatomical landmarks along a path for providing an opening for implanting a surgical implant in the glenoid fossa, and rotation and tilt angles of a virtual model of a surgical guide positioned according to the perforation locations relative to a virtual representation of the glenoid surface. The method may include communicating the virtual planning data to a surgical system by one or more processors. The surgical system may be configured to convert the virtual planning data into defined move commands. The defined move commands may indicate the placement of the surgical guide based on the virtual planning data. The surgical system may be configured to execute the defined move commands to cause the surgical system to perforate at the perforation locations.

[0019] The method may include validating virtual planning data according to preoperative data using one or more processors. To convert the virtual planning data into defined movement commands, the surgical system may be further configured to identify the position or orientation of a virtual model of the surgical guide relative to a virtual representation of the glenoid surface. The virtual model of the surgical guide may include several virtual prongs positioned on the virtual surface of the glenoid surface. The method may include causing the surgical system to restrict the drilling instrument within the virtual boundary of the glenoid surface using one or more processors.

[0020] At least one aspect of the technical solution relates to a method for navigating according to a virtual surgical plan. The method may include accessing intraoperative images of the glenoid surface by one or more processors. The method may include identifying the location of a drilling instrument coupled to a surgical guide in the intraoperative images by one or more processors. The method may include generating an image by superimposing a virtual representation of the glenoid surface onto the intraoperative images by one or more processors. The method may include using the images by one or more processors to determine the spatial relationship between the location of the drilling instrument and the virtual representation of the glenoid surface based on the rotation and tilt angles of the surgical guide. The spatial relationship may correspond to an offset between the location of the drilling instrument and the drilling location on the glenoid surface. The method may include presenting dynamic visual indicators on the images indicating drilling locations for positioning the drilling instrument by one or more processors. The location of a drilling instrument coupled to a surgical guide can be identified based on a defined marker pattern of the surgical guide in the intraoperative images. The defined marker pattern of the surgical guide may include geometric shapes, alphanumeric characters, or color-coded markers.

[0021] The method may include identifying a virtual representation of the glenoid surface and anatomical landmarks in intraoperative images of the glenoid surface using one or more processors. The method may also include aligning the anatomical landmarks in the virtual representation of the glenoid surface with corresponding landmarks in intraoperative images of the glenoid surface using one or more processors.

[0022] The method may include presenting a dynamic visual indicator by projecting a light pattern directly onto the glenoid surface using one or more processors, overlaying the perforation location onto the surgeon's field of view via an augmented reality, virtual reality, or mixed reality headset, or presenting the perforation location on a monitor or screen in relation to a virtual representation of the glenoid surface, with the light pattern visually indicating the perforation location. The method may also include accessing a timestamped sequence of intraoperative images of the glenoid surface using one or more processors in response to identifying the movement of a perforating instrument.

[0023] At least one aspect of the technical solution relates to a system for virtual surgical planning. The system may include one or more processors coupled with memory. One or more processors may be configured to process preoperative image data of the glenoid fossa to identify defined anatomical landmarks. Defined anatomical landmarks may include the glenoid surface of the glenoid fossa. One or more processors may be configured to generate a virtual representation of the glenoid surface based on the defined anatomical landmarks. The visual representation may include a dynamically adjustable virtual boundary defined on the virtual surface of the glenoid surface. One or more processors may be configured to maintain a virtual model of the surgical guide in a data structure. One or more processors may be configured to provide the virtual representation of the glenoid surface and the virtual model of the surgical guide for presentation in a user interface. The virtual model of the surgical guide may be configured to align with the virtual representation of the glenoid surface. The virtual model of the surgical guide may include a virtual base plane defined by several virtual prongs. The virtual base plane may include at least three virtual prongs. Each virtual prong may be positioned on the virtual surface of the glenoid surface within the virtual boundary, thereby aligning the virtual base plane with the glenoid plane defined by the virtual surface of the glenoid surface. In response to aligning the virtual model of the surgical guide with the virtual representation of the glenoid surface, one or more processors may be configured to determine a rotation angle indicating at least one of posterior or anterior inclination of the axis of the surgical guide relative to the glenoid plane, and an inclination angle indicating at least one of downward or upward inclination of the axis of the surgical guide relative to the glenoid plane. One or more processors may be configured to adjust the position or orientation of the virtual model of the surgical guide based on at least one of the rotation angle or inclination angle.

[0024] One or more processors may be configured to present, for display, a virtual representation of the glenoid surface and a view of a virtual model of the surgical guide. One or more processors may be configured to receive interactions via a user interface to move the position or orientation of the virtual model of the surgical guide. Interactions may be received via interaction elements, buttons, voice commands, joysticks, gesture recognition systems, or haptic / tactile feedback. One or more processors may be configured to modify the view of the virtual representation of the glenoid surface and the virtual model of the surgical guide in response to receiving an interaction, and the view may be at least one of a coronal view, a sagittal view, or a transverse view.

[0025] One or more processors may be configured to restrict the positioning of the virtual model of the surgical guide within the virtual boundary. One or more processors may be configured to provide feedback in response to a determination that the virtual model of the surgical guide extends outside the virtual boundary. The feedback may include at least one of an error message or a visual instruction.

[0026] One or more processors may be configured to receive inputs via a user interface for adjusting the position or orientation of a virtual model of a surgical guide. In response to receiving inputs, one or more processors may be configured to generate outputs that identify rotation and tilt angles.

[0027] The one or more processors may be configured to automatically position the virtual prongs of the virtual model of the surgical guide at a first set of determined prong positions on the virtual surface of the glenoid fossa. The one or more processors may be configured to automatically reposition the virtual prongs of the virtual model of the surgical guide to a second set of determined prong positions on the virtual surface of the glenoid fossa in response to adjusting the position or orientation of the virtual model of the surgical guide. The surgical guide can include a base having at least three legs that define a base plane. The surgical guide can include a drill guide coupled to the base. The drill guide can include a drill guide body that receives a drill bit and defines a drill bore configured to extend through the drill guide. The drill guide can be translated relative to the base to adjust a drill guide angle, and the drill guide angle can be defined by the drill bore and the base. In addition, the drill guide can transition between a locked state and an unlocked state, where the drill guide angle is fixed in the locked state and adjustable in the unlocked state. The surgical guide can include a first track coupled to the base and defining a first track opening, and a second track coupled to the base and defining a second track opening. The drill guide can translate relative to the base within the first and second track openings.

[0028] The one or more processors may be configured to indicate varying anatomical densities on the virtual representation of the glenoid fossa surface in color-coded regions. The varying anatomical densities can be determined from preoperative image data of the glenoid fossa. The one or more processors may be configured to determine a version angle and an inclination angle based on biomechanical data indicative of the patient-specific glenoid anatomy.

[0029] The one or more processors may be configured to determine a spatial relationship between the virtual model of the surgical guide and the virtual representation of the glenoid fossa surface. The spatial relationship can include one or more spatial parameters indicating at least one of a distance, an orientation angle, an intersection point, or an overlapping region between the virtual base plane of the surgical guide and the glenoid fossa plane.

[0030] At least one aspect of the technical solution is directed to a system for performing virtual surgical planning. The system can include one or more processors coupled to a memory. The one or more processors may be configured to evaluate virtual planning data. The virtual planning data may include a drilling position based on defined anatomical landmarks along a path for providing an opening for embedding a surgical implant in a glenoid fossa, and a rotation angle and an inclination angle of a virtual model of a surgical guide positioned according to the drilling position relative to a virtual representation of a glenoid fossa surface. The one or more processors may be configured to communicate the virtual planning data to a surgical system. The surgical system may be configured to convert the virtual planning data into defined movement commands. The defined movement commands can indicate the placement of the surgical guide based on the virtual planning data. The surgical system may be configured to execute the defined movement commands to cause the surgical system to perform drilling at the drilling position.

[0031] The one or more processors may be configured to verify the virtual planning data according to preoperative data. To convert the virtual planning data into the defined movement commands, the surgical system may be further configured to identify the position or orientation of the virtual model of the surgical guide relative to the virtual representation of the glenoid fossa surface. The virtual model of the surgical guide can include a number of virtual prongs positioned on the virtual surface of the glenoid fossa surface. The one or more processors may be configured to cause the surgical system to restrict a drilling instrument within the virtual boundary of the glenoid fossa surface.

[0032] At least one aspect of the technical solution relates to a system for navigating according to a virtual surgical plan. The system may include one or more processors coupled with memory. One or more processors may be configured to access intraoperative images of the glenoid surface. One or more processors may be configured to identify the position of a drilling instrument coupled to a surgical guide in the intraoperative images. One or more processors may be configured to generate an image by superimposing a virtual representation of the glenoid surface onto the intraoperative images. One or more processors may be configured to use the images to determine the spatial relationship between the position of the drilling instrument and the virtual representation of the glenoid surface, based on the rotation and tilt angles of the surgical guide. The spatial relationship may correspond to an offset between the position of the drilling instrument and the drilling position on the glenoid surface. One or more processors may be configured to present dynamic visual indicators on the image indicating the drilling position for positioning the drilling instrument. The position of a drilling instrument coupled to a surgical guide can be identified based on a defined marker pattern of the surgical guide in the intraoperative images. The defined marker pattern of the surgical guide may include geometric shapes, alphanumeric characters, or color-coded markers.

[0033] One or more processors may be configured to identify anatomical landmarks in a virtual representation of the glenoid surface and in intraoperative images of the glenoid surface. One or more processors may be configured to align anatomical landmarks in the virtual representation of the glenoid surface with corresponding landmarks in intraoperative images of the glenoid surface.

[0034] One or more processors may be configured to present a dynamic visual indicator by projecting a light pattern directly onto the glenoid surface, the light pattern visually indicating the puncture site, overlaying the puncture site onto the surgeon's field of view via an augmented reality, virtual reality, or mixed reality headset, or presenting the puncture site on a monitor or screen in relation to a virtual representation of the glenoid surface. One or more processors may be configured to access a timestamped sequence of intraoperative images of the glenoid surface in response to identifying the movement of the puncture instrument.

[0035] One aspect of the technical solution involves a non-temporary computer-readable medium for storing instructions. The instructions, when executed by one or more processors, may cause one or more processors to process preoperative image data of the glenoid fossa to identify defined anatomical landmarks. Defined anatomical landmarks may include the glenoid surface of the glenoid fossa. The instructions, when executed by one or more processors, may cause one or more processors to generate a virtual representation of the glenoid surface based on the defined anatomical landmarks. The visual representation may include dynamically adjustable virtual boundaries defined on the virtual surface of the glenoid surface. The instructions, when executed by one or more processors, may cause one or more processors to maintain a virtual model of a surgical guide within a data structure. The instructions, when executed by one or more processors, may cause one or more processors to provide the virtual representation of the glenoid surface and the virtual model of the surgical guide for presentation within a user interface. The virtual model of the surgical guide may be configured to align with the virtual representation of the glenoid surface. The virtual model of the surgical guide may include a virtual base plane defined by several virtual prongs. The virtual base plane may include at least three virtual prongs. Each virtual prong may be positioned on a virtual surface of the glenoid surface within a virtual boundary, thereby aligning the virtual base plane with the glenoid plane defined by the virtual surface of the glenoid surface. In response to aligning the virtual model of the surgical guide with the virtual representation of the glenoid surface, the instruction, when executed by one or more processors, may cause one or more processors to determine a rotation angle indicating at least one of posterior or anterior inclination of the axis of the surgical guide relative to the glenoid plane, and an inclination angle indicating at least one of downward or upward inclination of the axis of the surgical guide relative to the glenoid plane. The instruction, when executed by one or more processors, may cause one or more processors to adjust the position or orientation of the virtual model of the surgical guide based on at least one of the rotation angle or inclination angle.

[0036] A command, when executed by one or more processors, may cause one or more processors to present a view for display of a virtual representation of the glenoid surface and a virtual model of the surgical guide. A command, when executed by one or more processors, may cause one or more processors to receive an interaction via a user interface to move the position or orientation of the virtual model of the surgical guide. The interaction may be received via an interaction element, a button, a voice command, a joystick, a gesture recognition system, or haptic / tactile feedback. A command, when executed by one or more processors, may cause one or more processors to modify the view of the virtual representation of the glenoid surface and the virtual model of the surgical guide in response to receiving an interaction, the view may be at least one of a coronal view, a sagittal view, or a transverse view.

[0037] An instruction, when executed by one or more processors, may cause one or more processors to restrict the positioning of a virtual model of a surgical guide within a virtual boundary. An instruction, when executed by one or more processors, may cause one or more processors to provide feedback in response to a decision that the virtual model of the surgical guide extends outside the virtual boundary. This feedback may include at least one of an error message or a visual instruction.

[0038] The instruction, when executed by one or more processors, may cause one or more processors to receive input via a user interface and adjust the position or orientation of a virtual model of a surgical guide. In response to receiving input, the instruction, when executed by one or more processors, may cause one or more processors to generate an output that identifies rotation and tilt angles.

[0039] The instruction, when executed by one or more processors, may cause one or more processors to automatically position the virtual prongs of a virtual model of a surgical guide at a first set of determined prong positions on the virtual surface of the glenoid surface. The instruction, when executed by one or more processors, may cause one or more processors to automatically reposition the virtual prongs of a virtual model of a surgical guide at a second set of determined prong positions on the virtual surface of the glenoid surface in response to adjustments to the position or orientation of the virtual model of the surgical guide.

[0040] The instruction, when executed by one or more processors, may cause one or more processors to indicate changing anatomical density on a virtual representation of the glenoid surface using color-coded regions. The changing anatomical density can be determined from preoperative image data of the glenoid fossa. The instruction, when executed by one or more processors, may cause one or more processors to determine rotation and tilt angles based on biomechanical data indicating the patient-specific anatomical structure of the glenoid fossa.

[0041] The instruction, when executed by one or more processors, may cause one or more processors to determine the spatial relationship between a virtual model of the surgical guide and a virtual representation of the glenoid surface. The spatial relationship may include one or more spatial parameters that indicate at least one of the following: distance, orientation angle, intersection, or overlapping region between the virtual base plane of the surgical guide and the glenoid plane.

[0042] One aspect of the technical solution involves a non-temporary computer-readable medium for storing instructions. The instructions, when executed by one or more processors, may cause one or more processors to evaluate virtual planning data. The virtual planning data may include drilling locations based on defined anatomical landmarks along a path to provide an opening for implanting a surgical implant in the glenoid fossa, and rotation and tilt angles of a virtual model of a surgical guide positioned according to the drilling locations relative to a virtual representation of the glenoid surface. The instructions, when executed by one or more processors, may cause one or more processors to communicate the virtual planning data to a surgical system. The surgical system may be configured to translate the virtual planning data into defined move commands. These defined move commands can indicate the placement of the surgical guide based on the virtual planning data. The surgical system may be configured to execute the defined move commands to cause the surgical system to drill at the drilling locations.

[0043] The command, when executed by one or more processors, may cause one or more processors to validate virtual planning data according to preoperative data. To translate the virtual planning data into defined move commands, the surgical system may be further configured to identify the position or orientation of a virtual model of the surgical guide relative to a virtual representation of the glenoid surface. The virtual model of the surgical guide may include several virtual prongs positioned on the virtual surface of the glenoid surface. The command, when executed by one or more processors, may cause one or more processors to cause the surgical system to restrict the drilling instrument within the virtual boundaries of the glenoid surface.

[0044] One aspect of the technical solution involves a non-temporary computer-readable medium for storing instructions. An instruction, when executed by one or more processors, may cause one or more processors to access an intraoperative image of the glenoid surface. An instruction, when executed by one or more processors, may cause one or more processors to identify the location of a drilling instrument coupled to a surgical guide within the intraoperative image. An instruction, when executed by one or more processors, may cause one or more processors to generate an image by superimposing a virtual representation of the glenoid surface onto the intraoperative image. An instruction, when executed by one or more processors, may cause one or more processors to use the image to determine the spatial relationship between the position of the drilling instrument and the virtual representation of the glenoid surface, based on the rotation and tilt angles of the surgical guide. The spatial relationship may correspond to an offset between the position of the drilling instrument and the drilling location on the glenoid surface. An instruction, when executed by one or more processors, may cause one or more processors to present a dynamic visual indicator on the image indicating the drilling location for positioning the drilling instrument. The position of a puncture instrument attached to a surgical guide can be identified based on the defined marker pattern of the surgical guide in intraoperative images. The defined marker pattern of the surgical guide may include geometric shapes, alphanumeric characters, or color-coded markers.

[0045] The instruction, when executed by one or more processors, may cause one or more processors to identify anatomical landmarks in a virtual representation of the glenoid surface and in intraoperative images of the glenoid surface. The instruction, when executed by one or more processors, may cause one or more processors to align anatomical landmarks in the virtual representation of the glenoid surface with corresponding landmarks in intraoperative images of the glenoid surface.

[0046] The command, when executed by one or more processors, may cause one or more processors to present a dynamic visual indicator by projecting a light pattern directly onto the glenoid surface, the light pattern visually indicating the puncture site, overlaying the puncture site onto the surgeon's field of view via an augmented reality, virtual reality, or mixed reality headset, or presenting the puncture site on a monitor or screen in relation to a virtual representation of the glenoid surface. The command, when executed by one or more processors, may cause one or more processors to access a timestamped sequence of intraoperative images of the glenoid surface in response to identifying the movement of the puncture instrument.

