Hinge detection for orthopedic fixation

Description

BACKGROUND

Techniques used to treat fractures and/or deformities of anatomical structures, such as bones, can include the use of external fixators, such as hexapods and other fixation frames, which are surgically mounted to anatomical structure segments on opposed sides of a fracture site. A pair of radiographic images is taken of the fixator and anatomical structure segments at the fracture site. Data from the images is then manipulated to construct a three-dimensional representation of the fixator and the anatomical structures segments that can be used in developing a treatment plan, which may for example comprise realigning the anatomical structure segments through adjustments to the fixator.

Existing techniques for controlling fixator manipulation may, however, involve a number of limitations that may introduce inefficiency, complication, and unreliability. For example, some conventional techniques may rely on a surgeon or other user to indicate locations of certain fixator elements, such as hinges, within images that are displayed in a graphical user interface of a computer. However, it may often be difficult for the user to identify and mark positions of the hinges and other fixator elements within the images. In particular, depending upon the location and orientation from which an image is captured, hinges and other fixator elements may not be identified easily, such as because they may wholly or partially overlap one another or may otherwise be obscured within the images. This may make it cumbersome for the user to identify the fixator elements, thereby increasing time required to identify the elements, increasing the probability of errors, and reducing the reliability of the calculations. This may reduce the reliability of the treatment plan, possibly resulting in improper alignment of anatomical structures segments during the healing process, compromised union between the anatomical structure segments, necessitating additional rounds of radiographic imaging to facilitate alignment corrections, or even necessitating additional surgical procedures.

SUMMARY

Techniques for hinge detection for orthopedic fixation, for example for correction of a deformity of an anatomical structure, such as a bone, are described herein. In particular, in some examples, a fixation apparatus may be attached to first and second anatomical structure segments. Images, such as x-rays, of the fixation apparatus and the attached anatomical structure segments may then be captured from different orientations with respect to the fixation apparatus.

In some examples, various manipulations to the fixation apparatus for correction of the anatomical structure deformity may be determined based on positions and orientations of the anatomical structure segments in three-dimensional space. Also, in some examples, the positions and orientations of the anatomical structure segments in three-dimensional space may be determined based on the images. In particular, in some cases, the positions and orientations of the anatomical structure segments in three-dimensional space may be determined by having a surgeon or other user indicate locations of various fixator elements and anatomical structures within the images. However, as described above, it may often be difficult for the user to identify and mark positions of certain fixator elements, such as hinges, within the images. In particular, depending upon the location and orientation from which an image is captured, hinges and other fixator elements may be not be identified easily, such as because they may wholly or partially overlap one another or may otherwise be obscured within the images. This may make it cumbersome for the user to identify the fixator elements, thereby increasing time required to identify the elements, increasing the probability of errors, and reducing the reliability of the calculations.

To alleviate the above and other problems, an automated or semi-automated hinge detection process may be employed. Specifically, in some examples, first and second images may be displayed of the first and the second anatomical structure segments with the fixation device attached thereto. Indications may be received of first image hinge locations associated with the plurality of hinges in the first image. Projected second image hinge locations associated with the plurality of hinges in the second image may then be determined based at least in part on the indications of the first image hinge locations. Hinge candidates may be detected in the second image having shapes associated with the plurality of hinges. The hinge candidates may be detected by computer software using automated software-based image analysis techniques. For example, the hinges may have circular shapes, and the computer software may employ circle detection algorithms, such as a Hough transformation, to identify circular shapes in the second image as hinge candidates. Candidate second image hinge locations of the hinge candidates within the second image may then be identified.

Adjusted second image hinge locations associated with the plurality of hinges within the second image may then be calculated based at least in part on the projected second image hinge locations and the candidate second image hinge locations. In some examples, in order to calculate the adjusted second image hinge locations, the hinge candidates may be grouped into a set of hinge candidate groups, for example based on similarities of their locations and size characteristics (e.g., radius lengths). The set of hinge candidate groups may then be weighted based at least in part on a number of hinge candidates within each of the set of hinge candidate groups. A highest weighted subset of hinge candidate groups from the set of hinge candidate groups may then be selected. A plurality of average group locations may then be calculated, with each of the average group locations being associated with a respective hinge candidate group of the highest weighted subset of hinge candidate groups. A transformation matrix may then be constructed that describes a spatial relationship between the projected second image hinge locations and the plurality of average group locations. The transformation matrix may then be used to adjust the projected second image hinge locations to the adjusted second image hinge locations. The adjusted second image hinge locations may then be used to determine physical locations of the fixation device and the first and second anatomical structure segments in physical three-dimensional space. The physical locations of the fixation device and the first and second anatomical structure segments may then be used to determine manipulations to the fixation device for the correction of the deformity.

BRIEF DESCRIPTION OF THE DRAWINGS

The patent or application file contains at least one drawing executed in color. Copies of this patent or patent application publication with color drawing(s) will be provided by the Office upon request and payment of the necessary fee.

The foregoing summary, as well as the following detailed description of the preferred embodiments of the application, will be better understood when read in conjunction with the appended drawings. For the purposes of illustrating the methods and/or techniques of orthopedic fixation with imagery analysis, there are shown in the drawings preferred embodiments. It should be understood, however, that the instant application is not limited to the precise arrangements and/or instrumentalities illustrated in the drawings, in which:

FIG. 1 is a perspective view of a fixation assembly positioned for imaging in accordance with an embodiment;

FIG. 2 is a perspective view of an example imaging process of the fixation assembly illustrated in FIG. 1;

FIGS. 3A and 3B are flow diagrams illustrating an example process for controlling manipulation of a fixation apparatus to correct an anatomical structure deformity;

FIG. 4 is a screen shot of an example interface for selecting a Perspective Frame Matching (PFM) technique;

FIG. 5 is a screen shot of an example configuration information entry interface for the PFM technique;

FIG. 6 is a screen shot of an example first image information entry interface for the PFM technique;

FIG. 7 is a screen shot of an example close-up assist interface for the PFM technique;

FIGS. 8A-8H are screen shots of an example second image information entry interface for the PFM technique;

FIG. 9 is a screen shot of example deformity parameter interface for the PFM technique;

FIG. 10 is a screen shot of an example mounting parameter interface for the PFM technique;

FIG. 11 is a screen shot of a first example treatment plan interface for the PFM technique;

FIG. 12 is a screen shot of a second example treatment plan interface for the PFM technique;

FIG. 13 is a screen shot of a third example treatment plan interface for the PFM technique;

FIG. 14A is a flow diagram illustrating an example process for hinge detection for orthopedic fixation;

