Hardware Position Detection in Bone Resection Volumes
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Solution Overview
Problem
In computer-assisted orthopedic surgery, there is a challenge in accurately placing hardware on bones without it colliding with the end-effector tool, leading to potential damage and procedural delays due to bone motion during the installation of recovery markers or tracking arrays within the tool's path.
Innovation Solution
A method and system that determine if hardware is installed within the volume of bone to be removed by calculating the position of the hardware relative to the cut volume using a computer-assisted surgical system, notifying the user if it is inside, and instructing the user to reposition it outside the cut volume to avoid collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If recovery markers are installed at any desired location on the bone, then the registration can be restored after bone motion, but the markers may collide with the end-effector tool causing procedural delays and potential damage
Solution Approach 1:
The system calculates the position of recovery markers relative to the cut volume before the end-effector tool begins its operation. By determining whether markers are located within the tool path in advance, the system allows users to reposition markers to safe locations before collision can occur, thus maintaining registration restoration capability while avoiding procedural delays
Solution Approach 2:
The system provides real-time feedback to the user by notifying when a recovery marker is positioned within the cut volume. This feedback mechanism enables the user to immediately reposition the marker to an appropriate location outside the tool path, preventing collisions while ensuring the marker remains accessible for registration restoration if bone motion occurs
2Manufacturing precision
If the end-effector tool autonomously moves through the bone preparation path, then accurate implant placement can be achieved, but hardware installed in the bone may be damaged by collision with the tool
Solution Approach 1:
The system performs a preliminary calculation to determine the spatial relationship between installed hardware (recovery markers, tracking arrays) and the planned cut volume before the end-effector begins autonomous operation. This advance assessment allows users to reposition any hardware that would be in the tool path, eliminating collision risk while preserving the precision of autonomous bone preparation
Solution Approach 2:
The system takes preliminary anti-action by identifying and preventing potential collisions between the end-effector tool and hardware before they can occur. By notifying users of hardware positioned within the cut volume and enabling repositioning, the system counteracts the harmful effect of potential collisions while maintaining the benefits of autonomous tool operation
Data Source
AI summary
A system and method are described herein for determining if hardware installed in a bone is at least partially within a volume of bone to be removed. The method includes determining a location for the volume of bone to be removed relative to a position of the bone. A POSE of a piece of hardware installed in the bone is determined. A computer comprising a processor then calculates if any portion of the piece of hardware is located at least partially within the volume of bone to be removed using the determined location of the volume of bone to be removed and the determined POSE of the piece of hardware. A user may be notified if any portion of the hardware is located at least partially within the cut volume.