[0047] This overview is illustrative and should not be considered limiting. [Brief explanation of the drawing]

[0048] [Figure 1] This is a perspective view of a surgical guide according to an exemplary embodiment. [Figure 2] Another perspective view of the surgical guide shown in Figure 1. [Figure 3] Another perspective view of the surgical guide shown in Figure 1. [Figure 4] Another perspective view of the surgical guide shown in Figure 1. [Figure 5] This is a perspective view of a drill guide body according to an exemplary embodiment. [Figure 6] Figure 5 is an exploded view of the drill guide body. [Figure 7] This is a perspective view of a surgical system according to an exemplary embodiment. [Figure 8] Figure 7 is an exploded view of the surgical system. [Figure 9] This is a perspective view of a drill guide adjuster according to an exemplary embodiment. [Figure 10] This is another perspective view of the drill guide adjuster shown in Figure 9. [Figure 11] This is a perspective view of an adjustable stand according to an exemplary embodiment. [Figure 12]This is a perspective view of the surgical guide shown in Figure 1, positioned on the adjustment stand in Figure 11. [Figure 13] This is a perspective view of the surgical guide shown in Figure 1, coupled to the adjustment stand shown in Figure 11. [Figure 14] This is a perspective view of the drill guide shown in Figure 1, positioned in close proximity to the tissue, according to an exemplary embodiment. [Figure 15] This is a perspective view of a drill guide retainer connected to the drill guide shown in Figure 1, according to an exemplary embodiment. [Figure 16] This is a perspective view of another drill guide retainer connected to the drill guide of Figure 1, according to an exemplary embodiment. [Figure 17] This is a cross-sectional view of the drill guide retainer shown in Figure 16, connected to the drill guide shown in Figure 1. [Figure 18] This block diagram shows a method of using the surgical guide shown in Figure 1, according to an exemplary embodiment. [Figure 19] A block diagram of an exemplary system for providing virtual surgical planning with one or more implementations is shown. [Figure 20A] This document presents a user interface that displays several oblique views of a virtual model of a surgical guide, based on one or more implementations. [Figure 20B] This document presents a user interface that displays several oblique views of a virtual model of a surgical guide, based on one or more implementations. [Figure 20C] This document presents a user interface that displays several oblique views of a virtual model of a surgical guide, based on one or more implementations. [Figure 20D] This document presents a user interface that displays several oblique views of a virtual model of a surgical guide, based on one or more implementations. [Figure 21] A block diagram of an exemplary system for executing and navigating virtual surgical plans, with one or more implementations, is shown. [Figure 22] This diagram illustrates an example of a method for providing a virtual surgical plan using one or more implementations. [Figure 23]This diagram illustrates an example of how to execute a virtual surgical plan using one or more implementations. [Figure 24] This diagram illustrates an example of how to navigate a virtual surgical plan using one or more implementations. [Figure 25] Block diagrams of a server system and a client computer system, based on an exemplary implementation, are shown. [Modes for carrying out the invention]

[0049] Before referring to any drawings detailing specific exemplary embodiments, please understand that this disclosure is not limited to the details or methods described or shown in the description or drawings. Also, please understand that the terms used herein are for illustrative purposes only and should not be considered limiting.

[0050] The use of “e.g.”, “etc.”, “for instance,” “in example,” “or,” and grammatically related phrases indicates an unrestricted and comprehensive set of options unless otherwise noted. The use of “optionally” and grammatically related phrases means that the elements, events, features, or situations described later may or may not exist, and furthermore, the description includes cases where the elements, events, features, or situations occur and cases where they do not. The use of grammatically related phrases “attached” and “coupled” refers to two or more elements and / or devices being fixedly, detachably, or integrally coupled with or without one or more other elements in between. Therefore, the phrases “attached” or “coupled,” and grammatically related phrases, include detachably attaching or fixedly attaching two or more elements and / or devices, with or without one or more other elements in between.

[0051] Surgical procedures may involve removing tissue (e.g., bone, soft tissue, etc.) from a target. For example, a surgical procedure may involve perforating the target tissue. Perforation of the target tissue may involve perforation through a surgical guide that can guide the drill bit to the desired position in the desired orientation. While a surgical guide can improve the accuracy of perforation, it may need to be specific to the target of the surgical procedure. For example, due to various factors (e.g., the anatomical structure of the target, the severity or type of injury being addressed, the condition of the tissue being perforated, etc.), a surgical guide may need to be specific to the surgical procedure and the target for optimal results. However, creating a custom surgical guide for each procedure can be a timely and expensive process.

[0052] Referring to the drawings in general, an exemplary embodiment of a surgical guide is shown. The surgical guide is configured to be quickly and easily adjusted (e.g., using an adjustment stand and a drill guide adjuster) so that the tissue can be removed at a desired position and orientation (e.g., angle). For example, a desired or optimal drill angle (e.g., a desired orientation of the hole drilled in the target bone relative to the bone surface) may be determined before the procedure, and the user of the surgical guide may set the drill guide angle (e.g., an angle defined by the drill bore of the surgical guide and the base plane defined by the base of the surgical guide) based on the optimal drill angle. The surgical guide may then be positioned at a desired position close to the target tissue, and the hole may be drilled through the drill bore of the surgical guide.

[0053] According to various embodiments, the drill guide is reusable. For example, the drill guide may be formed from a material that does not degrade during sanitary processes (e.g., in an autoclave). Thus, the drill guide may be customizable for the desired procedure and reusable to reduce costs. In addition, or alternatively, one or more other components of the surgical system described herein may be reusable (e.g., drill guide adjusters and / or adjustment stands).

[0054] According to various embodiments described herein, a surgical guide includes a base defining a base plane. The base may be configured to engage with tissue to be surgically treated. The surgical guide further includes a first track coupled to the base and defining a first track opening, and a second track coupled to the base and defining a second track opening. A drill guide may be coupled to at least one of the first track or the second track. For example, a drill guide may extend through the first track opening and the second track opening such that the movement of the drill guide is restricted by the first track and / or the second track. A drill guide may include a drill guide body, which defines a drill bore extending along a drill bore axis passing through the drill guide body. The drill bore may be configured to receive a drill bit, so that the drill bit can be inserted through the drill guide to remove tissue from the target. The drill guide may be configured to translate relative to the base within the first and second track openings to adjust the drill guide angle defined by the drill bore and the base plane. For example, the user of the drill guide may change the drill guide angle based on a determined optimal drill angle before drilling through the drill guide.

[0055] According to various embodiments, the base includes a first leg with a first leg end, a second leg with a second leg end, and a third leg with a third leg end, and the base plane is defined by the first leg end, the second leg end, and the third leg end. Each of the first leg end, the second leg end, and the third leg end may have a pointed end such that the base plane extends through each of the pointed ends.

[0056] According to various embodiments, a first track is rotatably coupled to a base and configured to rotate around a first axis. The first axis may be parallel to the base plane. A second track is rotatably coupled to a base and configured to rotate around a second axis. The second axis may be perpendicular to the first axis. Furthermore, the first and second axes may be parallel to the base plane.

[0057] A. Surgical Guide According to various embodiments, the drill guide is configured to transition between a locked state and an unlocked state. The drill guide angle may be fixed (e.g., locked, limited, etc.) in the locked state, or adjustable in the unlocked state. The drill guide may include a lock nut configured to rotate relative to the drill bore, and the rotation of the lock nut causes the drill guide to transition between a locked state and an unlocked state. The drill guide may further include a clamping member configured to fix the drill guide in the locked state. For example, rotation of the lock nut in a first direction may compress the clamping member against a second track to fix the drill guide in the locked state. The drill guide may further include a first projection and a second projection extending from the outer portion of the drill guide body. Rotation of the lock nut in a first direction may compress the first projection and the second projection against the first track (e.g., in the opposite direction to the clamping member) to further fix the drill guide in the locked state.

[0058] According to various embodiments, the first track opening is a linear opening extending in a direction parallel to the base plane. Furthermore, the second track opening may be a curved opening defining a convex curvature with respect to the base plane.

[0059] According to various embodiments, the drill guide includes an adapter adjacent to a first end of the drill guide body. The adapter may be configured to receive a drill guide retainer or a drill guide reducer. The adapter may include a plurality of spines surrounding the outer portion of the drill guide body.

[0060] According to various embodiments, the surgical system includes a surgical guide. The surgical guide may include a base defining a base plane; a first track coupled to the base and defining a first track opening; a second track coupled to the base and defining a second track opening; and a drill guide coupled to at least one of the first or second track and extending through the first and second track openings. The drill guide may include a drill guide body defining a drill bore configured to receive a drill bit. The drill guide may be configured to translate relative to the base within the first and second track openings to adjust the drill guide angle defined by the drill bore and the base plane.

[0061] According to various embodiments, the surgical system includes an adjustment device configured to cause a change in the drill guide angle. The adjustment device may include one or more angle indicators configured to provide visual feedback to the user of the adjustment device, thereby enabling the user to precisely set the desired drill guide angle. The adjustment device may include an adjustment base, a first adjustment track coupled to the adjustment base and defining a first adjustment track opening, a second adjustment track coupled to an adjustment body and defining a second adjustment track opening, and a drill guide adjuster coupled to at least one of the first or second adjustment track. The drill guide adjuster may extend through the first and second adjustment track openings. The drill guide adjuster may include a handle adjacent to the first drill guide adjuster end of the drill guide adjuster. The drill guide adjuster may include an adjustment projection adjacent to the second drill guide adjuster end of the drill guide adjuster, and a drill guide adjuster body positioned between the handle and the adjustment projection. The adjustment projection may be configured to be received within the drill bore such that the movement of the handle causes a change in the drill guide angle, thereby allowing the user of the adjustment device to adjust the drill guide angle.

[0062] According to various embodiments, the surgical system includes an adjustment stand. The adjustment stand may be configured to be selectively coupled to a surgical guide. Furthermore, the adjustment base may be configured to receive at least a portion of the adjustment stand, thereby restricting relative movement between the adjustment base and the adjustment stand. For example, the adjustment device may be located on top of the adjustment stand, and a portion of the adjustment stand base may be housed within the adjuster base to prevent relative movement between them.

[0063] According to various embodiments, a first adjustment track is rotatably coupled to an adjustment base and configured to rotate about a first adjustment axis. The first adjustment axis may be parallel to the base plane while the drill guide adjuster and drill guide are coupled to the adjustment stand. A second adjustment track may be rotatably coupled to an adjustment base and configured to rotate about a second adjustment axis. The second adjustment axis may be perpendicular to the first adjustment axis.

[0064] According to various embodiments, the drill guide is configured to transition between a locked state and an unlocked state, the drill guide angle is fixed in the locked state and adjustable in the unlocked state. Once the adjustment projection is positioned within the drill bore, rotation of the handle can transition the drill guide between the locked and unlocked states. For example, the drill guide may include a lock nut configured to rotate relative to the drill bore, the rotation of which transitions the drill guide between the locked and unlocked states. The lock nut may include a plurality of lock nut splines, and the drill guide adjuster body may include a plurality of drill guide adjuster body splines configured to interface with the plurality of lock nut splines, and the drill guide adjuster is coupled to the drill guide such that rotation of the handle transitions the drill guide between the locked and unlocked states.

[0065] According to various embodiments, the first adjustment track opening is a straight opening, and the second track opening is a curved opening defining a convex curvature. The adjustment base may define an adjustment base plane, and the drill guide adjuster includes a first adjustment track indicator configured to indicate a first relative angular orientation of the drill guide with respect to the adjustment base plane (e.g., within the first adjustment plane). The drill guide adjuster may include a second adjustment track indicator configured to indicate a second relative angular orientation of the drill guide with respect to the adjustment base (e.g., within the second adjustment plane). The adjustment stand may include a first clamp arm and a second clamp arm configured to selectively couple a surgical guide to the adjustment stand.

[0066] According to various embodiments, a method of using a surgical guide includes providing an adjustment stand and coupling the surgical guide to the adjustment stand. The surgical guide may include a base defining a base plane; a first track coupled to the base and defining a first track opening; a second track coupled to the base and defining a second track opening; and a drill guide coupled to at least one of the first or second track and extending through the first and second track openings. The drill guide may include a drill guide body that defines a drill bore and extends through the drill guide, the drill bore and the base plane defining a drill guide angle. The method may further include providing an adjustment device. The adjustment device may include an adjustment base, a first adjustment track coupled to the adjustment base and defining a first adjustment track opening, a second adjustment track coupled to an adjustment body and defining a second adjustment track opening, and a drill guide adjuster coupled to at least one of the first or second adjustment track and extending through the first and second adjustment track openings. The drill guide adjuster may include a handle adjacent to a first drill guide adjuster end of the drill guide adjuster, an adjustment projection adjacent to a second drill guide adjuster end of the drill guide adjuster, and a drill guide adjuster body positioned between the handle and the adjustment projection. The method may further include inserting the adjustment projection into the drill bore, adjusting the position of the handle to translate the drill guide relative to the base within the first and second track openings, and adjusting the drill guide angle.

[0067] According to various embodiments, the method further includes removing an adjustment projection from the drill bore, separating the drill guide from the adjustment stand, and positioning the drill guide in a desired location close to the bone. The method may further include rotating the handle while the adjustment projection is positioned within the drill guide to move the drill guide into a locked position and prevent changes in the drill guide angle.

[0068] Referring here to Figures 1 to 4, perspective views of a surgical guide 100 according to an exemplary embodiment are shown. The surgical guide 100 is configured to be adjustable so that it can drill into a target at a desired drill angle. The surgical guide 100 includes a base 110 defining a base plane. For example, the base 110 may include a first leg 118, a second leg 118, and a third leg 118 defining the base plane. As shown, the first leg 118, the second leg 118, and the third leg 118 each have pointed leg ends. The base plane may be a plane that intersects all three pointed leg ends.

[0069] The base 110 further includes a first base plate 112 and a second base plate 114 coupled to the first base plate 112 via a plurality of fasteners 116. As further described herein, the first base plate 112 and the second base plate 114 define a plurality of openings configured to individually receive the first track projection 122 of the first track 120 and the second track projection 142 of the second track 140, thereby coupling the first track 120 and the second track 140 to the base 110. The second base plate 114 is shown to include a plurality of indicators 102. The indicators 102 can provide visual feedback to the user of the surgical guide 100, enabling the user to properly orient the surgical guide 100.

[0070] The surgical guide 100 includes a first track 120. As described above, the first track 120 includes a first track projection 122 that is received between a first base plate 112 and a second base plate 114. The first track projection 122 allows the first track 120 to rotate around a first axis 11 relative to the base 110. For example, the first track 120 can rotate around the first axis 11 when a user of the surgical guide 100 sets a desired drill guide angle, as will be further described herein. The first track 120 further includes a first track opening 124 extending through the first track 120. The first track opening 124 is configured to receive a portion of a drill guide 150 and allows a portion of the drill guide 150 to translate within the first track opening 124 when a user of the surgical guide 100 sets a desired drill guide angle. As shown in the figure, the first track opening 124 is essentially linear. For example, the first track opening 124 may extend in a direction parallel to the base plane.

[0071] The surgical guide 100 includes a second track 140. As described above, the second track 140 includes a second track projection 142 that is received between the first base plate 112 and the second base plate 114. The second track projection 142 allows the second track 140 to rotate around a second axis 13 relative to the base 110. For example, the second track 140 can rotate around the second axis 13 when the user of the surgical guide 100 sets a desired drill guide angle, as will be further described herein. The first axis 11 and the second axis 13 may be perpendicular to each other and / or parallel to the base plane. The second track 140 further includes a second track opening 144 that extends through the second track 140. The second track opening 144 is configured to receive a portion of the drill guide 150, allowing a portion of the drill guide 150 to translate within the second track opening 144 once the user of the surgical guide 100 sets a desired drill guide angle. As shown in the figure, the second track opening 144 is essentially arc-shaped. For example, the second track opening 144 may extend with a curvature that defines a convex curvature with respect to the base plane.

[0072] The surgical guide 100 further includes a drill guide 150 coupled to a first track 120 and a second track 140. The drill guide 150 includes a drill bore 152 extending along the bore axis 15 from a first end to a second end of the drill guide 150. The drill bore 152 is configured to receive a portion of a drill (e.g., a drill bit), thereby allowing a hole to be drilled through the drill bore 152. The drill guide 150 further includes a drill guide body 154 between the first and second ends of the drill guide 150. The drill guide body 154 is configured to translate within the first track opening 124 and the second track opening when the user of the surgical guide 100 sets a desired drill guide angle. The drill guide angle can be defined as the angle formed by the bore axis 15 and the base plane.

[0073] The drill guide 150 further includes a lock nut 170. As further described herein, the lock nut 170 is configured to rotate to move the surgical guide 100 from a locked state to an unlocked state. For example, rotation of the lock nut 170 in a first direction (e.g., relative to the bore axis 15) can compress the clamp member 160 against the second track 140 so that the drill guide angle is fixed, thereby fixing the drill guide 150 in a locked state.