FIG. 14B is a flow diagram illustrating an example process for calculating adjusted second image hinge locations;

FIG. 15A is a diagram illustrating example images of first and second anatomical structure segments and a fixator attached thereto;

FIG. 15B is a diagram illustrating example first and second images of a fixator in which hinge locations are indicated in the first image but not the second image;

FIG. 16 is a diagram illustrating example graphical projection of a fixator overlaid upon an image;

FIG. 17 is a diagram illustrating an example graphical projection of a fixator that is manipulated by a user;

FIG. 18 is a diagram illustrating example projected second image hinge locations;

FIG. 19 is a diagram illustrating an example hinge candidate list;

FIG. 20 is a diagram illustrating an example hinge candidate group list;

FIG. 21 is a diagram illustrating an example hinge candidate group;

FIG. 22 is a diagram illustrating an example representation of a transformation matrix for calculating adjusted second image hinge locations;

FIG. 23 is a diagram illustrating an example adjustment of projected second image hinge locations;

FIG. 24 is a diagram illustrating example adjusted second image hinge locations;

FIG. 25 is a diagram illustrating example first and second images of a fixator in which hinge locations are indicated in the first image and adjusted second image hinge locations are calculated in the second image; and

FIG. 26 is a block diagram of an example computing device for use in accordance with the present disclosure.

DETAILED DESCRIPTION

For convenience, the same or equivalent elements in the various embodiments illustrated in the drawings have been identified with the same reference numerals. Certain terminology is used in the following description for convenience only and is not limiting. The words “right”, “left”, “top” and “bottom” designate directions in the drawings to which reference is made. The words “inward”, “inwardly”, “outward”, and “outwardly” refer to directions toward and away from, respectively, the geometric center of the device and designated parts thereof. The terminology intended to be non-limiting includes the above-listed words, derivatives thereof and words of similar import.

Referring initially to FIG. 1, bodily tissues, for instance first and second anatomical structure segments 102, 104, can be aligned and/or oriented to promote union or other healing between the bodily tissues. Anatomical structures may include, for example, anatomical tissue and artificial anatomical implants. Anatomical tissue may include, for example, bone or other tissue in the body. The alignment and/or orientation of the bodily tissues can be achieved by connecting the bodily tissues to an adjustable fixation apparatus, such as orthopedic fixator 100. The orthopedic fixator can comprise an external fixation apparatus that includes a plurality of discrete fixator members that remain external to the patient's body, but that are attached to respective discreet bodily tissues, for example with minimally invasive attachment members. A fixation apparatus may include, for example, a distraction osteogenesis ring system, a hexapod, or a Taylor spatial frame. By adjusting the spatial positioning of the fixator members with respect to each other, the respective bodily tissues attached thereto can be reoriented and/or otherwise brought into alignment with each other, for example to promote union between the bodily tissues during the healing process. The use of external orthopedic fixators in combination with the imagery analysis and positioning techniques described herein can be advantageous in applications where direct measurement and manipulation of the bodily tissues is not possible, where limited or minimally invasive access to the bodily tissues is desired, or the like. Some examples of orthopedic fixators and their use for correcting deformities of anatomical structure segments, as well as techniques for performing imagery analysis on the fixators and anatomical structure segments are described in U.S. Pat. No. 9,642,649, entitled “ORTHOPEDIC FIXATION WITH IMAGERY ANALYSIS,” issued on May 9, 2017, the entirety of which is hereby incorporated by reference.

The fixator members can be connected to each other via adjustment members, the adjustment members configured to facilitate the spatial repositioning of the fixator members with respect to each other. For example, in the illustrated embodiment, the orthopedic fixator 100 comprises a pair of fixator members in the form of an upper fixator ring 106 and a lower fixator ring 108. The fixator rings 106, 108 can be constructed the same or differently. For instance, the fixator rings 106, 108 can have diameters that are the same or different. Similarly, the fixator rings 106, 108 can be constructed with varying cross sectional diameters, thicknesses, etc. It should be appreciated that the fixator members of the orthopedic fixator 100 are not limited to the illustrated upper and lower fixator rings 106, 108, and that the orthopedic fixator 100 can be alternatively constructed. For example, additional fixator rings can be provided and interconnected with the fixator ring 106 and/or 108. It should further be appreciated that the geometries of the fixator members are not limited to rings, and that at least one, such as all of the fixator members can be alternatively constructed using any other suitable geometry.

The first and second anatomical structure segments 102, 104 can be rigidly attached to the upper and lower fixator rings 106, 108, respectively, with attachment members that can be mounted to the fixator rings 106, 108. For example, in the illustrated embodiment, attachment members are provided in the form of attachment rods 110 and attachment wires 112.

The rods 110 and the wires 112 extend between proximal ends attached to mounting members 114 that are mounted to the fixator rings 106, 108, and opposed distal ends that are inserted into or otherwise secured to the anatomical structure segments 102, 104. The mounting members 114 can be removably mounted to the fixator rings 106, 108 at predefined points along the peripheries of the fixator rings 106, 108, for example by disposing them into threaded apertures defined by the fixator rings. With respect to each fixator ring 106, 108, the mounting members 114 can be mounted to the upper surface of the ring, the lower surface of the ring, or any combination thereof. It should be appreciated that the attachment members are not limited to the configuration of the illustrated embodiment. For example, any number of attachment members, such as the illustrated rods 110 and wires 112 and any others, can be used to secure the anatomical structure segments to respective fixator members as desired. It should further be appreciated that one or more of the attachment members, for instance the rods 110 and/or wires 112, can be alternatively configured to mount directly to the fixator rings 106, 108, without utilizing mounting members 114.

The upper and lower fixator rings 106, 108 can be connected to each other by at least one, such as a plurality of adjustment members. At least one, such as all, of the adjustment members can be configured to allow the spatial positioning of the fixator rings with respect to each other to be adjusted. For example, in the illustrated embodiment, the upper and lower fixator rings 106, 108 are connected to each other with a plurality of adjustment members provided in the form of adjustable length struts 116. It should be appreciated that the construction of the orthopedic fixator 100 is not limited to the six struts 116 of the illustrated embodiment, and that more or fewer struts can be used as desired.

Each of the adjustable length struts 116 can comprise opposed upper and lower strut arms 118, 120. Each of the upper and lower strut arms 118, 120 have proximal ends disposed in a coupling member, or sleeve 122, and opposed distal ends that are coupled to universal joints 124 mounted to the upper and lower fixator rings 106, 108, respectively. The universal joints of the illustrated embodiment are disposed in pairs spaced evenly around the peripheries of the upper and lower fixator rings 106, 108, but can be alternatively placed in any other locations on the fixator rings as desired.