[0074] The drill guide further includes a retaining member 176. The retaining member 176 is configured to restrict the translation of the lock nut 170 along the drill guide 150. For example, the lock nut 170 can be rotated to unlock the drill guide 150. The lock nut 170 can engage with the retaining member 176 when it is rotated to or beyond the unlocked position. Thus, the lock nut 170 can prevent the retaining member 176 from rotating excessively beyond the unlocked position, as will be further described herein.

[0075] The drill guide 150 further includes a projection 156 extending from the drill guide body 154 adjacent to the second end of the drill guide 150. As will be further discussed herein, the projection 156 is configured to engage with the first track 120 to lock the drill guide 150 in place. For example, the projection 156 may compress against the first track 120 (for example, in the opposite direction to the compression of the clamp member 160 against the second track) in response to the rotation of the lock nut 170, thereby locking the drill guide 150 in place so that the drill guide angle is fixed.

[0076] Referring to Figures 5 and 6, perspective and exploded views of the drill guide 150 according to an exemplary embodiment are shown, respectively. The drill guide 150 includes a drill bore 152 extending through a drill guide body 154. The drill guide body 154 further includes a plurality of threads 158 configured to interface with a plurality of threads 178 on the inner portion of a lock nut 170. When the lock nut 170 is rotated in a first direction, the lock nut 170 translates along the drill guide body 154, thereby compressing the clamp member 160 in the first clamping direction relative to the second track 140 (see Figures 1 and 2). When the lock nut 170 is rotated in a second direction (e.g., opposite to the first direction), the drill guide 150 transitions to an unlocked state. As the lock nut 170 continues to rotate in the second direction, the lock nut 170 engages with a retaining member 176 to prevent over-rotation of the lock nut 170. For example, the retaining member 176 can prevent the threads 178 of the lock nut 170 from disengaging from the multiple threads 158 on the drill guide body 154.

[0077] Furthermore, the projection 156 may compress the first track 120 in a second clamping direction opposite to the first clamping direction in response to the lock nut 170 being rotated in a first direction to lock the drill guide 150, thereby fixing the drill guide angle. The lock nut 170 includes a plurality of splines 172 configured to interface with a plurality of splines (e.g., spline 356 in Figure 10) to facilitate the rotation of the lock nut 170 via an adjustment device.

[0078] The clamp member 160 further includes a pair of rails 162 on opposing sides of the clamp member 160. The rails 162 are configured to engage with the second track 140 (see Figures 1 and 2) as the drill guide 150 translates within the second track opening 144, thereby restricting the relative movement between the drill guide 150 and the second track 140.

[0079] The drill guide 150 further includes an adapter 180 adjacent to the first end of the drill guide 150. The adapter 180 includes a plurality of splines and is configured to connect the drill guide 150 to a drill guide retainer or a drill guide reducer, as will be further described with reference to Figures 15 to 17. The adapter 180 further includes a plurality of indentations 182 configured to engage with one or more projections of the drill guide retainer, as will be further described below with reference to Figure 17.

[0080] Referring here to Figures 7 and 8, perspective and exploded views, respectively, of a surgical system 1000 according to an exemplary embodiment. The surgical system 1000 includes a surgical guide 100, an adjustment device 300, and an adjustment stand 500. As will be further described herein, the adjustment stand 500 is configured to support (e.g., receive, bind to, etc.) the surgical guide 100. The adjustment stand 500 can then be positioned on the adjustment stand 500 such that the surgical guide 100 is positioned between a portion of the adjustment device 300 and a portion of the adjustment stand 500. The adjustment device 300 can then be used to lock and / or unlock the surgical guide 100 and / or to adjust the drill guide angle of the drill guide 150.

[0081] Referring here to Figures 9 and 10, perspective views of the adjustment device 300 according to an exemplary embodiment are shown. The adjustment device 300 is configured to lock or unlock the surgical guide 100. The adjustment device 300 is further configured to adjust the drill guide angle of the surgical guide 100 while the surgical guide 100 is unlocked. The adjustment device 300 includes a base 310 that defines an adjustment base plane. For example, the base 310 may include a bottom surface 314 (see Figure 10) that defines an adjustment base plane. The base 310 further defines a base cavity 312 that receives a portion of the adjustment stand 500 and is configured to restrict movement between the adjustment device 300 and the adjustment stand 500 while the adjustment device 300 is positioned on the adjustment stand 500.

[0082] The adjustment device 300 further includes a plurality of projections 330 coupled to the base 310 and extending away from the bottom surface 314. The projections 330 define a plurality of openings configured to be individually rotatably coupled to a portion of the first adjustment track 320 or the second adjustment track 340, thereby coupling the first adjustment track 320 and the second adjustment track 340 to the base 310. The first adjustment track 320 is configured to rotate around a first axis 311 relative to the base 310. For example, the first adjustment track 320 may rotate around the first axis 311 when the user of the adjustment device 300 sets a desired drill guide angle.

[0083] The first adjustment track 320 further includes a first adjustment track opening 324 extending through the first adjustment track 320. The first adjustment track opening 324 is configured to receive a portion of the drill guide adjuster 350, allowing a portion of the drill guide adjuster 350 to translate within the first adjustment track opening 324 when the user of the adjustment device 300 sets a desired drill guide angle. As shown in the figure, the first adjustment track opening 324 is essentially linear. For example, the first adjustment track opening 324 may extend in a direction parallel to the adjustment base plane.

[0084] The adjustment device 300 includes a second adjustment track 340. The second adjustment track 340 is rotatably coupled to two of the projections 330 and configured to rotate around a second axis 313 relative to the base 310. For example, the second adjustment track 340 can rotate around the second axis 313 when a user of the adjustment device 300 sets a desired drill guide angle, as will be further described herein. The first axis 311 and the second axis 313 may be perpendicular to each other and / or parallel to the adjustment base plane. The second adjustment track 340 further includes a second adjustment track opening 344 extending through the second adjustment track 340. The second adjustment track opening 344 is configured to receive a portion of a drill guide adjuster 350 and allows a portion of the drill guide adjuster 350 to translate within the second adjustment track opening 344 when a user of the adjustment device 300 sets a desired drill guide angle. As shown in the figure, the second adjustment track opening 344 is essentially arc-shaped. For example, the second adjustment track opening 344 may extend with a curvature that defines a convex curvature with respect to the adjustment base plane.

[0085] The adjustment device 300 is shown to include a plurality of angle indicators 302. The angle indicators 302 can provide visual feedback to the user of the adjustment device 300, enabling the user to properly orient the drill guide angle of the surgical guide 100. For example, the angle indicators 302 may correspond to the drill guide angle of the surgical guide 100. For example, a first set of angle indicators 302 may indicate the angle of the drill guide 150 relative to the base 110 in a first adjustment plane (for example, corresponding to the angle orientation of the first track 120). Furthermore, a second set of angle indicators 302 may indicate the angle of the drill guide 150 relative to the base in a second adjustment plane (for example, corresponding to the angle orientation of the second track 140).

[0086] The adjustment device 300 further includes a drill guide adjuster 350 coupled to a first adjustment track 320 and a second adjustment track 340. The drill guide adjuster 350 includes a handle 358 adjacent to the first end of the drill guide adjuster 350, which is configured to be operated by the user of the adjustment device 300 when the user of the adjustment device 300 sets a desired drill guide angle.

[0087] Referring to Figure 10, the drill guide adjuster 350 further includes an adjustment projection 352 adjacent to the second end of the drill guide adjuster 350. The adjustment projection 352 is configured to be inserted into the drill bore 152 (see Figures 1 and 2) such that operation of the handle 358 causes a change in the drill guide angle. The adjustment projection 352 extends from within an adjustment cavity 354 defined by the drill guide adjuster 350, adjacent to the second end of the drill guide adjuster 350. The adjustment cavity 354 is configured to receive a lock nut 170 (see Figure 5) when the adjustment device 300 is positioned over the surgical guide 100. As the handle 358 is rotated, a plurality of splines 356 interface with a plurality of splines 172, thereby causing the lock nut 170 to rotate in response to the rotating handle 358, locking or unlocking the surgical guide 100.

[0088] Referring now to Figure 11, a perspective view of the adjustment stand 500 according to an exemplary embodiment is shown. The adjustment stand 500 is configured to receive and fix the adjustment device 300. As shown, the adjustment device 300 includes a stand base 510. The stand base 510 is configured to be positioned within the base cavity 312 of the adjustment device 300 in order to restrict relative movement between the adjustment stand 500 and the adjustment device 300.

[0089] The adjustment stand 500 further includes a guide cavity 506 defined by the stand base 510. The guide cavity 506 is configured to receive the adjustment device 300. The adjustment stand 500 further includes a leg cavity 504 defined by the stand base 510. The leg cavity 504 is configured to individually receive a first leg 118, a second leg 118, and a third leg 118 (see Figure 4) to restrict movement between the adjustment stand 500 and the surgical guide 100 while the surgical guide 100 is positioned within the guide cavity 506. Furthermore, the adjustment stand 500 includes an arm 502 configured to rotate and secure the surgical guide 100 to the adjustment stand 500, as will be further described herein.

[0090] Referring now to Figure 12, a perspective view of a surgical guide 100 positioned on top of an adjustment stand 500 according to an exemplary embodiment is shown. The arm 502 is open so that the surgical guide 100 can be placed in and / or removed from the guide cavity 506.

[0091] Referring here to Figure 13, a perspective view of a surgical guide 100 coupled to an adjustment stand 500 according to an exemplary embodiment is shown. The arm 502 is in a closed position to restrict the movement of the surgical guide 100 relative to the adjustment stand 500. After the surgical guide 100 is coupled to the adjustment stand 500, the adjustment device 300 can be placed on the adjustment stand 500 and the adjustment projection 352 can be inserted into the drill bore 152, thereby allowing the drill guide angle of the surgical guide 100 to be adjusted using the adjustment device 300.

[0092] Referring now to Figure 14, a perspective view of a surgical guide 100 positioned in close proximity to tissue 1100 according to an exemplary embodiment is shown. For example, the tissue 1100 may be a part of the shoulder bone, and the surgical guide 100 may be positioned in close proximity to the glenoid cavity. The drill guide angle of the surgical guide 100 can be set to a desired angle so that drilling can be performed through the drill bore 152 at a predetermined angle (e.g., an optimal drill angle). For example, the surgical guide 100 may be used during shoulder arthroplasty or shoulder replacement surgery.

[0093] Referring here to Figure 15, a perspective view of a drill guide retainer 700 (e.g., a drill guide with a handle) connected to a surgical guide 100 is shown according to an exemplary embodiment. As will be further described herein, the surgical guide 100 includes an adapter 180 (see Figure 5) configured to connect the drill guide to the drill guide retainer 700. The drill guide retainer 700 includes a retainer opening 702 extending along a retainer opening axis 701. The retainer opening axis 701 may coincide with a bore axis 15 (see Figures 1 and 2) when the drill guide retainer 700 is connected to the surgical guide 100. The drill guide retainer is configured to further guide a drill bit through the retainer opening and the drill bore 152 (see Figures 1 and 2) to form a hole in the target tissue. Furthermore, the drill guide retainer 700 can reduce the cross-section of the drill bore 152 so that smaller diameter holes can be drilled using the surgical guide 100. As shown in the diagram, the drill guide retainer 700 is a 2.0 mm drill guide retainer. Please note that other sizes of drill guide retainers (e.g., 1 mm, 1.5 mm, 2.5 mm, 3 mm, 3.5 mm, etc.) may also be used.

[0094] Referring here to Figure 16, a perspective view of a drill guide retainer 800 (e.g., a handleless drill guide) connected to a surgical guide 100 according to an exemplary embodiment is shown. As further described herein, the surgical guide 100 includes an adapter 180 (see Figure 5) configured to connect the drill guide to the drill guide retainer 800. The drill guide retainer 800 includes a retainer opening 802 extending along a retainer opening axis 801. The retainer opening axis 801 may coincide with a bore axis 15 (see Figures 1 and 2) when the drill guide retainer 800 is connected to the surgical guide 100. The drill guide retainer is configured to further guide a drill bit through the retainer opening and the drill bore 152 (see Figures 1 and 2) to form a hole in the target tissue. Furthermore, the drill guide retainer 800 can reduce the cross-section of the drill bore 152 so that smaller diameter holes can be drilled using the surgical guide 100. As shown in the diagram, the drill guide retainer 800 is a 2.5 mm drill guide retainer. Please note that other sizes of drill guide retainers (e.g., 1 mm, 1.5 mm, 2.0 mm, 3 mm, 3.5 mm, etc.) may also be used. Figures 15 and 16 show the surgical guide 100 used with the drill guide retainer, but please note that the surgical guide 100 can be used as a drill guide without the drill guide retainer.

[0095] Referring now to Figure 17, a cross-sectional view of a drill guide retainer 800 connected to a surgical guide 100 is shown according to an exemplary embodiment. The surgical guide 100 includes indentations 182 configured to individually receive projections 810 of the drill guide retainer 800, thereby connecting the drill guide reducer to the surgical guide 100. For example, the interaction between the indentations 182 and the projections 810 may form a snap fit between the drill guide retainer 800 and the indentations 182.

[0096] According to an exemplary embodiment shown in the illustration, the drill guide reducer 800 includes a drill guide shaft 820 coupled to an outer ring 830. The drill guide shaft 820 is configured to be inserted into a drill guide bore 152 so that a hole can be drilled through the drill guide shaft 820. As described above, the outer ring 830 includes a projection 810 that forms a snap fit between the drill guide retainer 800 and the indent 182. Furthermore, the outer ring 830 includes a thread 802 configured to connect with a cannula thread.

[0097] Referring now to Figure 18, a block diagram is shown illustrating a method of using the surgical guide 1600 according to an exemplary embodiment. Method 1600 may utilize one or more of the components or devices described herein. It should be understood that the steps do not have to be performed in the order shown. Furthermore, various steps may be omitted, and additional steps may be performed.

[0098] Step 1610 provides an adjustment stand. For example, the adjustment stand 500 may be provided on a flat surface. The adjustment stand 500 may include an open arm 502 (for example, as shown in Figure 11) so that a surgical guide can be placed on the adjustment stand.

[0099] In step 1615, the surgical guide is coupled to the adjustment stand. For example, the surgical guide 100 may be coupled to the adjustment stand 500. The surgical guide 100 may be positioned on the adjustment stand 500 within the guide cavity 506, and the legs 118 may be positioned within the leg cavity 504 (as shown, for example, in Figure 12). The arms 502 of the adjustment stand 500 can then be rotated to a closed position to connect the surgical guide 100 to the adjustment stand 500 (as shown, for example, in Figure 13).

[0100] In step 1620, an adjustment device is provided. For example, the adjustment device 300 may be mounted above the adjustment stand (as shown in Figure 8, for example).

[0101] In step 1625, the adjustment projection of the adjustment device is inserted into the drill bore of the surgical guide. For example, the adjustment projection 352 of the adjustment device 300 may be located within the drill bore 152 of the surgical guide 100 (as shown, for example, in Figure 7). Furthermore, step 1625 may include positioning the stand base 510 within the base cavity 312 of the adjustment device 300 to restrict relative movement between the adjustment stand 500 and the adjustment device 300.

[0102] In step 1630, the position of the handle of the adjustment device is adjusted to adjust the drill guide angle of the surgical guide. For example, the user of the adjustment device 300 can operate the handle 358 to cause a change in the drill guide angle. The user can use the angle indicator 302 to provide visual feedback to the user of the adjustment device 300, enabling the user to properly orient the drill guide angle of the surgical guide 100. For example, the angle indicator 302 may correspond to the drill guide angle of the surgical guide 100. It should be understood that step 1630 may further include rotating the handle 358 to move the surgical guide 100 into an unlocked state.

[0103] In step 1635, the handle of the adjustment device is rotated to lock the drill guide angle of the surgical guide. For example, the handle 358 can be rotated, thereby rotating the lock nut 170 in response to the rotation of the handle 358 locking the surgical guide 100. Once the surgical guide is locked, the drill guide angle can be fixed.

[0104] In step 1640, the adjustment projection is removed from the drill bore. For example, the adjustment device 300 is pulled away from the top of the surgical guide, thereby allowing the adjustment projection 352 to be removed from the drill bore 152.

[0105] In step 1645, the surgical guide is separated from the adjustment stand. For example, the arm 502 of the adjustment stand 500 can then be rotated to an open position so that the surgical guide 100 can be removed from the adjustment stand 500.

[0106] In step 1650, the drill guide is positioned in the desired location. For example, the surgical guide 100 may be positioned in close proximity to the tissue 1100 (as shown, for example, in Figure 14).

[0107] In step 1655, the drill bit is inserted into the drill bore. For example, the drill bit may be inserted into the drill bore 152 to drill a hole in the tissue 1100.

[0108] B. Virtual Surgical Planning The surgical guides described in Section A may be used by physicians in surgical procedures. Physicians or clinicians often engage in surgical planning, frequently using virtual surgical planning software that enables virtual planning and preparation of surgical procedures before performing surgery. This disclosure describes systems and methods for integrating the use of surgical guides within a virtual planning environment. In particular, this disclosure provides a process for generating a virtual model of a surgical guide from Section A and deploying the virtual model into virtual surgical planning software. This allows surgeons to plan surgeries using the surgical guides.