The proximal ends of the upper and lower strut arms 118, 120 of each strut 116 can have threads defined thereon that are configured to be received by complementary threads defined in the sleeve 122, such that when the proximal ends of the upper and lower strut arms 118, 120 of a strut 116 are received in a respective sleeve 122, rotation of the sleeve 122 causes the upper and lower strut arms 118, 120 to translate within the sleeve 122, thus causing the strut 116 to be elongated or shortened, depending on the direction of rotation. Thus, the length of each strut 116 can be independently adjusted with respect to the remaining struts. It should be appreciated that the adjustment members are not limited to the length adjustable struts 116 of the illustrated embodiment, and that the adjustment members can be alternatively constructed as desired, for example using one or more alternative geometries, alternative length adjustment mechanisms, and the like.

The adjustable length struts 116 and the universal joints 124 by which they are mounted to the upper and lower fixator rings 106, 108, allow the orthopedic fixator 100 to function much like a Stewart platform, and more specifically like a distraction osteogenesis ring system, a hexapod, or a Taylor spatial frame. That is, by making length adjustments to the struts 116, the spatial positioning of the upper and lower fixator rings 106, 108, and thus the anatomical structure segments 102, 104 can be altered. For example, in the illustrated embodiment the first anatomical structure segment 102 is attached to the upper fixator ring 106 and the second anatomical structure segment 104 is attached to the lower fixator ring 108. It should be appreciated that attachment of the first and second anatomical structure segments 102, 104 to the upper and lower fixator rings 106, 108 is not limited to the illustrated embodiment (e.g., where the central longitudinal axes L1, L2 of the first and second anatomical structure segments 102, 104 are substantially perpendicular to the respective planes of the upper and lower fixator rings 106, 108), and that a surgeon has complete flexibility in aligning the first and second anatomical structure segments 102, 104 within the upper and lower fixator rings 106, 108 when configuring the orthopedic fixator 100.

By varying the length of one or more of the struts 116, the upper and lower fixator rings 106, 108, and thus the anatomical structure segments 102 and 104 can be repositioned with respect to each other such that their respective longitudinal axes L1, L2 are substantially aligned with each other, and such that their respective fractured ends 103, 105 abut each other, so as to promote union during the healing process. It should be appreciated that adjustment of the struts 116 is not limited to the length adjustments as described herein, and that the struts 116 can be differently adjusted as desired. It should further be appreciated that adjusting the positions of the fixator members is not limited to adjusting the lengths of the length adjustable struts 116, and that the positioning of the fixator members with respect to each other can be alternatively adjusted, for example in accordance the type and/or number of adjustment members connected to the fixation apparatus.

Repositioning of the fixator members of an orthopedic fixation apparatus, such as orthopedic fixator 100, can be used to correct displacements of angulation, translation, rotation, or any combination thereof, within bodily tissues. A fixation apparatus, such as orthopedic fixator 100, utilized with the techniques described herein, can correct a plurality of such displacement defects individually or simultaneously. However, it should be appreciated that the fixation apparatus is not limited to the illustrated orthopedic fixator 100, and that the fixation apparatus can be alternatively constructed as desired. For example, the fixation apparatus can include additional fixation members, can include fixation members having alternative geometries, can include more or fewer adjustment members, can include alternatively constructed adjustment members, or any combination thereof.

Referring now to FIG. 2, an example imaging of a fixation apparatus will now be described in detail. The images can be captured using the same or different imaging techniques. For example, the images can be acquired using x-ray imaging, computer tomography, magnetic resonance imaging, ultrasound, infrared imaging, photography, fluoroscopy, visual spectrum imaging, or any combination thereof.

The images can be captured from any position and/or orientation with respect to each other and with respect to the fixator 100 and the anatomical structure segments 102, 104. In other words, there is no requirement that the captured images be orthogonal with respect to each other or aligned with anatomical axes of the patient, thereby providing a surgeon with near complete flexibility in positioning the imagers 130. Preferably, the images 126, 128 are captured from different directions, or orientations, such that the images do not overlap. For example, in the illustrated embodiment, the image planes of the pair of images 126, 128 are not perpendicular with respect to each other. In other words, the angle α between the image planes of the images 126, 128 is not equal to 90 degrees, such that the images 126, 128 are non-orthogonal with respect to each other. Preferably, at least two images are taken, although capturing additional images may increase the accuracy of the method.

The images 126, 128 can be captured using one or more imaging sources, or imagers, for instance the x-ray imagers 130 and/or corresponding image capturing devices 127, 129. The images 126, 128 can be x-ray images captured by a single repositionable x-ray imager 130, or can be captured by separately positioned imagers 130. Preferably, the position of the image capturing devices 127, 129 and/or the imagers 130 with respect to the space origin 135 of the three-dimensional space, described in more detail below, are known. The imagers 130 can be manually positioned and/or oriented under the control of a surgeon, automatically positioned, for instance by a software assisted imager, or any combination thereof. The fixator 100 may also have a respective fixator origin 145.

Referring now to FIGS. 3A and 3B, an example process for controlling manipulation of a fixation apparatus including rings and struts to correct an anatomical structure deformity of first and second anatomical structure segments will now be described in detail. In particular, at operation 310, first and second anatomical structure segments are attached to a fixation apparatus, for example as shown in FIG. 1 and described in detail above. At operation, 312, first and second images of the fixation apparatus and the attached first and second anatomical structure segments are captured, for example as shown in FIG. 2 and described in detail above.

The remaining operations of the process of FIGS. 3A and 3B (e.g., operations 314-342) will now be described in association with a treatment technique referred to hereinafter as Perspective Frame Matching, in which images, such as post-operative x-rays, may be used along with a frame to generate deformity and mounting parameters for a strut adjustment plan. For example, referring now to FIG. 4, an example treatment planning technique selection interface 400-A is shown. In the example of FIG. 4, the user has selected option 401 in order to use the Perspective Frame Matching (PFM) technique, which will now be described in detail with reference to FIGS. 5-13.

Referring back to FIG. 3A, at operation 314, configuration information associated with a fixation apparatus is received, for example using one or more graphical user interfaces of a computing system. In some examples, the configuration information may include one or more geometric characteristics (e.g., size, length, diameter, etc.) of one or more elements of the fixation apparatus, such as struts, hinges, rings, and others. In some examples, the configuration information may include information such as ring types (e.g., full ring, foot plate, etc.), indications of mounting points (e.g., ring holes) used for strut mounting, and other information. In some examples, the configuration information may also include information about marker elements, for example that are mounted to components of the fixation apparatus, such as struts, hinges, and rings. Referring now to FIG. 5, an example configuration information entry interface 500 is shown. As shown, interface 500 includes ring type indicators 501 and 502, which, in this example, are drop down menus that may be used to select ring types for the proximal and distal rings, respectively. Indicators 501 and 502 are set to the “Full” option to indicate that the proximal and distal rings are full rings. Interface 500 also includes diameter indicators 503 and 504, which, in this example, are drop down menus that may be used to select diameters or lengths for the proximal and distal rings, respectively.

The interface 500 also includes controls for entry of strut information. In particular, interface 500 includes six drop down menus 512 may each be used to indicate a size of a respective strut. Global strut size indicator 511 may also be used to globally select a size for all six struts. Length selectors 513 may be each be used to select a length of a respective strut. Length indicators 514 may be each be used to provide a visual representation of the lengths of the respective struts. It is noted that the length indicators 514 do not necessarily depict the actual exact length of each strut, but rather represent the comparative lengths of the struts with respect to one another.

Save and Update button 516 may be selected to save and update the configuration information values shown in interface 500. In some examples, selection of button 516 may cause interface 500 to display and/or update a graphical representation 520 of the fixation apparatus generated based, at least in part, on the entered configuration information. The graphical representation 520 may be displayed using one or more graphical user interfaces of a computing system. As shown, graphical representation 520 includes six struts that may be color-coded in multiple colors for easy identification. For example, in some cases, each of the struts (or at least two of the struts) may be shown in different colors with respect to one another. The struts in graphical representation 520 may have sizes, lengths, mounting points, and other features corresponding to entered configuration information. Graphical representation 520 also depicts the fixator rings, which may have diameters/lengths, ring types, and other features corresponding to entered configuration information. Graphical representation 520 may, for example, improve efficiency and reliability by providing the user with a visual confirmation of information entered into interface 500, for example to allow fast and easy identification of errors or other problems.

At operation 316, images of the fixation apparatus and the first and second anatomical structure segments attached thereto are displayed, for example using one or more graphical user interfaces of a computing system. The displayed images may include images that were captured at operation 312, such as using x-ray imaging, computer tomography, magnetic resonance imaging, ultrasound, infrared imaging, photography, fluoroscopy, visual spectrum imaging, or any combination thereof. Techniques for acquiring images of the fixation apparatus and the first and second anatomical structure segments are described in detail above and are not repeated here. As set forth above, the acquired and displayed images need not necessarily be orthogonal to one another. Referring now to FIG. 6, an example first image information entry interface 600 is shown. As shown, interface 600 includes images 601-A and 601-B, which show the fixation apparatus and first and second anatomical structure segments from different angles. In the example of FIG. 6, image 601-A corresponds to an anteroposterior (AP) View, while image 601-B corresponds to a lateral (LAT) view. In some examples, the displayed images 601-A-B may be loaded and saved in computer memory, for example in a library, database or other local collection of stored images. The displayed images 601-A-B may then be selected and retrieved, acquired, and/or received from memory for display.

At operation 318, first image information is received, for example using one or more graphical user interfaces of a computing system. The first image information may include indications of one or more locations, within the images, of at least part of one or more elements of the fixation apparatus. For example, the first image information may include one or more indications of locations of struts, hinges, rings, and other fixator elements. In some examples, the first image information may also include information about locations, within the images, of marker elements, for example that are mounted to components of the fixation apparatus, such as struts, hinges, and rings. In some cases, the first image information may include points representing locations of hinges and/or lines or vectors representing locations of struts. In some examples, the first image information may be entered into a computing system by selecting or indicating one or more locations within the displayed images, for example using a mouse, keyboard, touchscreen or other user input devices. In particular, using one or more input devices, a user may select points or other locations in the images, draw lines, circles, and generate other graphical indications within the images. For example, in some cases, a user may generate a point or small circle at a particular location in an image to indicate a location (e.g., center point) of a hinge within the image. As another example, in some cases, a user may generate a line and/or vector within an image to indicate a location and/or length of a strut within the image.

For example, as shown in FIG. 6, interface 600 includes six AP View strut indicator buttons 611-A corresponding to each of the six struts of the fixation apparatus shown in AP View image 601-A. Each button 611-A includes text indicating a respective strut number (i.e., Strut 1, Strut 2, Strut 3, Strut 4, Strut 5, Strut 6). Buttons 611-A may be selected by a user to indicate a strut for which first image information (e.g., hinge locations, strut locations, etc.) will be provided by the user in AP View image 601-A. For example, in some cases, to provide first image information for Strut 1 in AP View image 601-A, a user may first select the top strut indicator button 611-A (labeled with the text “Strut 1”) in order to indicate to the software that the user is about to provide first image information for Strut 1 within AP View image 601-A. In some cases, the strut indicator button 611-A for Strut 1 may be pre-selected automatically for the user. Upon selection (or automatic pre-selection) of the strut indicator button 611-A for Strut 1, the user may proceed to draw (or otherwise indicate) a representation of Strut 1 within AP View image 601-A. For example, in some cases, the user may use a mouse or other input device to select a location 621 (e.g., a center point) of a proximal hinge for Strut 1 within image 601-A. In some examples, the user may then use a mouse or other input device to select a location 622 (e.g., a center point) of the distal hinge of Strut 1 within image 601-A. In some examples, the user may indicate the location and/or length of Strut 1 by selecting the locations of the proximal and distal hinges and/or as the endpoints of a line or vector that represents the location and/or length of Strut 1. For example, as shown in FIG. 6, the software may generate points or circles at the locations 621 and 622 of the proximal and distal hinges selected by the user within image 601-A. Additionally, the software may generate a line 623 representing the location and/or length of Strut 1 that connects the points or circles at the locations 621 and 622 and of the proximal and distal hinges selected by the user within image 601-A. Any other appropriate input techniques may also be employed by the user to indicate a location and/or length of Strut 1 within image 610-A, such as generating line 623 by dragging and dropping a mouse, using a finger and/or pen on a touch screen, keyboard, and others. In some examples, the above described process may be repeated to draw points representing proximal and distal hinges and lines representing the locations and/or lengths of each of the six struts in the AP View image 601-A. Furthermore, the above described process may also be repeated using LAT View strut indicator buttons 611-B to draw points representing proximal and distal hinges and lines representing the locations and/or lengths of each of the six struts in the LAT View image 601-B.