[0109] Referring here to Figure 19, a block diagram of an exemplary system 1900 for providing virtual surgical planning functionality in one or more implementations is shown. System 1900A may include at least one data processing system 1905, at least one network 1910, and one or more client devices 1920A-1920N (sometimes commonly referred to as client device 1920).

[0110] As shown in Figure 19, the data processing system 1905 may include at least one image processor 1930, at least one virtual representation generator 1935, at least one user interface provider 1940, at least one angle calculator 1945, and at least one database 1915. Each component of system 1900 (e.g., the data processing system 1905, the network 1910, the client device 1920, etc.) may be implemented using hardware components of a computing system such as the server 2600 or client computing system 2614 described in relation to Figure 26, or any other computing system described herein, or a combination of software and hardware components.

[0111] The data processing system 1905 may include at least one processor and memory, for example, a processing circuit. The memory may store processor-executable instructions that, when executed by the processor, cause the processor to perform one or more of the operations described herein. The processor may include a microprocessor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a combination thereof. The memory may include, but is not limited to, electronic, optical, magnetic, or any other storage or transmission device that can provide program instructions to the processor. The memory may further include a floppy disk, CD-ROM, DVD, magnetic disk, memory chip, ASIC, FPGA, read-only memory (ROM), random-access memory (RAM), electrically erasable programmable ROM (EEPROM), erasable programmable ROM (EPROM), flash memory, optical medium, or any other suitable memory from which the processor can read instructions. The instructions may include code from any suitable computer programming language. The data processing system 1905 may include one or more computing devices or servers that can perform various functions as described herein. The data processing system 1905 includes any or all of its components and can perform any or all of the functions of the server system 2600 described herein in relation to Figure 26.

[0112] Network 1910 may include computer networks such as the Internet, local, wide, metro, or other area networks, intranets, satellite networks, voice or data cellular network communications networks, and combinations thereof. The data processing system 1905 of system 1900A can communicate with, for example, one or more client devices 1920 via network 1910. Network 1910 may be any form of computer network capable of relaying information between the data processing system 1905, one or more client devices 1920, and one or more sources of information, in particular, such as a web server or an external database. In some implementations, network 1910 may include the Internet and / or other types of data networks such as local area networks (LANs), wide area networks (WANs), cellular networks, satellite networks, or other types of data networks.

[0113] Network 1910 may also include any number of computing devices (e.g., computers, servers, routers, network switches, etc.) configured to receive and / or transmit data within Network 1910. Network 1910 may further include any number of hardwired and / or wireless connections. Any or all of the computing devices described herein (e.g., data processing system 1905, one or more client devices 1920, server system 2600, client computing system 2614, etc.) may communicate wirelessly (e.g., via Wi-Fi, cellular, wireless, etc.) with hardwired transceivers (e.g., via fiber optic cables, CAT5 cables, etc.) to other computing devices within Network 1910. Any or all of the computing devices described herein (e.g., data processing system 1905, one or more client devices 1920, server system 2600, client computing system 2614, etc.) may also communicate wirelessly with computing devices in Network 1910 via proxy devices (e.g., routers, network switches, or gateways).

[0114] Each client device 1920 may include at least one processor and memory, such as processing circuits. The memory may store processor-executable instructions that, when executed by the processor, cause the processor to perform one or more of the operations described herein. The processor may include a microprocessor, ASIC, FPGA, or a combination thereof. The memory may include, but is not limited to, electronic, optical, magnetic, or any other storage or transmission device that can provide program instructions to the processor. The memory may further include a floppy disk, CD-ROM, DVD, magnetic disk, memory chip, ASIC, FPGA, ROM, RAM, EEPROM, EPROM, flash memory, optical medium, or any other suitable memory from which the processor can read instructions. The instructions may include code from any suitable computer programming language. The client device 1920 may include one or more computing devices or servers that can perform various functions as described herein. One or more client devices 1920 may include any or all of the components and perform any or all of the functions of the client computing system 2614 described herein in relation to Figure 26.

[0115] Each client device 1920 may include, but is not limited to, a mobile device (e.g., a smartphone, tablet), a television device (e.g., a smart TV, set-top box), a personal computing device (e.g., a desktop, laptop), or another type of computing device. Each client device 1920 may be implemented using hardware or a combination of software and hardware. Each client device 1920 may include a display or a display portion. The display may include a display portion of a television, a display portion of a computing device, or another type of interactive display (e.g., a touchscreen, display), and one or more input / output (IO) devices (e.g., a mouse, keyboard, digital keypad).

[0116] The display may include a touchscreen that displays applications such as the game applications described herein. The display may include boundary regions (e.g., side boundaries, top boundaries, bottom boundaries). In some implementations, the display may include a touchscreen display that can receive interactions from the player. Interactions may result in interaction data, which may be stored and transmitted by the processing circuitry of the client device 1920. Interaction data may include, for example, interaction coordinates, interaction type (e.g., click, swipe, scroll, tap, etc.), and an indication of the operable object on which the interaction occurred.

[0117] A client application may run on each client device 1920 or may be provided to the client device 1920 by the system 1900. The application may include web applications, server applications, resources, desktops, or files. In some implementations, the application may include local applications (e.g., local to the client device 1920), hosted applications, Software as a Service (SaaS) applications, virtual applications, mobile applications, and other forms of content. In some implementations, the application may include or correspond to applications provided by a remote server or a third-party server.

[0118] In some implementations, one or more client devices 1920 can establish one or more communication sessions with the data processing system 1905. Each of these communication sessions may include a channel or connection between the data processing system 1905 and one or more client devices 1920. Each of these communication sessions may include an application session (e.g., a virtual application), an execution session, a desktop session, a hosted desktop session, a terminal service session, a browser session, a remote desktop session, a URL session, and / or a remote application session. Each communication session may include an encrypted session and / or a secure session, which may include encrypted files, encrypted data, or traffic. Each of the client devices 1920 can use the communication session established with the data processing system 1905 to perform any of the functions described herein. For example, an application running on a client device 1920 may perform any of the client-side operations described herein, including displaying one of the user interfaces shown in Figures 20A to 20D, or any other type of user interface described herein.

[0119] The data processing system 1905 is shown as including a database 1915. The database 1915 may be computer-readable memory capable of storing or maintaining any of the information described herein. The database 1915 may maintain one or more data structures that may contain, index, or otherwise store any of the values, multiples, sets, variables, vectors, numbers, or thresholds described herein. The database 1915 may be accessed using one or more memory addresses, index values, or identifiers of any items, structures, or areas maintained in the database 1915. The database 1915 may be accessed via the network 1910 by components of the data processing system 1905 or any other computing device described herein. In some implementations, the database 1915 may reside inside the data processing system 1905. In some implementations, the database 1915 may reside outside the data processing system 1905 and be accessed via the network 1910. For example, the database 1915 may be distributed across many different computer systems (e.g., cloud computing systems) or storage elements, and may be accessed via the network 1910 or a suitable computer bus interface.

[0120] The data processing system 1905 may store in one or more areas of the memory of the data processing system 1905 or in the database 1915 the results of any or all calculations, decisions, selections, identifications, generation, constructions, or calculations in one or more data structures indexed or identified by appropriate values. Any or all values ​​stored in the database 1915 may be accessed by any computing device described herein, such as the data processing system 1905, to perform any of the functionalities or functions described herein. In an implementation in which the database 1915 forms part of a cloud computing system, the database 1915 may be a distributed storage medium within the cloud computing system and may be accessed by any of the components of the data processing system 1905, by one or more client devices 1920 (for example, via a user interface similar to those shown in Figures 20A to 20D), or by any other computing device described herein.

[0121] Database 1915 may contain information to facilitate virtual surgical planning. For example, regarding patient-specific data, Database 1915 may include various fields, but is not limited to, demographics, medical history, and imaging data. In addition, regarding surgical guide design data, Database 1915 may contain records of surgical guide models, including mechanical properties and compatible surgical implants. In certain implementations, Database 1915 may maintain virtual models of surgical guides within its data structure, including combinations of relevant attributes to represent the shape and size of the surgical guides. Similarly, with respect to surgical procedure data, the database may contain records of established protocols.

[0122] Referring here to the operation of the data processing system 1905, the data processing system 1905 may include an image processor 1930, which may be a script, module, library, or function that receives and processes preoperative image data of the glenoid fossa to identify a given anatomical landmark in the image data. In a particular implementation, the image processor 1930 may receive various types of medical imaging formats, such as X-rays and CT scans, to identify the glenoid fossa. In a particular implementation, the image processor 1930 may process the received image data to identify a given anatomical landmark, including, but not limited to, the scapula, the humeral head, and other landmarks related to the glenoid fossa.

[0123] The data processing system 1905 may include a virtual representation generator 1935, which may be a script, module, library, or function that generates a virtual representation of the glenoid surface based on predetermined anatomical landmarks identified in preoperative image data. In certain implementations, the virtual representation generator 1935 may generate a virtual boundary on the virtual surface of the glenoid surface. In certain implementations, the virtual boundary may be dynamically adjustable. The virtual boundary may cover the relevant portion of the glenoid surface targeted for surgical intervention. In certain implementations, the adaptability of the virtual boundary may be customized to fit the specific anatomical structure of the patient.

[0124] The data processing system 1905 may include an interface provider 1940, which may be a script, module, library, or function that provides a user interface. In a particular implementation, the interface provider 1940 may facilitate the visualization and analysis of surgical guides in a virtual environment. In a particular implementation, the interface provider 1940 may present a virtual representation of the glenoid surface. In addition, the interface provider 1940 may present a virtual model of the surgical guide.

[0125] The interface provider 1940 may provide one or more interaction elements that the user can interact with. These interaction elements may include, but are not limited to, interaction buttons, voice commands, joysticks (or other tactile devices), gesture recognition systems, or other tactile devices that provide haptic feedback through vibration or force. Interaction buttons may allow the user to initiate specific actions, such as rotating or locking a virtual guide model. In the case of hands-free control, the data processing system 1905 may receive and interpret voice commands. A gesture recognition system may allow the user to control a virtual model of a surgical guide through natural hand movements.

[0126] When interacting with interaction elements, the interface provider 1940 can facilitate the dynamic alignment of the virtual model of the surgical guide and the virtual representation of the glenoid surface. In certain implementations, the interface provider 1940 may restrict the positioning or orientation of the virtual model of the surgical guide within the virtual boundary on the glenoid surface (via the data processing system 1905). In certain implementations, when the virtual model of the surgical guide extends beyond the virtual boundary, the data processing system 1905 may cause the interface provider 1940 to provide informational feedback, such as an error message or a visual indicator.

[0127] A virtual model of a surgical guide can define a virtual base plane that can be defined by several virtual prongs on the surgical guide. The virtual prongs are positioned on the virtual surface of the glenoid fossa within the defined virtual boundary. In certain implementations, the data processing system 1905 can automatically position the virtual prongs at defined locations on the glenoid fossa. For example, the data processing system 1905 can determine the optimal position of the virtual prongs using predetermined rules based on known anatomical landmarks on the glenoid fossa. In certain implementations, the data processing system 1905 can automatically position the virtual prongs based on specific geometric patterns (e.g., triangles, squares) to provide distributed support for the surgical guide within the defined virtual boundary. In certain implementations, the user can initially place one or two virtual prongs on the virtual surface of the glenoid fossa at desired locations. The data processing system 1905 can then automatically position the remaining prongs (or all prongs in certain implementations) using the initial placement and anatomical information.

[0128] In certain implementations, the virtual model of the surgical guide can be used as a marker for verification of its shape or features. For example, the virtual model of the surgical guide can verify its precise positioning (or corresponding angle as described herein) by aligning or matching its shape or features with a target anatomical structure (e.g., glenoid fossa) in the virtual environment, thereby confirming or indicating via the interface provider 1940 that the surgical guide is correctly or accurately positioned or aligned with the intended surgical site. For example, if the ends or virtual prongs of the virtual model of the surgical guide are aligned with a virtual representation of the glenoid fossa, the surgical guide can indicate correct positioning on the bone. In certain implementations, the virtual model of the surgical guide can use or incorporate additional points beyond the first three virtual prongs to improve the precision of its positioning. For example, by comparing or aligning the extra points with the anatomical structure of the glenoid fossa or scapula, the surgical guide can verify via the data processing system 1905 that the surgical intervention targets the correct anatomical location.

[0129] In certain implementations, if a user adjusts a virtual model of a surgical guide, the data processing system 1905 can automatically reposition the virtual prongs to the new location on the glenoid fossa. The data processing system 1905 can reposition the virtual prongs based on anatomical constraints and virtual boundaries. For example, upon identifying a new target region on the glenoid fossa, the data processing system 1905 can determine a new position for the virtual prongs to align with the new target region, taking into account virtual boundaries that mark the safety region on the glenoid fossa.

[0130] In certain implementations, the interaction provider 1940 may provide feedback to indicate alignment confirmation. In certain implementations, the interface provider 1940 may provide visual cues indicating alignment, such as highlighting corresponding anatomical landmarks or displaying overlapping planes. In certain implementations, the data processing system 1905 may distinguish between soft touch (initial contact) and hard touch (stable placement) using visual, tactile, or auditory feedback.

[0131] The data processing system 1905 may include an angle calculator 1945, which may be a script, module, library, or function for calculating the rotation and inclination angles of the surgical guide relative to the glenoid plane. The glenoid plane may be referred to as a two-dimensional geometric plane that best fits the virtual surface of the glenoid face. Once the virtual model of the surgical guide is aligned with the virtual representation of the glenoid face, the angle calculator 1945 can determine the rotation angle indicating a posterior or anterior inclination of the axis of the surgical guide relative to the glenoid plane, and the inclination angle indicating a downward or upward inclination of the axis of the surgical guide relative to the glenoid plane. The axis of the surgical guide may refer to a virtual line that crosses / passes through the center of the surgical guide. The axis of the surgical guide may serve as a reference point for determining the orientation of the surgical guide relative to the glenoid plane.

[0132] In certain implementations, the angle calculator 1945 can determine angles while the user adjusts the position and orientation of a virtual model of the surgical guide. In certain implementations, the angle calculator 1945 can determine angles based on the alignment of a virtual base plane defined by the number of virtual prongs of the surgical guide. The angle calculator 1945 can establish a coordinate system for the glenoid plane and the virtual base plane. The coordinate system can provide a framework for mathematical calculations. For example, the rotation angle can be derived by calculating the angle between the X-axis of the glenoid plane and the virtual base plane. A positive angle may indicate a posterior tilt, a negative angle may indicate an anterior tilt of the surgical guide relative to the glenoid plane, and vice versa. In addition, the tilt angle can be derived by calculating the angle between the Z-axis of the glenoid plane and the virtual base plane. A positive angle may indicate a downward tilt of the surgical guide relative to the glenoid plane, a negative angle may indicate an upward tilt, and vice versa.

[0133] Referring here to Figures 20A-20H in the context of the components described in relation to Figure 1, the user interface 2000 is presented on the client device 1920. As shown in Figures 20A-20H, the user interface 2000 presents one or more perspective views of a virtual model of the surgical guide 2008, along with a virtual representation of the glenoid fossa. As shown in Figure 20A, the user interface 2000 presents a virtual representation of the patient's glenoid surface 2002, generated from preoperative imaging data (CT scan, X-ray, etc.). In a particular implementation, the virtual representation of the glenoid surface 2002 may include a textured surface that mimics the actual anatomical structure of the patient. In addition, the glenoid surface 2002 may include a virtual boundary 2006 that can be defined on the virtual surface 2004 of the glenoid surface 2002. In a particular implementation, the virtual boundary 2006 may be marked around the edges of the glenoid surface 2002. In a particular implementation, the virtual boundary 2006 can be visually represented in various ways, including but not limited to solid lines, dotted lines, or shaded areas. In addition, the user interface 2000 presents a virtual representation of the surgical guide 2008. As shown in the figure, the surgical guide 2008 is positioned and aligned within the virtual boundary 2006 on the glenoid surface 2002.

[0134] Similar to Figure 20A, Figure 20B shows a user interface 2000 presenting a virtual representation of the glenoid fossa and surgical guide. However, Figure 20B provides a posterior perspective view. As shown in Figure 20B, the surgical guide 2008 includes a defined number of virtual prongs 2010 (e.g., three or any positive integer). In a particular implementation, each virtual prong 2010 may be positioned on a virtual surface 2004 of the glenoid surface 2002. As illustrated, each virtual prong 2010 establishes direct contact with the virtual surface 2004 of the glenoid surface 2002, as shown in more detail in Figure 20C.

[0135] Referring here to Figure 20C, an enlarged view of a surgical guide having virtual prongs placed on a virtual surface of the glenoid fossa is shown. In a particular implementation, when the virtual prongs 2010 are placed on the glenoid fossa surface 2004, a contact point is established between the virtual prongs 2010 and the glenoid fossa surface 2004. Based on the position of the contact point, the virtual model of the surgical guide 2008 generates a glenoid plane 2012 that incorporates all three points. In a particular implementation, the glenoid plane 2012 can provide an estimated orientation and shape of the glenoid fossa surface 2004. In a particular implementation, the glenoid plane 2012 can refer to a virtual plane generated based on the position of the virtual prongs 2010 on the virtual surface 2004 of the glenoid fossa surface 2002. The glenoid plane 2012 can represent an approximation of the orientation or shape of the actual glenoid fossa surface.