In some examples, the first image information generated within images 601-A and 601-B may include color-coded graphical representations of the struts, for example to enable the graphical representations to be more clearly associated with their respective struts. For example, in FIG. 6, the graphical representations (e.g., points, circles, and/or lines) of Strut 1 in images 601A- and 601-B may be colored in red. This may match a strut icon (which may also be colored red) displayed in the strut indicator buttons 611-A and 611-B for Strut 1 (displayed to the right of the text “Strut 1” in buttons 611-A and 611-B). As another example, in FIG. 6, the graphical representations (e.g., points, circles, and/or lines) of Strut 3 in images 601-A and 601-B may be colored in yellow. This may match a strut icon (which may also be colored yellow) displayed in the strut indicator buttons 611-A and 611-B for Strut 3 (displayed to the right of the text “Strut 3” in buttons 611-A and 611-B).

FIG. 6 includes an AP View close-up assist checkbox 616-A and a LAT View close-up assist checkbox 616-B, for example provided using one or more graphical interfaces of a computing system. Selection of checkboxes 616-A and 616-B may allow close-up views of areas of images 601-A and 601-B surrounding the proximal and distal hinges of the struts that are currently being drawn by the user. This may enable more accurate indications of the locations (e.g., center points) of the hinges. Referring now to FIG. 7, close-up assist interface 700 depicts another AP View image 701 with the close-up assist being selected to provide a proximal hinge close-up assist view 702 and a distal hinge close-up assist view 703. As shown, proximal hinge close-up assist view 702 provides an enlarged view of an area of AP View image 701 associated with the proximal hinge, while distal hinge close-up assist view 703 provides an enlarged view of an area of AP View image 701 associated with the distal hinge. The user may manipulate (e.g., drag and drop) the location of the point/circle 721 in proximal hinge close-up assist view 702 in order to more accurately depict the center point of the proximal hinge. The user may also manipulate (e.g., drag and drop) the location of the point/circle 722 in distal hinge close-up assist view 703 in order to more accurately depict the center point of the distal hinge. As should be appreciated, corresponding close-up assist views similar to views 702 and 703 may also be provided for a respective LAT View image, for example using one or more graphical interfaces of a computing system.

Referring back to FIG. 6, to the right of buttons 611-A, are six proximal hinge selector buttons 612-A. Additionally, to the right of buttons 612-A, are six distal hinge selector buttons 613-A. Furthermore, to the right of buttons 613-A, are six strut line selector buttons 614-A. In some examples, buttons 612-A and/or 613-A may be selected to use the locations (e.g., center points) of the proximal and/or distal hinges indicated in AP View image 601-A in calculating positions and orientations of the first and the second anatomical structure segments and rings of the fixation apparatus in three-dimensional space (see operation 322). Additionally, in some examples, buttons 612-A and/or 613-A may be selected to use the lines or vectors representing the location and/or length of struts indicated in AP View image 601-A in calculating positions and orientations of the first and the second anatomical structure segments in three-dimensional space. Similarly, buttons 612-B, 613-B, and 614-B may be used to select the use of locations (e.g., center points) of the proximal and/or distal hinges or strut lines or vectors indicated in LAT View image 601-B in calculating positions and orientations of the first and the second anatomical structure segments in three-dimensional space.

Referring again to FIG. 3A, at operation 320, second image information is received, for example using one or more graphical user interfaces of a computing system. The second image information may include indications of one or more locations, within the images, of at least part of the first and the second anatomical structure segments. In some examples, the second image information may include indications of center lines of the first and the second anatomical structure segments and/or one or more reference points (e.g., end points) of the first and the second anatomical structure segments. In some examples, the second image information may also include indications of locations of marker elements, for example implanted or otherwise associated with the first and the second anatomical structure segments. In some examples, the second image information may be entered into a computing system by selecting or indicating one or more locations within the displayed images, for example using a mouse, keyboard, touchscreen or other user input devices. In particular, using one or more input devices, a user may select points or other locations in the images, draw lines, circles, and generate other graphical indications within the images. For example, in some cases, a user may generate points or small circles at particular locations in an image to indicate one or more reference points (e.g., end points) of the first and the second anatomical structure segments within the images. As another example, in some cases, a user may generate a line within an image to indicate a center line of the first and the second anatomical structure segments within the images.

Referring now to FIG. 8A, an example second image information entry interface 800 is shown. As shown, interface 800 includes AP View image 601-A and LAT View image 601-B. Additionally, interface 800 includes buttons 801-808, which may be used to assist in indication of anatomical structure center lines and reference points as will be described below. In particular, buttons 801 and 805 may be selected to indicate a proximal anatomical structure reference point in the AP View and LAT View, respectively. Buttons 802 and 806 may be selected to indicate a distal anatomical structure reference point in the AP View and LAT View, respectively. Buttons 803 and 807 may be selected to indicate a proximal anatomical structure center line in the AP View and LAT View, respectively. Buttons 804 and 808 may be selected to indicate a distal anatomical structure center line in the AP View and LAT View, respectively. For example, as shown in FIG. 8A, a user may select button 807 and then use one or more input devices to draw the center line 831 for the proximal anatomical structure within LAT View image 601-B. In some examples, the center line 831 may be colored red. Additionally, two guidelines 832 are generated and displayed by the software on both sides of the red center line. In some examples, the guidelines 832 may be colored green. These guidelines 832 may be displayed while the user is drawing the center line 831 in order to assist the user in locating the center of the anatomical structure segment. The guidelines 832 may be generated at equal distances from each side of the center line 831 and may assist the user by, for example, potentially allowing the user to match (or nearly match) the guidelines 832 to sides of the anatomical structure segment. As shown in FIG. 8B, the user may select button 808 and then use one or more input devices to draw the center line 841 for the distal anatomical structure within LAT View image 601-B. As shown in FIG. 8C, the user may select button 803 and then use one or more input devices to draw the center line 851 for the proximal anatomical structure within AP View image 601-A. As shown in FIG. 8D, the user may select button 804 and then use one or more input devices to draw the center line 861 for the distal anatomical structure within AP View image 601-A. As shown in FIGS. 8B-8D, guidelines 832 may also be displayed for assistance in drawing center lines 841, 851 and 861.

As shown in FIG. 8E, the user may select button 805 and then use one or more input devices to indicate a reference point (e.g., end point) for the proximal anatomical structure within LAT View image 601-B. As shown, a user has indicated a reference point 811 in LAT View image 601-B at an end point of the proximal anatomical structure segment. Additionally, upon indication of reference point 811, the software may generate and display a corresponding dashed reference line 812 in AP View image 601-A. The reference line 812 is a line drawn across AP View image 601-A that passes through the location of the LAT View proximal reference point 811 within AP View image 601-A. The reference line 812 may, therefore, assist the user in determining the location of the corresponding AP View proximal reference point, which may often be at the intersection of the reference line 812 and the AP View proximal center line 851 within the AP View image 601-A. As shown in FIG. 8F, the user may select button 801 and then use one or more input devices to indicate a reference point (e.g., end point) for the proximal anatomical structure within AP View image 601-A. In this example, the AP View proximal anatomical structure reference point 814 is indicated at the intersection of reference line 812 and the AP View proximal center line 851 within the AP View image 601-A. The software may then generate and display a corresponding dashed reference line 813 in the LAT View image 601-B. The reference line 813 is a line drawn across LAT View image 601-B that passes through the location of the AP View proximal reference point 814 within LAT View image 601-B. The reference line 813 may assist the user by helping the user to confirm that the AP View reference point 814 was placed correctly by showing how well it lines up relative to the LAT View reference point 811.

As shown in FIG. 8G, the user may select button 806 and then use one or more input devices to indicate a reference point (e.g., end point) for the distal anatomical structure within LAT View image 601-B. As shown, a user has indicated a reference point 815 in LAT View image 601-B at an end point of the distal anatomical structure segment. Additionally, upon indication of reference point 815, the software may generate and display a corresponding dashed reference line 816 in AP View image 601-A. The reference line 816 is a line drawn across AP View image 601-A that passes through the location of the LAT View distal reference point 815 within AP View image 601-A. The reference line 816 may, therefore, assist the user in determining the location of the corresponding AP View distal reference point, which may often be at the intersection of the reference line 816 and the AP View distal center line within the AP View image 601-A. As shown in FIG. 8H, the user may select button 802 and then use one or more input devices to indicate a reference point (e.g., end point) for the distal anatomical structure within AP View image 601-A. In this example, the AP View distal anatomical structure reference point 817 is indicated at the intersection of reference line 816 and the AP View distal center line within the AP View image 601-A. The software may then generate and display a corresponding dashed reference line 818 in the LAT View image 601-B. The reference line 818 is a line drawn across LAT View image 601-B that passes through the location of the AP View distal reference point 817 within LAT View image 601-B. The reference line 818 may assist the user by helping the user to confirm that the AP View reference point 817 was placed correctly by showing how well it lines up relative to the LAT View reference point 815.

Referring again to FIG. 3A, at operation 322, positions and orientations of the first and second anatomical structure segments and rings of the fixation apparatus are determined in three-dimensional space. For example, in some cases, imaging scene parameters pertaining to fixator 100, the anatomical structure segments 102, 104, imager(s) 130, and image capturing devices 127, 129 are obtained. The imaging scene parameters can be used in constructing a three-dimensional representation of the positioning of the anatomical structure segments 102, 104 in the fixator 100, as described in more detail below. One or more of the imaging scene parameters may be known. Imaging scene parameters that are not known can be obtained, for example by mathematically comparing the locations of fixator element representations in the two-dimensional space of the x-ray images 126, 128 to the three-dimensional locations of those elements on the geometry of the fixator 100. In a preferred embodiment, imaging scene parameters can be calculated using a pin hole or perspective camera models. For example, the imaging scene parameters can be determined numerically using matrix algebra, as described in more detail below.

The imaging scene parameters can include, but are not limited to image pixel scale factors, image pixel aspect ratio, the image sensor skew factor, the image size, the focal length, the position and orientation of the imaging source, the position of the principle point (defined as the point in the plane of a respective image 126, 128 that is closest to the respective imager 130), positions and orientations of elements of the fixator 100, the position and orientation of a respective image receiver, and the position and orientation of the imaging source's lens.

In a preferred embodiment, at least some, such as all of the imaging scene parameters can be obtained by comparing the locations of representations of particular components, or fixator elements of the fixator 100 within the two-dimensional spaces of the images 126, 128, with the corresponding locations of those same fixator elements in actual, three-dimensional space. The fixator elements comprise components of the orthopedic fixator 100, and preferably are components that are easy to identify in the images 126, 128. Points, lines, conics, or the like, or any combination thereof can be used to describe the respective geometries of the fixator elements. For example, the representations of fixator elements used in the comparison could include center lines of one or more of the adjustable length struts 116, center points of the universal joints 124, center points of the mounting members 114, and the like.

The fixator elements can further include marker elements that are distinct from the above-described components of the fixator 100. The marker elements can be used in the comparison, as a supplement to or in lieu of using components of the fixator 100. The marker elements can be mounted to specific locations of components of the fixator 100 prior to imaging, can be imbedded within components of the fixator 100, or any combination thereof. The marker elements can be configured for enhanced viewability in the images 126, 128 when compared to the viewability of the other components of the fixator 100. For example, the marker elements may be constructed of a different material, such as a radio-opaque material, or may be constructed with geometries that readily distinguish them from other components of the fixator 100 in the images 126, 128. In an example embodiment, the marker elements can have designated geometries that correspond to their respective locations on the fixator 100.

Fixator elements can be identified for use in the comparison. For example, locations, within the images 126, 128 of fixator elements may be indicated using the first image information received at operation 318 and described in detail above. In some examples, the locations of the fixator elements in the two-dimensional space of the images 126, 128 may be determined with respect to local origins 125 defined in the imaging planes of the images 126, 128. The local origins 125 serve as a “zero points” for determining the locations of the fixator elements in the images 126, 128. The locations of the fixator elements can be defined by their respective x and y coordinates with respect to a respective local origin 125. The location of the local origin 125 within the respective image can be arbitrary so long it is in the plane of the image. Typically, the origin is located at the center of the image or at a corner of the image, such as the lower left hand corner. It should be appreciated that the locations of the local origins are not limited to illustrated local origins 125, and that the local origins 125 can be alternatively defined at any other locations.