[0136] Once contact is established between the virtual prong 2010 and the virtual surface 2004 of the glenoid surface 2002 (as shown in Figure 20C), the user interface 2000 can display one or more angles to guide the drill trajectory. As shown in the figure, the rotation angle represented by arc 2016 indicates the degree to which the axis of the virtual model of the surgical guide 2008 is tilted posteriorly relative to the glenoid plane 2012. In addition, the inclination angle represented by arc 2018 indicates the degree to which the axis of the virtual model of the surgical guide 2008 is tilted downward relative to the glenoid plane 2012.

[0137] Referring here to Figure 20D, an enlarged view equivalent to Figure 20C is shown, illustrating different perspective views of the interaction between the virtual model of the surgical guide and the virtual surface of the glenoid fossa. As shown in the figure, the drill bit 2014 is directed towards the drilling position, aligned with rotation and tilt angles. In certain implementations, the user (e.g., surgeon) can adjust the virtual model of the surgical guide 2008 based on visual feedback or displayed values ​​to achieve the desired rotation and tilt angles. In certain implementations, the data processing system 1905 can adjust the virtual model of the surgical guide 2008 based on predetermined settings or real-time calculations from patient data.

[0138] In certain implementations, the drill bit 2014 may be guided by a virtual model of the surgical guide 2008. In certain implementations, the data processing system 1905 may provide visual or tactile feedback to guide the surgeon's hand while holding the drill bit 2014 (e.g., via a virtual guidance system). To verify alignment, the data processing system 1905 may provide visual feedback displaying the position and trajectory of the drill bit relative to the glenoid plane 2012, as well as the rotation and tilt angles. In addition, in certain implementations, tactile feedback may provide physical resistance when the drill bit 2014 deviates from the desired path. In certain implementations, a pressure sensor in the virtual prong 2010 or the virtual model of the surgical guide 2008 may determine the pressure on the virtual surface 2006 of the glenoid surface 2002.

[0139] C. Surgical Systems The virtual models of surgical guides described in Section B can be integrated into surgical systems. This disclosure focuses on incorporating virtual models of surgical guides into surgical systems to improve surgical planning and execution. Integrating virtual surgical guide models can facilitate a more precise approach to robot-assisted surgery. In addition, including virtual models makes it possible to utilize both the physical and virtual aspects of surgical guides within the advanced technological environment of robotic surgery.

[0140] Referring here to Figure 21, a block diagram of an exemplary system 2100 is shown, comprising at least one data processing system 2105, a surgical system 2155, a network 2110, and one or more client devices 2120A to 2120N (sometimes commonly referred to as client devices 2120). Various components of system 2100 shown in Figure 21 are similar to those of system 1900 in Figure 19, and may include any of its structure and function. For example, the network 2110 shown in Figure 21 is similar to the network 1910 in Figure 19. In addition, the data processing system 2105 may include some or all of the components from its counterpart in Figure 19.

[0141] The data processing system 2105 may include a system manager 2150 (e.g., a robot system manager) and may be a script, module, library, or function that manages and controls the surgical system 2155. In a particular implementation, the surgical system manager 2150 may transfer surgical commands or virtual planning data tailored for an operation (e.g., a robot operation) to the surgical system 2155. Transmission may be carried out via a variety of methods, including but not limited to network communication or a direct hardware interface. In a particular implementation, the surgical commands or virtual planning data may include drilling locations and selected paths for surgical implant placement within the glenoid fossa. In addition, the virtual planning data may include rotation and tilt angles of a virtual model of a surgical guide 2008 positioned relative to a virtual surface 2004 of the glenoid surface 2002. For patient-specific surgical planning, the surgical system manager 2150 (or surgical system 2155) may validate the surgical commands or virtual planning data against preoperative diagnostic data tailored to the patient's specific anatomical configuration.

[0142] In certain implementations, the surgical system manager 2150 can monitor or manage sensor data received from the surgical system 2155. The sensor data may correspond to the position or orientation of the robotic surgical arm. In certain implementations, the surgical system manager 2150 can provide a feedback loop for monitoring the performance of the surgical system or deviations from planned movement. In certain implementations, the surgical system manager 2150 can pre-define safety protocols to implement emergency shutdown procedures or limit movement zones. In certain implementations, the surgical system manager 2150 can connect to external systems such as the network 2110 or client devices 2120 to enable data exchange and user interaction.

[0143] The surgical system 2155 may include, but is not limited to, a robotic surgical arm, an assembly of surgical tools, a control system, and an array of sensors. The robotic surgical arm may include multiple joints and motors to provide a wide range of motion and controlled manipulation within the surgical field. In a particular implementation, the surgical system 2155 may include a variety of tools depending on the specific surgical needs, each tool being tailored to a task such as cutting, grasping, or suturing.

[0144] Once virtual planning data is received and / or validated, the surgical system 2155 can convert the virtual planning data into specific (e.g., real-time movement) commands. The surgical system 2155 can process the virtual planning data, extract key points such as desired paths for drilling into the glenoid cavity, and convert the key points into a series of joint angle and movement commands that can be aligned with the structure or capabilities of the robotic surgical arm. In a particular implementation, the surgical system 2155 can generate precise movements of the robotic surgical arm in response to identifying the position and orientation of a virtual model of a surgical guide 2008 relative to a virtual surface 2004 of the glenoid cavity surface 2012.

[0145] In certain implementations, the surgical system 2105 can receive commands directly from the surgeon / user. The surgical system 2105 can process the commands via a control system, as described herein, or convert them into specific movement commands. In certain implementations, the surgical system 2105 can receive movement commands converted from the surgical system manager 2150. Upon receiving a movement command, the surgical system 2105 can transmit the movement command to the robotic surgical arm or an attached surgical tool. For example, in response to receiving a movement command, the robotic surgical arm can position the surgical guide 100 (e.g., a physical surgical guide) or start a drill to perform a surgical operation at a specified drilling location.

[0146] In a particular implementation, the surgical system 2105 may include sensors, which may include, but are not limited to, position sensors, force sensors, and a visual feedback system. In a particular implementation, position sensors may monitor the position of the robotic surgical arm relative to the patient's anatomical structure. In a particular implementation, force sensors may provide feedback on the amount of pressure being applied by the robotic surgical arm or surgical tool. In a particular implementation, a visual feedback system, such as a camera and 3D imaging technology, may provide a detailed view of the surgical site.

[0147] D. Navigation System As described in Section B, the implementation of virtual surgical planning can be facilitated through a navigation system. This disclosure covers the use of surgical navigation technology that enables surgeons and clinicians to monitor the position of surgical instruments. In addition, the implementation can be extended to direct the operation of the surgical system. This disclosure is applicable to and can be integrated with existing navigation systems, including those utilizing augmented reality (AR), virtual reality (VR), or mixed reality (MR) technologies. For example, integration can improve surgeon accuracy by directly overlaying detailed 3D anatomical structures into the surgeon's field of view during surgery, or by simulating complex surgical procedures to provide feedback on instrument positioning or procedure steps.

[0148] Using the implementation shown in Figure 21, the exemplary system 2100 may include a navigation system 2165 managed by a navigation module 2160 within a data processing system 2105. The aforementioned configuration can provide integration of the navigation system 2165 within the scope of performing a virtual surgical plan. As shown in Figure 21, the data processing system 2105 may include a navigation manager 2160, which may be a script, module, library, or function that manages or controls the navigation system 2165. The navigation manager 2160 can establish and maintain a communication channel with the navigation system 2165 and exchange data for activities such as image acquisition, instrument tracking, or providing feedback, among other things.

[0149] The navigation system 2165 can access and process information from a virtual surgical plan, which may include, but is not limited to, a virtual representation of the glenoid surface 2002 with anatomical landmarks and precise implant placement details, specific rotation and tilt angles of the virtual model of the surgical guide 2008, and any other relevant data related to the surgery. In certain implementations, the navigation system 2165 may receive intraoperative images of the patient's glenoid. Intraoperative images of the glenoid can be captured using modalities such as fluoroscopy or CT scans.

[0150] In certain implementations, the navigation system 2165 can merge or overlay a virtual surgical plan (e.g., a virtual representation of the glenoid surface 2002) with the intraoperative image to indicate the ideal (or target) position of the surgical implant. In certain implementations, the navigation system 2165 can identify the position of a drilling instrument (e.g., a drilling bit 2014) or the surgical guide 100 in the image. In certain implementations, the navigation system 2165 can identify the position of the surgical guide 100 (e.g., a physical surgical guide) using a predetermined marker pattern on the surgical guide 100. The predetermined marker pattern may be embedded or engraved on one or more legs 118 of the surgical guide 100. In certain implementations, the predetermined marker pattern may include, but is not limited to, geometric shapes (e.g., triangles, squares, circles), alphanumeric characters (e.g., letters, numbers), or color-coded markers. In certain implementations, the navigation system 2165 can align a virtual representation of the glenoid surface 2002 with the actual anatomical structure of the patient by matching it with identified landmarks (e.g., bone structures).

[0151] In a particular implementation, once the navigation system 2165 identifies a match between a marker pattern on the surgical guide 100 and the corresponding coordinates in the virtual plan, the navigation system 2165 can provide feedback (e.g., via a visual indicator or an auditory alert) to inform the user or surgeon of the alignment between the surgical guide 100 and the target anatomical site.

[0152] In certain implementations, the navigation system 2165 can determine the spatial relationship between the drilling instrument (e.g., drill bit 2014) or surgical guide 100 and the planned drilling location. In certain implementations, the navigation system 2165 can determine the spatial relationship using preoperative data and the position of the drilling instrument. For example, by identifying the current position of the drilling instrument relative to a virtual model of the patient's anatomical structure, the navigation system 2165 can determine how the position of the surgical instrument corresponds to the planned drilling site. In certain implementations, the navigation system 2165 can identify the rotation angle and / or tilt angle of the surgical guide 100. In certain implementations, the spatial parameters may include intersections defined as locations where the drilling instrument / surgical guide axis intersects with the planned drilling path or target region. In certain implementations, the spatial parameters may include overlapping regions identified as areas where the drilling instrument and the planned drilling target region coincide. In a particular implementation, the navigation system 2165 can present spatial relationships in various forms, including but not limited to offset distance, angle, or direction vector.

[0153] In certain implementations, the navigation system 2165 can generate dynamic indicators to identify the ideal drilling location on the glenoid fossa. In addition, in certain implementations, the navigation system 2165 can access a timestamped sequence of intraoperative images of the glenoid fossa in response to identifying the movement of the drilling / surgical instrument. In certain implementations, the navigation system 2165 can present indicators in several ways, including, but not limited to, projecting a light pattern to illuminate the precise spot where the drill bit 2014 should be placed, overlaying the surgeon's position in an augmented reality, virtual reality, or mixed reality headset, or displaying indicators superimposed on intraoperative images on a monitor. In certain implementations, the navigation system 2165 can transmit visual indicators to the surgeon. In certain implementations, the navigation system 2165 can transmit indicators to the surgical system 2155. In certain implementations, the surgical system 2155 can use the indicators provided by the navigation system 2165 to position the surgical guide 100 and / or the drill bit 2014.

[0154] Referring here to Figure 22 in the context of the components described in relation to Figures 19 and 21, an illustrative flowchart of Method 2200 for providing a virtual surgical plan is depicted. Method 2200 can be performed by one or more processors shown in Figures 19 and 21. The data processing system can process preoperative image data of the glenoid fossa (step 2202). The data processing system can generate a virtual representation of the glenoid surface (step 2204). The data processing system can maintain a virtual model of the surgical guide (step 2206). The data processing system can present the virtual representation of the glenoid surface and the virtual model of the surgical guide within a user interface (step 2208). The data processing system can align the virtual model of the surgical guide with the virtual representation of the glenoid surface (step 2210). The data processing system can determine rotation and tilt angles (step 2212). The data processing system can adjust the position or orientation of the virtual model of the surgical guide based on the angles (step 2214).

[0155] In 2202, the data processing system can process preoperative image data of the glenoid fossa to identify defined anatomical landmarks. Defined anatomical landmarks may include the glenoid surface of the glenoid fossa. For example, anatomical landmarks may include, but are not limited to, the anterior glenoid fossa margin, the posterior glenoid fossa margin, and the tubercle, among others.

[0156] In 2204, the data processing system can generate a virtual representation of the glenoid surface based on defined anatomical landmarks. The virtual representation of the glenoid surface may include virtual boundaries that can be adjusted / defined on the virtual surface of the glenoid surface. The virtual representation may include a glenoid plane that can be positioned on the virtual surface of the glenoid surface. The virtual plane may indicate the perforation trajectory.

[0157] The virtual boundary can be dynamically adjusted on the virtual surface of the glenoid fossa. The virtual boundary can represent the planned position and size of a surgical implant on the glenoid fossa. In certain implementations, the virtual boundary may be updated in real time (manually or automatically) to indicate the position of surgical instruments (e.g., surgical guides or drill bits) and other related potential issues.

[0158] In 2206, the data processing system can maintain a virtual model of a surgical guide within its data structure. The data processing system can store a library of various surgical guide designs, each of which can be represented as a 3D model. The surgeon / user can select or customize the appropriate surgical guide for a surgical procedure. The virtual model of the surgical guide may include a virtual base plane with a defined number of virtual prongs. The number of prongs may be 3 or any positive integer, depending on the implementation. Each virtual prong may be positioned on a virtual surface of the articular surface within the virtual boundary. In certain implementations, the data structure may be shared with other systems involved in the surgical process, such as a robotic arm or navigation system, for coordinated planning and execution.

[0159] In step 2208, the data processing system can present a virtual representation of the glenoid surface and a virtual model of the surgical guide within the user interface. The data processing system can display views of the virtual representation of the glenoid surface and the virtual model of the surgical guide for the user. In certain implementations, the data processing system can receive interactions through the user interface, which may allow movement of the position or orientation of the virtual model of the surgical guide. For example, in response to an interaction, the data processing system may modify the views of the virtual representation of the glenoid surface and the virtual model of the surgical guide. In certain implementations, modifications may include changing the view to at least one of a coronal view, sagittal view, or transverse view. In certain implementations, interactions may be received through various means such as interaction elements, buttons, voice commands, joysticks, gesture recognition systems, or tactile / haptic feedback.

[0160] In step 2210, the data processing system can align a virtual model of the surgical guide with a virtual representation of the glenoid surface. In certain implementations, the data processing system can align a virtual model of the surgical guide with a preoperative scan of the patient, such as a CT image or 3D reconstruction, to simulate the patient's anatomical placement scenario. The data processing system can position the virtual model of the surgical guide within a virtual boundary (e.g., based on usage requirements). In certain implementations, the data processing system can automatically position the virtual prongs of the surgical guide at a determined position in a first set on the virtual surface of the glenoid surface. In certain implementations, the data processing system can automatically reposition the virtual prongs of the surgical guide at a determined position in a second set on the virtual surface of the glenoid surface, depending on adjustments made to the position or orientation of the virtual model of the surgical guide.

[0161] In step 2212, the data processing system can determine the rotation angle and the tilt angle. For example, when the data processing system aligns a virtual model of the surgical guide with a virtual representation of the glenoid surface, the data processing system can determine a rotation angle indicating a posterior or anterior tilt of the axis of the surgical guide relative to the glenoid plane. In addition, the data processing system can determine a tilt angle indicating a downward or upward tilt of the axis of the surgical guide relative to the glenoid plane. In certain implementations, the data processing system can monitor the actual position of the surgical guide using imaging data. By comparing the actual position of the surgical guide with the planned angles, the data processing system can calculate deviations in the rotation angle and tilt angle to identify unintended tilt or displacement of the surgical guide.

[0162] In step 2214, the data processing system can adjust the position or orientation of the virtual model of the surgical guide based on angles (e.g., rotation angle and tilt angle). In certain implementations, the data processing system can automatically rotate the virtual model of the surgical guide around its axis (or reference axis) to match a desired angle. In certain implementations, the data processing system can tilt the virtual guide model up or down based on a desired angle.

[0163] Referring here to Figure 23 in the context of the components described in relation to Figures 19 and 21, an exemplary flowchart of method 2300 for executing a virtual surgical plan is shown. Method 2300 may be executed by one or more processors as shown in Figures 19 and 21. A data processing system can access the virtual plan data (step 2302). The data processing system can communicate the virtual plan data to the surgical system (step 2304). The surgical system may be configured to convert the virtual plan data into defined move commands (step 2306). The surgical system may be configured to execute the defined move commands to drill at the drilling location (step 2308).

[0164] In step 2302, the data processing system can access virtual planning data. In a particular implementation, the virtual planning data may indicate the perforation location determined by defined anatomical landmarks and provide a path for perforating an opening for implanting a surgical implant in the glenoid fossa. The virtual planning data may indicate the rotation and tilt angles of a virtual model of the surgical guide, according to the perforation location and positioned relative to a virtual representation of the glenoid surface. The data processing system can validate the virtual planning data against the preoperative data.

[0165] In step 2304, the data processing system can communicate virtual planning data to the surgical system. The surgical system may include a surgical robotic arm that can perform a virtual surgical plan by manipulating surgical instruments according to the virtual planning data. In certain implementations, the data processing system may establish a network connection with the surgical system to provide the virtual planning data. In certain implementations, an application programming interface (API) may facilitate communication between the data processing system and the surgical system. In certain implementations, the data processing system may send one or more elements of the virtual planning data to the surgical system, such as the placement of surgical guides or perforation locations.

[0166] In step 2306, the surgical system can convert virtual planning data into defined move commands. In certain implementations, a data processing system can perform the conversion of virtual planning data into defined move commands for the surgical system. For example, the data processing system can identify the position or orientation of a virtual model of a surgical guide relative to a virtual representation of the glenoid surface. In certain embodiments, this may include several virtual prongs positioned on the virtual surface of the glenoid surface. The surgical system can then use the converted commands to perform the surgery accordingly.

[0167] In step 2308, the surgical system can execute a defined movement command to drill at the drilling site. The surgical system receives the converted movement command and can activate the motors in the robotic surgical arm. The robotic surgical arm can move the drilling instrument toward the target position on the articular surface. Once the drilling instrument reaches the target position, the robotic system can execute commands to control drilling parameters such as speed, pressure, and depth, based on the planned procedure or implant type.

[0168] In certain embodiments, the data processing system can cause the surgical system to restrict the puncturing instrument to a virtual boundary on the glenoid surface. For example, during surgery, the surgical system can execute translated commands (e.g., via a robotic surgical arm) while remaining within the virtual boundary. One or more sensors can track the position of the robotic surgical arm, and the surgical system or data processing system can automatically adjust the movement of the robotic surgical arm to prevent accidental punctures outside the safety zone.

[0169] Referring here to Figure 24 in the context of the components described in relation to Figures 19 and 21, an exemplary flowchart of Method 2400 for navigating a virtual surgical plan is shown. Method 2400 may be performed by one or more processors shown in Figures 19 and 21. The data processing system can access intraoperative images of the glenoid surface (step 2402). The data processing system can identify the position of the piercing instrument coupled to the surgical guide (step 2404). The data processing system can generate an image by superimposing a virtual representation of the glenoid surface onto the intraoperative image (step 2406). The data processing system can determine the spatial relationship between the piercing instrument and the virtual representation of the glenoid surface (step 2408). The data processing system can present dynamic visual indicators on the image (step 2410).

[0170] In step 2402, the data processing system can access intraoperative images of the glenoid surface. In certain implementations, the data processing system can be directly connected to an imaging system, such as a fluoroscopy or navigation system used during surgery, and a communication channel can be established to receive image data of the glenoid surface. In certain implementations, the data processing system can receive intraoperative images captured by the imaging system, and these images are uploaded to a cloud storage platform. The data processing system can access the platform via an internet connection to retrieve the image data.

[0171] In step 2404, the data processing system can identify the location of the puncture instrument coupled to the surgical guide in the intraoperative image. The data processing system can identify the location based on the defined marker pattern of the surgical guide in the intraoperative image. In certain implementations, the defined marker pattern of the surgical guide may include geometric shapes (e.g., triangles, squares, or circles on the guide), alphanumeric characters (e.g., letters or numbers on the guide), or color-coded markers (e.g., incorporating dots or patches of different colors on the guide). In response to determining the relative positions of the markers and their predetermined positions on the surgical guide, the data processing system can determine the location of the surgical instrument in the image and the surgical field.

[0172] In step 2406, the data processing system can generate an image by overlaying a virtual representation of the glenoid surface onto the intraoperative image. The data processing system can identify anatomical landmarks in the virtual representation and the intraoperative image. The data processing system can align the landmarks. For example, before surgery, the surgeon / user can use virtual surgical planning software to generate a virtual model of the patient's glenoid surface, and the data processing system can overlay this onto the intraoperative image acquired during surgery. This overlay can be aligned based on identified anatomical landmarks to help visualize the planned implant position or drilling trajectory relative to the patient's actual anatomical structure. In addition, as the surgery progresses, the data processing system can track / identify the movement of surgical guides / drilling instruments through sensors or marker patterns, as described herein.

[0173] In step 2408, the data processing system can use the rotation and tilt angles of the surgical guide to determine the spatial relationship between the position of the drilling instrument and the virtual representation of the glenoid surface. The spatial relationship can indicate an offset, angular deviation, or depth difference between the drilling instrument and the desired drilling location on the glenoid surface. In certain implementations, the offset can indicate the distance from the tip (or drill bit) of the drilling instrument to the target point on the virtual glenoid surface. In certain implementations, the angular deviation can indicate a misalignment of orientation with respect to the planned drilling path. In certain implementations, the depth difference can indicate a misalignment between the drill bit and the specified drilling depth. If the alignment of the drilling instrument deviates from the surgical plan, the data processing system can determine to adjust the drilling instrument / surgical guide to precisely align the drilling instrument / surgical guide with the target drilling point on the glenoid surface.

[0174] In step 2410, the data processing system may present dynamic visual indicators on the image to indicate the puncture location for positioning the puncture instrument. The data processing system may project a light pattern directly onto the glenoid surface, visually indicating the puncture location, or the exact spot where the puncture instrument is positioned for puncture. In certain implementations, the data processing system may overlay the puncture location onto the surgeon's field of view via an augmented reality, virtual reality, or mixed reality headset. In addition, the data processing system may display the puncture location against a virtual representation of the glenoid surface on a monitor or screen. In certain implementations, the data processing system may generate a timestamped sequence of intraoperative images of the glenoid surface when it detects movement of the puncture instrument. The images may be reviewed by the surgeon or analyzed by the system to evaluate the instrument trajectory, the progression of the puncture, or other potential deviations from the planned path.

[0175] Various operations described herein can be implemented on a computer system. Figure 25 shows a simplified block diagram of a typical server system 2500, a client computer system 2514, and a network 2526 that can be used to implement a particular embodiment of this disclosure. In various embodiments, the server system 2500 or a similar system may implement the services or servers or parts thereof described herein. The client computer system 2514 or a similar system may implement the clients described herein. Systems described herein (e.g., data processing systems 1905, 2105) and other systems may be similar to the server system 2500.

[0176] The server system 2500 may have a modular design that incorporates several modules 2502. Two modules 2502 are shown, but any number can be provided. Each module 2502 may include a processing unit 2504 and local storage 2506.

[0177] The processing unit 2504 may include a single processor having one or more cores, or multiple processors. In some embodiments, the processing unit 2504 may include a general-purpose primary processor, as well as one or more dedicated coprocessors such as a graphics processor, a digital signal processor, etc. In some embodiments, some or all of the processing units 2504 may be implemented using customized circuits such as application-specific integrated circuits (ASICs) or field-programmable gate arrays (FPGAs). In some embodiments, such integrated circuits execute instructions stored in the circuit itself. In other embodiments, the processing unit 2504 may execute instructions stored in local storage 2506. Any combination of any type of processor may be included in the processing unit 2504.

[0178] The local storage 2506 may include volatile storage media (e.g., DRAM, SRAM, SDRAM, etc.) and / or non-volatile storage media (e.g., magnetic or optical disks, flash memory, etc.). The storage media incorporated into the local storage 2506 may be fixed, removable, or upgradeable as needed. The local storage 2506 may be physically or logically divided into various subunits such as system memory, read-only memory (ROM), and permanent storage devices. The system memory may be a volatile read-write memory device, such as a read-write memory device or dynamic random-access memory. The system memory may store some or all of the instructions and data required by the processing unit 2504 at runtime. The ROM may store static data and instructions required by the processing unit 2504. The permanent storage device may be a non-volatile read-write memory device that can store instructions and data even when the power to module 2502 is turned off. As used herein, the term “storage medium” includes any medium capable of storing data indefinitely (subject to overwriting, electrical disturbances, power loss, etc.) and does not include carrier waves or transient electronic signals propagated wirelessly or via wired connections.

[0179] In some embodiments, the local storage 2506 can store one or more software programs executed by the processing unit 2504, such as an operating system and / or programs that implement various server functions, such as the data processing system 1905 in Figure 19 or any other system described herein, or any other server associated with the data processing system 1905, or any other system described herein.

[0180] "Software" generally refers to a sequence of instructions, when executed by the processing unit 2504, that cause the server system 2500 (or a part thereof) to perform various operations, and thus defines one or more specific machine embodiments that perform the operations of a software program. Instructions may be stored as firmware residing in read-only memory and / or as program code stored in a non-volatile storage medium that can be loaded into volatile working memory for execution by the processing unit 2504. Software may be implemented as a single program or as a collection of separate programs or program modules that interact as desired. The processing unit 2504 can retrieve program instructions to execute and data to process from local storage 2506 (or non-local storage as described below) in order to perform the various operations described above.

[0181] In some server systems 2500, multiple modules 2502 can be interconnected via a bus or other interconnect 2508 to form a local area network that supports communication between the modules 2502 and other components of the server system 2500. The interconnect 2508 can be implemented using various technologies, including server racks, hubs, routers, etc.

[0182] The wide area network (WAN) interface 2500 can provide data communication capabilities between the local area network (interconnection 2508) and a network 2526 such as the Internet. Technologies including wired technologies (e.g., Ethernet, IEEE 802.3 standard) and / or wireless technologies (e.g., Wi-Fi, IEEE 802.11 standard) can be used.

[0183] In some embodiments, local storage 2506 is intended to provide working memory for processing unit 2504, providing high-speed access to programs and / or data to be processed while reducing traffic on interconnect 2508. Storage for large amounts of data may be provided on the local area network by one or more mass storage subsystems 2512 which can be connected to interconnect 2508. Mass storage subsystems 2512 may be based on magnetic, optical, semiconductor, or other data storage media. Directly attached storage, storage area networks, network-attached storage, etc., can be used. Any data store or other collection of data described herein as generated, consumed, or maintained by a service or server may be stored in the mass storage subsystem 2512. In some embodiments, additional data storage resources may be accessible via the WAN interface 2510 (potentially increasing latency).

[0184] The server system 2500 can operate in response to requests received via the WAN interface 2510. For example, one of the modules 2502 can implement a monitoring function and, in response to received requests, assign discrete tasks to other modules 2502. Task assignment techniques can be used. Once a request is processed, the result can be returned to the requester via the WAN interface 2510. Such operations can generally be automated. Furthermore, in some embodiments, the WAN interface 2510 can connect multiple server systems 2500 to each other to provide a scalable system capable of managing a large volume of activity. Techniques for managing server systems and server farms (collections of collaborating server systems), including dynamic resource allocation and reallocation, can be used.

[0185] The server system 2500 can interact with various user-owned or user-operated devices via a wide area network such as the Internet. An example of a user-operated device is shown in Figure 4 as a client computing system 2514. The client computing system 2504 can be implemented as a consumer device such as a smartphone, other mobile phone, tablet computer, wearable computing device (e.g., smartwatch, glasses), desktop computer, or laptop computer.

[0186] For example, the client computing system 2514 can communicate via the WAN interface 2510. The client computing system 2514 may include computer components such as a processing unit 2516, a storage device 2518, a network interface 2520, a user input device 2522, and a user output device 2524. The client computing system 2514 may be a computing device implemented in various form factors, such as a desktop computer, a laptop computer, a tablet computer, a smartphone, other mobile computing devices, or a wearable computing device.

[0187] The processing unit 2516 and the storage device 2518 may be similar to the processing unit 2504 and local storage 2506 described above. The appropriate device may be selected based on the requirements imposed on the client computing system 2504. For example, the client computing system 2514 may be implemented as a “thin” client with limited processing power, or as a high-power computing device. The client computing system 2514 may be provisioned with program code executable by the processing unit 2516 to enable various interactions with the message management service server system 2500, such as accessing messages, performing actions on messages, and other interactions described above. Some client computing systems 2504 may also interact with the messaging service independently of the message management service.

[0188] The network interface 2520 can provide a connection to a network 2526, such as a wide area network (e.g., the Internet), to which the WAN interface 2510 of the server system 2500 is also connected. In various embodiments, the network interface 2520 may include a wired interface (e.g., Ethernet) and / or a wireless interface implementing various RF data communication standards such as Wi-Fi, Bluetooth, or cellular data network standards (e.g., 3G, 4G, LTE, etc.).

[0189] The user input device 2522 may include any (or more) devices on which the user can provide signals to the client computing system 2504. The client computing system 2514 may interpret the signals as indicating a specific user request or information. In various embodiments, the user input device 2522 may include any or all of the following: a keyboard, touchpad, touchscreen, mouse or other pointing device, scroll wheel, click wheel, dial, button, switch, keypad, microphone, etc.

[0190] The user output device 2524 may include any device on which the client computing system 2514 can provide information to the user. For example, the user output device 2524 may include a display for displaying images generated by or delivered to the client computing system 2504. The display may incorporate various image generation technologies, such as liquid crystal displays (LCDs), light-emitting diodes (LEDs) including organic light-emitting diodes (OLEDs), projection systems, cathode ray tubes (CRTs), etc., along with supporting electronic equipment (e.g., digital-to-analog or analog-to-digital converters, signal processors, etc.). Some embodiments may include devices such as touchscreens that function as both input and output devices. In some embodiments, other user output devices 2524 may be provided in addition to, or instead of, the display. Examples include indicator lights, speakers, tactile "display" devices, printers, etc.

[0191] Some embodiments include electronic components such as a microprocessor, storage, and memory for storing computer program instructions on a computer-readable storage medium. Many of the features described herein can be implemented as a process, which is specified as a set of program instructions encoded on a computer-readable storage medium. When these program instructions are executed by one or more processing units, the program instructions cause the processing units to perform the various operations indicated by the program instructions. Examples of program instructions or computer code include machine code, such as that generated by a compiler, and files containing higher-level code that is executed by a computer, electronic components, or microprocessor using an interpreter. Through appropriate programming, processing units 2504 and 2506 can provide a variety of functions for the server system 2500 and the client computing system 2504, including any of the functions described herein as being executed by a server or client, or other functions associated with a message management service.

[0192] It will be understood that the server system 2500 and client computing system 2514 are exemplary and are subject to modification and alteration. Computer systems used in connection with embodiments of the present disclosure may have other capabilities not specifically described herein. Furthermore, while the server system 2500 and client computing system 2514 are described with reference to specific blocks, it should be understood that these blocks are defined for illustrative purposes and are not intended to imply a specific physical arrangement of component parts. For example, different blocks may, but do not need to be, located in the same facility, in the same server rack, or on the same motherboard. Furthermore, blocks do not need to correspond to physically separate components. Blocks may be configured to perform various operations, for example, by programming a processor or by providing appropriate control circuits, and the various blocks may or may not be reconfigurable depending on how the initial configuration is obtained. Embodiments of the present disclosure can be realized in a variety of devices, including electronic devices implemented using any combination of circuitry and software.

[0193] Implementations of the subject matter and operations described in this disclosure may be implemented in digital electronic circuits, or in computer software embodied on tangible media, firmware, or hardware, including the structures disclosed in this disclosure and their structural equivalents, or in one or more combinations thereof. Implementations of the subject matter described in this disclosure may be implemented as one or more computer programs encoded on a computer storage medium, for execution by a data processing device or to control the operation of a data processing device, for example, as one or more components of computer program instructions. Program instructions may be encoded on artificially generated propagating signals, for example, mechanically generated electrical, optical, or electromagnetic signals generated to encode information for transmission to a suitable receiver device for execution by a data processing device. Computer storage medium may be or may be a computer-readable storage device, a computer-readable storage board, a random or serial access memory array or device, or a combination thereof. Furthermore, although computer storage medium is not a propagating signal, computer storage medium may contain a source or destination for computer program instructions encoded on artificially generated propagating signals. Computer storage media may also consist of or be comprised of one or more separate physical components or media (e.g., multiple CDs, disks, or other storage devices).

[0194] The operations described in this disclosure can be implemented as operations performed by a data processing device on data stored in one or more computer-readable storage devices or on data received from other sources.

[0195] The terms “data processing device,” “data processing system,” “client device,” “computing platform,” “computing device,” or “device” encompass all types of equipment, devices, and machines for processing data, including, for example, programmable processors, computers, systems on a chip, or more, or combinations thereof. A device may include dedicated logic circuits, such as FPGAs (field-programmable gate arrays) or ASICs (application-specific integrated circuits). In addition to hardware, a device may also include code that creates an execution environment for the computer program, such as processor firmware, protocol stacks, database management systems, operating systems, cross-platform runtime environments, virtual machines, or combinations thereof. Devices and execution environments can realize a variety of different computing model infrastructures, such as web services, distributed computing, and grid computing infrastructures.

[0196] Computer programs (also known as programs, software, software applications, scripts, or code) can be written in any form of programming language, including compiled or interpreted languages, declarative or procedural languages, and can be deployed in any form, such as a standalone program or as modules, components, subroutines, objects, or other units suitable for use in a computing environment. Computer programs may or may not correspond to files in a file system. A program may be stored in part of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to the program, or in multiple collaborative files (e.g., files storing one or more modules, subprograms, or parts of code). Computer programs may be deployed to run on one computer, or on multiple computers located in one site or distributed across multiple sites and interconnected by a communication network.