In some examples, a respective transformation matrix P may then be computed for each of the images 126, 128. The transformation matrices can be utilized to map location coordinates of one or more respective fixator elements in actual three-dimensional space to corresponding location coordinates of the fixator element(s) in the two-dimensional space of the respective image 126, 128. It should be appreciated that the same fixator element(s) need not be used in the comparisons of both images 126, 128. For example, a fixator element used in constructing the transformation matrix associated with image 126 can be the same or different from the fixator element used in constructing the transformation matrix associated with image 128. It should further be appreciated that increasing the number of fixator elements used in computing the transformation matrices can increase the accuracy method. The following equation represents this operation:

$\begin{matrix} [\begin{matrix} x \\ y \\ 1 \end{matrix}] = P \cdot [\begin{matrix} X \\ Y \\ Z \\ 1 \end{matrix}] & (1) \end{matrix}$

The symbols x and y represent location coordinates, with respect to the local origin 125, of a fixator element point in the two-dimensional space of images 126, 128. The symbols X, Y and Z represent corresponding location coordinates, with respect to a space origin 135, of the fixator element point in actual three-dimensional space. In the illustrated embodiment, the point corresponding to the center of the plane defined by the upper surface of the upper fixator ring 106 has been designated as the space origin 135. The illustrated matrix P can be at least four elements wide and three elements tall. In a preferred embodiment, the elements of the matrix P can be computed by solving the following matrix equation:

$\begin{matrix} A \cdot p = B & (2) \end{matrix}$

The vector p can contain eleven elements representing values of the matrix P. The following equations present arrangements of the elements in the vector p and the matrix P:

$\begin{matrix} p = {[\begin{matrix} p_{1} & p_{2} & p_{3} & p_{4} & p_{5} & p_{6} & p_{7} & p_{8} & p_{9} & p_{10} & p_{11} \end{matrix}]}^{T} & (3) \\ P = [\begin{matrix} p_{1} & p_{2} & p_{3} & p_{4} \\ p_{5} & p_{6} & p_{7} & p_{8} \\ p_{9} & p_{10} & p_{1 1} & p_{1 2} \end{matrix}] & (4) \end{matrix}$

In the preferred embodiment, the twelfth element p₁₂of the matrix P can be set to a numerical value of one. The matrices A and B can be assembled using the two-dimensional and three-dimensional information of the fixator elements. For every point representing a respective fixator element, two rows of matrices A and B can be constructed. The following equation presents the values of the two rows added to the matrices A and B for every point of a fixator element (e.g., a center point of a respective universal joint 124):

$\begin{matrix} [\begin{matrix} \dots & \dots & \dots & \dots & \dots & \dots & \dots & \dots & \dots & \dots & \dots \\ X & Y & Z & 1 & 0 & 0 & 0 & 0 & - x \cdot X & - x \cdot Y & - x \cdot Z \\ 0 & 0 & 0 & 0 & X & Y & Z & 1 & - y \cdot X & - y \cdot Y & - y \cdot Z \\ \dots & \dots & \dots & \dots & \dots & \dots & \dots & \dots & \dots & \dots & \dots \end{matrix}] \cdot p = [\begin{matrix} \dots \\ x \\ y \\ \dots \end{matrix}] & (5) \end{matrix}$

The symbols X, Y and Z represent location coordinate values of a fixator element point in actual three-dimensional space relative to the space origin 135, and the symbols x and y represent location coordinate values of the corresponding fixator element point in the two-dimensional space of the respective image 126, 128 relative to local origin 125.

For every line representing a respective fixator element, two rows of matrices A and B can be constructed. The following equation presents the values of the two rows added to the matrices A and B for every line of a fixator element (e.g., a center line of a respective adjustable length strut 116):

$(6) [\begin{matrix} \dots & \dots & \dots & \dots & \dots & \dots & \dots & \dots & \dots & \dots & \dots \\ X \cdot a & Y \cdot a & Z \cdot a & a & X \cdot b & Y \cdot b & Z \cdot b & b & X \cdot c & Y \cdot c & Z \cdot c \\ dX \cdot a & dY \cdot a & dZ \cdot a & 0 & dX \cdot b & dY \cdot b & dZ \cdot b & 0 & dY \cdot c & dY \cdot c & dZ \cdot c \\ \dots & \dots & \dots & \dots & \dots & \dots & \dots & \dots & \dots & \dots & \dots \end{matrix}] \cdot  p = [\begin{matrix} \dots \\ - c \\ 0 \\ \dots \end{matrix}]$

The symbols X, Y and Z represent location coordinate values of a point belonging to a line of a fixator element in actual three-dimensional space relative to the space origin 135. The symbols dX, dY and dZ represent gradient values of the line in actual three-dimensional space. The symbols a, b and c represent constants defining a line in the two-dimensional space of a respective image 126, 128. For example, a, b, and c can be computed using two points belonging to a line on a respective image 126, 128. In a preferred embodiment, the value of b is assumed to be 1, unless the line is a vertical line, in which case the value of b is zero. A correlation of constants a, b and c with the respective image coordinates x and y is presented in the following equation:

$\begin{matrix} a \cdot x + b \cdot y + c = 0 & (7) \end{matrix}$

The equation (2) can be over constrained by using six or more fixator elements, for example the adjustable length struts 116. It should be appreciated that it is not necessary for all of the fixator elements to be visible in a single one of the images 126, 128 in order to obtain the matrix P. It should further be appreciated that if one or more of the above-described imaging scene parameters are known, the known parameters can be used to reduce the minimum number of the fixator elements required to constrain equation (2). For instance, such information could be obtained from modern imaging systems in DICOM image headers. Preferably, a singular value decomposition or least squares method can be used to solve equation (2) for values of the vector p.

In some examples, the transformation matrices may then be decomposed into imaging scene parameters. The following equation can be used to relate the matrix P to matrices E and I:

$\begin{matrix} P = I \cdot E & (8) \end{matrix}$

It should be appreciated that additional terms can be introduced when decomposing the matrix P. For example, the method presented by Tsai, described in “A Versatile Camera Calibration Technique for High-Accuracy 3D Machine Vision Metrology Using of-the-shelf TV Cameras and Lenses”, IEEE Journal of Robotics & Automation, RA-3, No. 4, 323-344, August 1987, which is incorporated herein by reference in its entirety, can be used to correct images 126, 128, for radial distortion.