[0197] The processes and logic flows described herein may be executed by one or more programmable processors that execute one or more computer programs to perform actions by acting on input data and producing outputs. The processes and logic flows may also be executed by dedicated logic circuits, such as FPGAs or ASICs, and the apparatus may also be implemented as dedicated logic circuits, such as FPGAs or ASICs.

[0198] Processors suitable for executing computer programs include, for example, both general-purpose and dedicated microprocessors, and any one or more processors of any type of digital computer. Generally, a processor receives instructions and data from read-only memory or random-access memory or both. The elements of a computer include a processor for performing actions according to instructions and one or more memory devices for storing instructions and data. Generally, a computer also includes one or more mass storage devices for storing data, such as magnetic disks, magneto-optical disks, or optical disks, or is operablely coupled to receive data from them, transfer data to them, or both. However, a computer does not need to have such devices. Furthermore, a computer may be incorporated into another device, such as a mobile phone, personal digital assistant (PDA), mobile audio or video player, game console, Global Positioning System (GPS) receiver, or portable storage device (e.g., Universal Serial Bus (USB) flash drive). Devices suitable for storing computer program instructions and data include, for example, all forms of non-volatile memory, media, and memory devices, including semiconductor memory devices such as EPROMs, EEPROMs, and flash memory devices; magnetic disks such as internal hard disks or removable disks, magneto-optical disks, CD-ROMs, DVD-ROMs, etc. The processor and memory may be complemented by or incorporated into dedicated logic circuits.

[0199] To provide interaction with a player, implementations of the subject matter described herein may be implemented on a computer having a display device for displaying information to the player, such as a CRT (cathode ray tube), plasma, or LCD (liquid crystal display) monitor, and a keyboard and pointing device, such as a mouse or trackball, on which the player can provide input to the computer. Other types of devices may also be used to provide interaction with the player. For example, feedback provided to the player may include any form of sensory feedback, such as visual feedback, auditory feedback, or tactile feedback, and input from the player may be received in any form, including acoustic, voice, or tactile input. In addition, the computer may interact with the player by sending documents to and receiving documents from devices used by the player. For example, this may be done by sending a web page to a web browser on the player's client device in response to a request received from a web browser.

[0200] Implementations of the subject matter described herein may be implemented in a computing system that includes, for example, a backend component as a data server, or a middleware component, such as an application server, or a frontend component, such as a client computer having a graphical user interface or a web browser on which a player can interact with the implementation of the subject matter described herein, or any combination of one or more such backend, middleware, or frontend components. The components of the system may be interconnected by digital data communications of any form or medium, such as communication networks. Examples of communication networks include local area networks ("LANs") and wide area networks ("WANs"), internetworks (e.g., the Internet), and peer-to-peer networks (e.g., ad-hoc peer-to-peer networks).

[0201] Computing systems such as game systems described herein may include clients and servers. For example, a game system may include one or more servers in one or more data centers or server farms. Clients and servers are generally remote from each other and typically interact via a communication network. The client-server relationship is established by computer programs running on each computer that have a client-server relationship with each other. In some implementations, the server sends data (e.g., an HTML page) to the client device (for example, to display data to a player interacting with the client device and to receive input from the player). Data generated in the client device (e.g., interactions, calculations, or the results of any other events or calculations) may be received by the server from the client device, and vice versa.

[0202] This disclosure includes many specific implementation details, which should not be construed as limitations on any invention or claimed scope, but rather as descriptions of features specific to particular implementations of the systems and methods described herein. Certain features described in this disclosure in the context of separate implementations may also be implemented in combination in a single implementation. Conversely, various features described in the context of a single implementation may be implemented separately or in any appropriate subcombination in multiple implementations. Furthermore, features may be described above as acting in a particular combination and may initially be claimed as such, but one or more features from a claimed combination may, in some cases, be removed from the combination, and the claimed combination may cover subcombinations or variations of subcombinations.

[0203] Similarly, although the actions are shown in a specific order in the drawings, this should not be understood as requiring that such actions be performed in the specific order or sequential order shown, or that all shown actions be performed, in order to achieve the desired result. In some cases, the actions described in the claims may be performed in a different order and still achieve the desired result. Furthermore, the processes shown in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired result.

[0204] In certain situations, multitasking and parallel processing may be advantageous. Furthermore, the separation of various system components in the embodiments described above should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged in multiple software products. For example, a game system may be part of a single module, a logic unit with one or more processing modules, one or more servers, or a search engine.

[0205] While several exemplary implementations have been described, it is clear that these are illustrative, not limiting, and are presented as examples only. In particular, many of the examples presented herein involve specific combinations of method behaviors or system elements, but those behaviors and those elements may be combined in other ways to achieve the same purpose. Behaviors, elements, and features described in relation to only one implementation are not intended to be excluded from similar roles in other implementations.

[0206] The expressions and terms used herein are for illustrative purposes only and should not be considered limiting. The use herein of “including,” “comprising,” “having,” “containing,” “involving,” “characterized by,” “characterized in that,” and variations thereof, means to include the items listed thereafter, their equivalents, and additional items, as well as alternative implementations consisting of the items listed thereafter exclusively. In one implementation, the systems and methods described herein consist of one, any combination of two or more, or all of the elements, actions, or components described.

[0207] Any singular reference in this specification to an implementation, element, or operation of a system or method may include implementations containing multiple such elements, and any plural reference in this specification to an implementation, element, or operation may include implementations containing only a single element. Singular or plural references are not intended to limit the systems or methods, their components, actions, or elements of this disclosure to one or more configurations. Any reference to an action or element based on any information, action, or element may include implementations where the action or element is at least partially based on any information, action, or element.

[0208] Any implementation disclosed herein may be combined with any other implementation. References such as “one implementation,” “several implementations,” “alternative implementations,” “various implementations,” and “one implementation” are not necessarily mutually exclusive and indicate that certain features, structures, or characteristics described in relation to an implementation may be present in at least one implementation. Such terms used herein do not necessarily refer to the same implementation. Any implementation may be combined with any other implementation, comprehensively or exclusively, in any manner consistent with the embodiments and implementations disclosed herein.

[0209] A reference to "or" may be interpreted as inclusive, such that any term written using "or" may refer to one, two or more, or all of the terms written.

[0210] Where reference numerals follow drawings, detailed descriptions, or technical features in any claim, the reference numerals are included solely for the purpose of enhancing the understanding of the drawings, detailed descriptions, and claims. Therefore, neither the reference numerals nor their absence have any limiting effect on the scope of the elements of any claim.

[0211] The systems and methods described herein may be embodied in other specific forms without departing from their characteristics. The foregoing implementations are illustrative, not limiting, to the systems and methods described herein. Accordingly, the scope of the systems and methods described herein may be indicated not by the foregoing description but by the appended claims, and any modifications that fall within the meaning and scope of the equivalents of the claims are included therein.

[0212] Where used herein in reference to structural features (for example, to describe shape, size, orientation, direction, relative position, etc.), the terms “approximately,” “about,” “substantially,” and similar terms are intended to have a broad meaning consistent with the general and acceptable use of the subject matter of this disclosure by those skilled in the art, including, for example, minor structural variations that may arise from manufacturing or assembly processes. Accordingly, these terms should be interpreted as indicating that any substantial or insignificant modifications or changes to the subject matter described and claimed are considered to fall within the scope of the disclosure as described in the appended claims.

[0213] It should be noted that the term “exemplary” and its variations used herein to describe various embodiments are intended to indicate that such embodiments are possible examples, representations, or illustrations of possible embodiments (and are not intended to imply that such embodiments are necessarily exceptional or superior examples).

[0214] As used herein, the term “joined” and its variations mean joining two members directly or indirectly to one another. Such joining may be stationary (e.g., permanent or fixed) or movable (e.g., removable or detachable). Such joining may be achieved using two members directly joined to one another, two members joined to one another using a separate intervening member and any additional intermediate member joined to one another, or two members joined to one another using an intervening member integrally formed with one of the two members as a single, integrated body. Where “joined” or its variations are modified by additional terms (e.g., directly joined), the general definition of “joined” provided above is modified by the plain language meaning of the additional term (e.g., “directly joined” means joining two members without any separate intervening member), resulting in a narrower definition than the general definition of “joined” provided above.

[0215] References to the position of elements in this specification (e.g., “top,” “bottom,” “upper,” “downward”) are used simply to describe the orientation of various elements in the figures. It should be noted that the orientation of various elements may differ according to other exemplary embodiments, and such variations are intended to be covered by this disclosure.

[0216] The drawings and descriptions may illustrate a specific order of steps in the method, but such order of steps may differ from that illustrated and described unless otherwise specified above. Furthermore, two or more steps may be performed simultaneously or partially simultaneously unless otherwise specified above.

[0217] It is important to note that any element disclosed in one embodiment may be incorporated into or utilized in any other embodiment disclosed herein. The apparatus, systems, and methods described herein may be embodied in other specific forms without departing from their features. The embodiments described herein are illustrative and not limiting. Accordingly, the scope of the systems and methods described herein is indicated not by the foregoing description but by the appended claims, and any modifications that fall within the meaning and scope of the equivalents of the claims are encompassed therein.

Claims

1. It is a surgical guide, Bass and, A surgical guide comprising: a drill guide coupled to the base, the drill guide including a drill guide body extending through the drill guide and defining a drill bore configured to receive a drill bit, the drill guide being configured to translate relative to the base to adjust a drill guide angle defined by the drill bore and the base, the drill guide being further configured to transition between a locked state and an unlocked state, the drill guide angle being fixed in the locked state and adjustable in the unlocked state.

2. The surgical guide according to claim 1, wherein the base includes a first leg including a first leg end, a second leg including a second leg end, and a third leg including a third leg end, the base plane being defined by the first leg end, the second leg end, and the third leg end, and the drill guide angle being defined by the drill bore and the base plane.

3. A first track is coupled to the base and defines a first track opening, The surgical guide according to claim 2, comprising: a second track connected to the base and defining a second track opening, wherein the drill guide is configured to translate relative to the base within the first track opening and the second track opening.

4. The surgical guide according to claim 3, wherein the first track is rotatably coupled to the base and configured to rotate about a first axis.

5. The surgical guide according to claim 4, wherein the first axis is parallel to the base surface.

6. The surgical guide according to claim 5, wherein the second track is rotatably coupled to the base and configured to rotate around the second axis.

7. The surgical guide according to claim 6, wherein the second axis is perpendicular to the first axis.

8. The surgical guide according to claim 7, wherein the first axis and the second axis are parallel to the base plane.

9. The surgical guide according to claim 3, wherein the drill guide includes a lock nut configured to rotate relative to the drill bore, and the rotation of the lock nut causes the drill guide to transition between the locked state and the unlocked state.

10. The surgical guide according to claim 9, wherein the drill guide further includes a clamping member, and the rotation of the lock nut in the first direction compresses the clamping member against the second track, thereby fixing the drill guide in the locked state.

11. The surgical guide according to claim 10, wherein the drill guide further includes a first projection and a second projection extending from the outer portion of the drill guide body, and the rotation of the lock nut in the first direction compresses the first projection and the second projection against the first track, thereby fixing the drill guide in the locked state.

12. The surgical guide according to claim 3, wherein the first track opening is a linear opening extending in a direction parallel to the base plane.

13. The surgical guide according to claim 3, wherein the second track opening is a curved opening that defines a convex curvature with respect to the base plane.

14. The surgical guide according to claim 1, wherein the drill guide includes an adapter adjacent to a first end of the drill guide body, and the adapter is configured to receive a drill guide retainer.

15. The surgical guide according to claim 14, wherein the adapter includes a plurality of spines surrounding the outer portion of the drill guide body.

16. A surgical system, It is a surgical guide, Bass and, A surgical guide comprising: a drill guide coupled to the base, the drill guide defining a drill bore configured to receive a drill bit, and including a drill guide body extending through the drill guide, the drill guide being configured to translate relative to the base to adjust the drill guide angle defined by the drill bore and the base, the drill guide being further configured to transition between a locked state and an unlocked state, the drill guide angle being fixed in the locked state and adjustable in the unlocked state; An adjustment device configured to cause a change in the drill guide angle, An adjustment base configured to support the surgical guide, An adjustment device comprising a drill guide adjuster configured to engage with the adjustment base, the adjustment device comprising: a handle adjacent to the end of a first drill guide adjuster; an adjustment projection adjacent to the end of a second drill guide adjuster; and a drill guide adjuster body positioned between the handle and the adjustment projection, wherein the adjustment projection is configured to be received within the drill bore such that movement of the handle causes a change in the drill guide angle; A surgical system comprising: an adjustment stand configured to be selectively coupled to the surgical guide, wherein the adjustment base is configured to receive at least a portion of the adjustment stand to restrict relative movement between the adjustment base and the adjustment stand.

17. The drill guide adjuster is A first adjustment track coupled to the adjustment base and defining a first adjustment track opening, The surgical system according to claim 16, further comprising: a second adjustment track coupled to an adjustment body and defining a second adjustment track opening, wherein the drill guide adjuster is translated within at least one of the first adjustment track opening or the second adjustment track opening by movement of the handle.

18. The surgical system according to claim 17, wherein the first adjustment track is rotatably coupled to the adjustment base and configured to rotate about a first adjustment axis.

19. The surgical system according to claim 18, wherein the first adjustment axis is parallel to the base plane defined by the base while the drill guide adjuster and the drill guide are coupled to the adjustment stand.

20. The surgical system according to claim 18, wherein the second adjustment track is rotatably coupled to the adjustment base and configured to rotate about a second adjustment axis.

21. The surgical system according to claim 20, wherein the second adjustment axis is perpendicular to the first adjustment axis.

22. The surgical system according to claim 21, wherein the rotation of the handle is configured to move the drill guide between the locked state and the unlocked state while the drill guide adjuster is coupled to the drill guide.

23. The surgical system according to claim 22, wherein the drill guide includes a lock nut configured to rotate relative to the drill bore, and the rotation of the lock nut causes the drill guide to move between the locked state and the unlocked state.

24. The surgical system according to claim 23, wherein the lock nut includes a plurality of lock nut splines, and the drill guide adjuster body includes a plurality of drill guide adjuster body splines configured to interface with the plurality of lock nut splines, and the drill guide adjuster is coupled to the drill guide such that the rotation of the handle causes the drill guide to move between the locked state and the unlocked state.

25. The surgical system according to claim 17, wherein the adjustment base defines an adjustment base plane, and the drill guide adjuster includes a first adjustment track indicator configured to indicate a first relative angular orientation of the drill guide in a first adjustment plane with respect to the adjustment base plane.

26. The surgical system according to claim 25, wherein the drill guide adjuster includes a second adjustment track indicator configured to indicate a second relative angular orientation of the drill guide in a second adjustment plane with respect to the adjustment base.

27. The surgical system according to claim 17, wherein the adjustment stand includes a first clamp arm and a second clamp arm configured to selectively connect the surgical guide to the adjustment stand.

28. It is a method, The process of providing an adjustable stand, The step of attaching a surgical guide to the adjustment stand, wherein the surgical guide is Bass and, A drill guide coupled to the base, comprising a drill guide body that defines a drill bore and extends through the drill guide, wherein the drill bore and the base define a drill guide angle, and the process includes: A step of providing an adjustment device, Adjustment base and, A drill guide adjuster coupled to the base, comprising a handle adjacent to a first drill guide adjuster end of the drill guide adjuster, an adjustment projection adjacent to a second drill guide adjuster end of the drill guide adjuster, and a drill guide adjuster body positioned between the handle and the adjustment projection, comprising the steps of: The steps include inserting the adjustment projection into the drill bore, A step of adjusting the position of the handle, thereby translating the drill guide relative to the base and adjusting the angle of the drill guide, A method comprising the step of locking the drill guide so that the angle of the drill guide is fixed.

29. The steps include removing the adjustment projection from the drill bore, The method according to claim 28, further comprising the steps of separating the drill guide from the adjustment stand and providing the drill guide at a desired position close to the bone.

30. The method according to claim 28, further comprising the step of rotating the handle while the adjustment projection is positioned within the drill guide to move the drill guide into a locked state and prevent a change in the angle of the drill guide.

31. A method for virtual surgical planning, The process involves processing preoperative image data of the glenoid fossa using one or more processors to identify defined anatomical landmarks, including the glenoid surface of the glenoid fossa. A step of generating a virtual representation of the glenoid surface based on the defined anatomical landmarks using one or more processors, wherein the visual representation includes a dynamically adjustable virtual boundary defined on the virtual surface of the glenoid surface. The process involves one or more processors maintaining a virtual model of the surgical guide within a data structure, A step of providing the virtual representation of the glenoid surface and the virtual model of the surgical guide in a user interface using one or more processors, wherein the virtual model of the surgical guide is configured to align with the virtual representation of the glenoid surface, the virtual model of the surgical guide includes a virtual base plane defined by several virtual prongs, each virtual prong being positioned on the virtual surface of the glenoid surface within the virtual boundary such that the virtual base plane aligns with the glenoid plane defined by the virtual surface of the glenoid surface, In response to aligning the virtual model of the surgical guide with the virtual representation of the articular surface, one or more processors: A rotation angle indicating at least one of posterior or anterior inclination of the axis of the surgical guide with respect to the glenoid plane, and A step of determining an inclination angle that shows at least one of downward or upward inclination of the axis of the surgical guide with respect to the glenoid plane, A method comprising the step of adjusting the position or orientation of the virtual model of the surgical guide based on at least one of the rotation angle or the tilt angle using one or more processors.

32. The process of using one or more processors to display the virtual representation of the articular surface and the virtual model of the surgical guide, The process involves one or more processors receiving interactions via the user interface to move the position or orientation of the virtual model of the surgical guide, The method according to claim 31, comprising the step of modifying the view of the virtual representation of the glenoid surface and the virtual model of the surgical guide in response to receiving the interaction by one or more processors, wherein the view is at least one of a coronal view, a sagittal view, or a transverse view.

33. The method according to claim 32, wherein the interaction is received via an interaction element, a button, a voice command, a joystick, a gesture recognition system, haptic feedback, or tactile feedback.

34. The method according to claim 31, wherein the virtual base plane includes at least three virtual prongs.

35. The method according to claim 31, further comprising restricting the positioning of the virtual model of the surgical guide within the virtual boundary by one or more processors.

36. The method according to claim 31, further comprising the step of providing feedback in response to one or more processors determining that the virtual model of the surgical guide extends outside the virtual boundary, wherein the feedback includes at least one of an error message or a visual instruction.

37. The process includes: receiving input via the user interface for adjusting the position or orientation of the virtual model of the surgical guide using one or more processors; The method according to claim 31, further comprising the step of generating an output by one or more processors that identifies the rotation angle and the tilt angle in response to receiving the input.

38. The method according to claim 31, further comprising using one or more processors to automatically position the virtual prongs of the virtual model of the surgical guide at a first set of determined prong positions on the virtual surface of the articular surface.

39. The method according to claim 38, further comprising automatically repositioning the virtual prongs of the virtual model of the surgical guide to a second set of determined prong positions on the virtual surface of the articular surface, in response to the adjustment of the position or orientation of the virtual model of the surgical guide by one or more processors.

40. The aforementioned surgical guide is A base including at least three legs that define the base plane, A drill guide coupled to the base, comprising: a drill guide body extending through the drill guide, defining a drill bore configured to receive a drill bit, wherein the drill guide is configured to translate relative to the base to adjust a drill guide angle defined by the drill bore and the base, the drill guide is further configured to transition between a locked state and an unlocked state, the drill guide angle is fixed in the locked state, the drill guide angle is adjustable in the unlocked state, and the drill guide angle is defined by the drill bore and the base plane, A first track is coupled to the base and defines a first track opening, The method according to claim 31, comprising: a second track connected to the base and defining a second track opening, wherein the drill guide is configured to translate relative to the base within the first track opening and the second track opening.

41. The method according to claim 31, further comprising using one or more processors to display various anatomical densities determined from the preoperative image data of the articular fossa on the virtual representation of the articular fossa having color-coded regions.

42. The method according to claim 31, further comprising the step of determining the rotation angle and the tilt angle based on biomechanical data showing the anatomical structure of the glenoid fossa specific to the patient, using one or more processors.

43. The method according to claim 31, further comprising the step of determining a spatial relationship between the virtual model of the surgical guide and the virtual representation of the articular surface using one or more processors, wherein the spatial relationship further includes one or more spatial parameters indicating at least one of the distance, orientation angle, intersection, or overlapping region between the virtual base plane of the surgical guide and the articular plane.

44. It is a system, It comprises one or more processors coupled to memory, and the one or more processors are The process involves processing preoperative image data of the glenoid fossa to identify defined anatomical landmarks including the glenoid surface of the glenoid fossa. A step of generating a virtual representation of the articular surface based on defined anatomical landmarks, wherein the visual representation includes a dynamically adjustable virtual boundary defined on the virtual surface of the articular surface. In the data structure, the process of maintaining a virtual model of the surgical guide, A step of providing the virtual representation of the glenoid surface and the virtual model of the surgical guide for presentation on a user interface, wherein the virtual model of the surgical guide is configured to align with the virtual representation of the glenoid surface, and the virtual model of the surgical guide includes a virtual base plane defined by several virtual prongs, each virtual prong being positioned on the virtual surface of the glenoid surface within the virtual boundary such that the virtual base plane aligns with the glenoid plane defined by the virtual surface of the glenoid surface; In response to aligning the virtual model of the surgical guide with the virtual representation of the articular surface, A rotation angle indicating at least one of posterior or anterior inclination of the axis of the surgical guide with respect to the glenoid plane, and A step of determining an inclination angle that shows at least one of downward or upward inclination of the axis of the surgical guide with respect to the glenoid plane, A system configured to perform the steps of adjusting the position or orientation of the virtual model of the surgical guide based on at least one of the rotation angle or the inclination angle.

45. The one or more processors described above are: For display purposes, the process includes presenting a virtual representation of the articular surface and a view of the virtual model of the surgical guide. The process includes receiving an interaction via the user interface to move the position or orientation of the virtual model of the surgical guide, The system according to claim 44, configured to perform the steps of modifying the view of the virtual representation of the glenoid surface and the virtual model of the surgical guide in response to receiving the interaction, wherein the view is at least one of a coronal view, a sagittal view, or a transverse view.

46. The system according to claim 45, wherein the interaction is received via an interaction element, a button, a voice command, a joystick, a gesture recognition system, haptic feedback, or haptic force feedback.

47. The system according to claim 44, wherein the virtual base plane includes at least three virtual prongs.

48. The system according to claim 44, wherein one or more processors are configured to restrict the positioning of the virtual model of the surgical guide within the virtual boundary.

49. The system according to claim 44, wherein one or more processors are configured to provide feedback in response to a determination that the virtual model of the surgical guide extends outside the virtual boundary, and the feedback includes at least one of an error message or a visual instruction.

50. The one or more processors described above are: The process includes receiving input via the user interface for adjusting the position or orientation of the virtual model of the surgical guide, The system according to claim 44, configured to perform the steps of: receiving the input, generating an output that identifies the rotation angle and the tilt angle.

51. The system according to claim 44, wherein one or more processors are configured to automatically position the virtual prongs of the virtual model of the surgical guide at a first set of determined prong positions on the virtual surface of the articular surface.

52. The system according to claim 51, wherein one or more processors are configured to automatically reposition the virtual prongs of the virtual model of the surgical guide to a second set of determined prong positions on the virtual surface of the articular surface, in response to a step of adjusting the position or orientation of the virtual model of the surgical guide.

53. The aforementioned surgical guide is A base including at least three legs that define the base plane, A drill guide coupled to the base, comprising: a drill guide body extending through the drill guide, defining a drill bore configured to receive a drill bit, wherein the drill guide is configured to translate relative to the base to adjust a drill guide angle defined by the drill bore and the base, the drill guide is further configured to transition between a locked state and an unlocked state, the drill guide angle is fixed in the locked state, the drill guide angle is adjustable in the unlocked state, and the drill guide angle is defined by the drill bore and the base plane, A first track is coupled to the base and defines a first track opening, The system according to claim 44, comprising: a second track connected to the base and defining a second track opening, wherein the drill guide is configured to translate relative to the base within the first track opening and the second track opening.

54. The system according to claim 44, wherein one or more processors are configured to show a changing anatomical density on the virtual representation of the glenoid surface using color-coded regions, and the changing anatomical density is determined from the preoperative image data of the glenoid surface.

55. The system according to claim 44, wherein one or more processors are configured to determine the rotation angle and the tilt angle based on biomechanical data showing the anatomical structure of the glenoid fossa specific to the patient.

56. The system according to claim 44, wherein one or more processors are configured to determine a spatial relationship between the virtual model of the surgical guide and the virtual representation of the articular surface, the spatial relationship includes one or more spatial parameters indicating at least one of the distance, orientation angle, intersection, or overlapping region between the virtual base plane of the surgical guide and the articular plane.

57. A non-temporary computer-readable medium for storing instructions, wherein when an instruction is executed by one or more processors, the instructions are sent to the one or more processors. The process involves processing preoperative image data of the glenoid fossa to identify defined anatomical landmarks including the glenoid surface of the glenoid fossa. A step of generating a virtual representation of the articular surface based on defined anatomical landmarks, wherein the visual representation includes a dynamically adjustable virtual boundary defined on the virtual surface of the articular surface. In the data structure, the process of maintaining a virtual model of the surgical guide, A step of providing the virtual representation of the glenoid surface and the virtual model of the surgical guide for presentation on a user interface, wherein the virtual model of the surgical guide is configured to align with the virtual representation of the glenoid surface, and the virtual model of the surgical guide includes a virtual base plane defined by several virtual prongs, each virtual prong being positioned on the virtual surface of the glenoid surface within the virtual boundary such that the virtual base plane aligns with the glenoid plane defined by the virtual surface of the glenoid surface; In response to aligning the virtual model of the surgical guide with the virtual representation of the articular surface, A rotation angle indicating at least one of posterior or anterior inclination of the axis of the surgical guide with respect to the glenoid plane, and A step of determining an inclination angle that shows at least one of downward or upward inclination of the axis of the surgical guide with respect to the glenoid plane, A non-temporary computer-readable medium configured to perform the steps of adjusting the position or orientation of the virtual model of the surgical guide based on at least one of the rotation angle or the inclination angle.

58. A method for executing a virtual surgical plan, A step of evaluating virtual plan data using one or more processors, wherein the virtual plan data is To provide an opening for implanting a surgical implant in the glenoid fossa, the perforation site is based on anatomical landmarks defined along the pathway, and A step including the rotation and inclination angles of a virtual model of a surgical guide positioned according to the drilling location relative to a virtual representation of the glenoid surface, A step of communicating the virtual planning data to a surgical system using one or more processors, wherein the surgical system Converting the virtual planning data into defined movement commands, wherein the defined movement commands indicate the placement of the surgical guide based on the virtual planning data, and A method comprising the step of executing the defined movement command to cause the surgical system to perforate at the perforation location.

59. The method according to claim 58, further comprising the step of verifying the virtual plan data in accordance with preoperative data using one or more processors.

60. The method of claim 58, wherein, in order to convert the virtual planning data into defined move commands, the surgical system is further configured to identify the position or orientation of the virtual model of the surgical guide relative to the virtual representation of the articular surface, the virtual model of the surgical guide includes several virtual prongs positioned on the virtual surface of the articular surface.

61. The method according to claim 58, further comprising using one or more processors to restrict the surgical system to a puncturing instrument within the virtual boundary of the glenoid surface.

62. It is a system, It comprises one or more processors coupled to memory, and the one or more processors are A step of evaluating the virtual plan data, wherein the virtual plan data is To provide an opening for implanting a surgical implant in the glenoid fossa, the perforation site is based on anatomical landmarks defined along the pathway, and A step including the rotation and inclination angles of a virtual model of a surgical guide positioned according to the drilling location relative to a virtual representation of the glenoid surface, A step of communicating the virtual planning data to a surgical system, wherein the surgical system Converting the virtual planning data into defined movement commands, wherein the defined movement commands indicate the placement of the surgical guide based on the virtual planning data, and A system configured to perform a process, which involves executing a defined movement command to cause the surgical system to perforate at the perforation location.

63. The system according to claim 62, wherein one or more processors are configured to verify the virtual plan data in accordance with preoperative data.

64. To convert the virtual planning data into defined move commands, the surgical system is further configured to identify the position or orientation of the virtual model of the surgical guide relative to the virtual representation of the glenoid surface, wherein the virtual model of the surgical guide includes several virtual prongs positioned on the virtual surface of the glenoid surface, according to claim 62.

65. The system according to claim 62, wherein the one or more processors are configured to cause the surgical system to restrict the drilling instrument to the virtual boundary of the glenoid surface.

66. A non-temporary computer-readable medium for storing instructions, wherein when an instruction is executed by one or more processors, the instructions are sent to the one or more processors. A step in which virtual plan data is evaluated, wherein the virtual plan data is To provide an opening for implanting a surgical implant in the glenoid fossa, the perforation site is based on anatomical landmarks defined along the pathway, and A step including the rotation and inclination angles of a virtual model of a surgical guide positioned according to the drilling location relative to a virtual representation of the glenoid surface, A step of communicating the virtual planning data to a surgical system, wherein the surgical system Converting the virtual planning data into defined movement commands, wherein the defined movement commands indicate the placement of the surgical guide based on the virtual planning data, and A non-temporary computer-readable medium that causes the defined movement command to be executed, thereby causing the surgical system to perforate at the perforation location.

67. A method for navigating according to a virtual surgical plan, the method being: A process of accessing intraoperative images of the glenoid surface using one or more processors, The process involves using one or more processors to identify the position of a puncture instrument coupled to a surgical guide within the intraoperative image. The process involves generating an image by superimposing a virtual representation of the articular surface onto the intraoperative image using one or more processors. The process involves using one or more processors to determine the spatial relationship between the position of the drilling instrument and the virtual representation of the articular surface, based on the rotation and tilt angles of the surgical guide, using the image. A method comprising the step of displaying a dynamic visual indicator on the image, which indicates a drilling position for positioning the drilling device, using one or more processors.

68. The method according to claim 67, wherein the position of the puncture instrument coupled to the surgical guide is identified based on a defined marker pattern of the surgical guide in the intraoperative image.

69. The method according to claim 38, wherein the defined marker pattern of the surgical guide includes geometric shapes, alphanumeric characters, or color-coded markers.

70. The process involves using one or more processors to identify the virtual representation of the glenoid surface and the anatomical landmarks in the intraoperative image of the glenoid surface. The method according to claim 67, further comprising the step of using one or more processors to align the anatomical landmarks in the virtual representation of the glenoid surface with corresponding landmarks in the intraoperative image of the glenoid surface.

71. The method according to claim 67, wherein the spatial relationship corresponds to an offset between the position of the drilling instrument and the drilling position on the articular surface.

72. By one or more of the aforementioned processors, A step of directly projecting a light pattern onto the articular surface, wherein the light pattern visually indicates the perforation location. A process of overlaying the perforation site onto the surgeon's field of view via an augmented reality headset, virtual reality headset, or mixed reality headset, or The method according to claim 67, further comprising the step of presenting the dynamic visual indicator by presenting the perforation position relative to the virtual representation of the articular surface on a monitor or screen.

73. The method according to claim 67, further comprising the step of accessing a timestamped sequence of intraoperative images of the articular surface in response to a step of identifying the movement of the drilling instrument by one or more processors.

74. It is a system, It comprises one or more processors coupled to memory, and the one or more processors are The process of accessing intraoperative images of the glenoid surface, The steps include identifying the position of a puncture instrument attached to a surgical guide in the intraoperative image, The process involves generating an image by superimposing a virtual representation of the articular surface onto the intraoperative image, Using the aforementioned image, the spatial relationship between the position of the drilling instrument and the virtual representation of the articular surface is determined based on the rotation angle and inclination angle of the surgical guide. A system configured to perform the steps of: presenting a dynamic visual indicator on the image that shows a drilling position for positioning the drilling device.

75. The system according to claim 74, wherein the position of the puncture instrument coupled to the surgical guide is identified based on a defined marker pattern of the surgical guide in the intraoperative image.

76. The system according to claim 75, wherein the defined marker pattern of the surgical guide includes geometric shapes, alphanumeric characters, or color-coded markers.

77. The one or more processors described above The steps include identifying the virtual representation of the glenoid surface and the anatomical landmarks in the intraoperative image of the glenoid surface, The system according to claim 74, configured to perform the steps of aligning the anatomical landmarks in the virtual representation of the glenoid surface with the corresponding landmarks in the intraoperative image of the glenoid surface.

78. The system according to claim 74, wherein the spatial relationship corresponds to an offset between the position of the drilling instrument and the drilling position on the articular surface.

79. The one or more processors described above are: A step of directly projecting a light pattern onto the articular surface, wherein the light pattern visually indicates the perforation location. A process of overlaying the perforation site onto the surgeon's field of view via an augmented reality headset, virtual reality headset, or mixed reality headset, or The system according to claim 74, configured to present the dynamic visual indicator by the step of presenting the perforation position relative to the virtual representation of the articular surface on a monitor or screen.

80. The system according to claim 74, wherein one or more processors are configured to access a timestamped sequence of intraoperative images of the articular surface in response to identifying the movement of the drilling instrument.

81. A non-temporary computer-readable medium for storing instructions, wherein when an instruction is executed by one or more processors, the instructions are sent to the one or more processors. The process of accessing intraoperative images of the glenoid surface, The steps include identifying the position of a puncture instrument attached to a surgical guide in the intraoperative image, The process involves generating an image by superimposing a virtual representation of the articular surface onto the intraoperative image, Using the aforementioned image, the spatial relationship between the position of the drilling instrument and the virtual representation of the articular surface is determined based on the rotation angle and inclination angle of the surgical guide. A non-temporary computer-readable medium that performs the steps of displaying a dynamic visual indicator on the image that shows a drilling position for positioning the drilling device.

Images