Matrices E and I contain imaging scene parameters. The following equation represents a composition of the matrix I:

$\begin{matrix} I = [\begin{matrix} s x & 0 & - t x \\ 0 & s y & - t y \\ 0 & 0 & 1 / f \end{matrix}] & (9) \end{matrix}$

The symbols sx and sy represent values of image coordinate scale factors (e.g., pixel scale factors). The symbol f, representing the focal length, corresponds to the value of the shortest distance between a respective imaging source 130 and the plane of a corresponding image 126, 128. The symbols tx and ty represent the coordinates of the principle point relative to the local origin 125 of the respective image 126, 128. The following equation represents the composition of the matrix E:

$\begin{matrix} E = [\begin{matrix} r_{1} & r_{2} & r_{3} & - (r_{1} \cdot o_{x} + r_{2} \cdot o_{y} + r_{3} \cdot o_{z}) \\ r_{4} & r_{5} & r_{6} & - (r_{4} \cdot o_{x} + r_{5} \cdot o_{y} + r_{6} \cdot o_{z}) \\ r_{7} & r_{8} & r_{9} & - (r_{7} \cdot o_{x} + r_{8} \cdot o_{y} + r_{9} \cdot o_{z}) \end{matrix}] & (10) \end{matrix}$

The symbols o_x, o_yand o_zrepresent values of the position of the fixator 100 in actual three-dimensional space. The symbols r₁to r₉describe the orientation of the fixator 100. These values can be assembled into a three-dimensional rotational matrix R represented by the following equation:

$\begin{matrix} R = [\begin{matrix} r_{1} & r_{2} & r_{3} \\ r_{4} & r_{5} & r_{6} \\ r_{7} & r_{8} & r_{9} \end{matrix}] & (11) \end{matrix}$

The methods of Trucco and Verri, as described in “Introductory Techniques of 3-D Computer Vision”, Prentice Hall, 1998, or the method of Hartley, as described in “Euclidian Reconstruction from Uncalibrated Views”, Applications of Invariance in Computer Vision, pages 237-256, Springer Verlag, Berlin Heidelberg, 1994, which are incorporated herein by reference in their entireties, can be used to obtain values of the matrices E and/or I. Utilizing the resulting values of matrices E and I, a complete three-dimensional imaging scene of the fixator 100 and the anatomical structure segments 102, 104 can be reconstructed.

For example, FIG. 2 illustrates an example three-dimensional imaging scene reconstructed from the x-ray images 126, 128. In the illustrated embodiment, x-rays are emitted from x-ray imagers 130. It should be appreciated that the x-ray imagers 130 can be the same or different imagers, as described above. The x-rays emitted from the imagers 130 are received on by corresponding imaging devices, thus capturing the images 126, 128. Preferably, the positioning of the imagers 130 with respect to the local origins 125 is known.

In some examples, the images 126, 128 and the imaging scene parameters may then be used to obtain the positions and/or orientations of the anatomical structure segments 102, 104 in three-dimensional space. The position and/or orientation data obtained can be used to develop a treatment plan for a patient, for example to change the orientation and/or position of the fractured first and second anatomical structure segments 102, 104 in order to promote union between the anatomical structure segments 102, 104, as described in more detail below. It should be appreciated that the methods and techniques described herein are not limited to applications of repositioning broken anatomical structures, and that orthopedic fixation with imagery analysis can be used in any other type of fixation procedure as desired, for example lengthening of anatomical structures, correction of anatomical defects, and the like.

In some examples, anatomical structure elements comprising representations of particular portions (e.g., anatomical features) of the anatomical structure segments 102, 104, may then be identified and their locations within the images 126, 128 determined. For example, locations, within the images 126, 128 of the first and the second anatomical structure segments may be indicated using the second image information received at operation 320 and described in detail above. In some examples, the locations of the anatomical structure elements may be determined with respect to the respective local origins 125 of images 126, 128.

The anatomical structure elements can be used in the construction of the three-dimensional representation of the position and/or orientation of the anatomical structure segments 102, 104. Preferably, the anatomical structure elements are easy to identify in the images 126, 128. Points, lines, conics, or the like, or any combination thereof can be used to describe the respective geometries of the anatomical structure elements. For example, in the illustrated embodiment, points 134 and 136 representing the fractured ends 103, 105 of the anatomical structure segments 102, 104, respectively, are identified as anatomical structure elements in the images 126, 128.

The anatomical structure elements can further include marker elements that are implanted into the anatomical structure segments 102, 104 prior to imaging. The marker elements can be used as a supplement to or in lieu of the above-described anatomical structure elements identified in the images 126, 128. The marker elements can be configured for enhanced viewability in the images 126, 128 when compared to the viewability of anatomical features of the anatomical structure segments 102, 104. For example, the marker elements may be constructed of a radio-opaque material, or may be constructed with readily distinguishable geometries.

A three-dimensional representation 200 of the anatomical structure segments 102, 104 can be reconstructed. The three-dimensional representation can be constructed with or without a corresponding representation of the fixator 100. In the illustrated embodiment, pairs of ray-lines, such as ray lines 138, 140 and 142, 144 can be constructed for the anatomical structure element points 134, 136, respectively. Each ray line connects an anatomical structure element in one of the images 126, 128 with a respective imager 130. Each pair of ray lines can be analyzed for a common intersection point, such as points 146, 148. The common intersection points 146, 148 represent the respective positions of the anatomical structure element points 134, 136, in the three-dimensional representation of the anatomical structure segments 102, 104. Of course more than a pair of ray lines, such as a plurality, can be constructed, for example if more than two images were captured. If the ray lines of a particular set do not intersect, a point closest to all the ray lines in the set can be used as the common intersection point.

The positions and/or orientations of the anatomical structure segments 102, 104 can be quantified or measured using common intersection points, for instance points 146, 148. For example, lines representing center lines of the anatomical structure segments 102, 104 can be constructed and can be compared to the anatomical axes of the patient. Additionally, the distance between the fractured ends 103, 105 of the anatomical structure segments 102, 104 can be quantified. Using these or similar techniques, the positions and/or orientations of the anatomical structure segments 102, 104 can be determined. It is further noted that, in some examples, in addition to the positions and orientations of the first and second anatomical structure segments, the positions and orientation of rings (and/or other elements of the fixation apparatus) in three-dimensional space may also be determined, for example using any of the techniques described. For example, in some cases, locations of the rings within the images 126, 128 may be determined based on the first image information and/or other provided information. In some examples, these locations may then be used to determine the positions and orientations of the rings in three-dimensional space. Additionally, in some examples, configuration information for the fixation apparatus, such as ring diameters and strut length and mounting information, may also be used to determine positions and orientations of the rings in three-dimensional space.

Referring now to FIG. 3B, at operation 324, one or more deformity parameters are calculated. The deformity parameters may include parameters relating to the deformity associated with the first and second anatomical structure segments. For example, in some cases, the deformity parameters may include an amount of translation (e.g., lateral, medial, anterior, and/or posterior), a degree of coronal angulation (e.g., valgus and/or varus), a degree of sagittal angulation, an amount by which anatomical structure length is too short and/or too long, a degree of clinical rotational deformity (e.g., internal and/or external), and others. In some examples, the deformity parameters may be calculated as part of the process determining the positions and orientations of the first and segment anatomical structure segments described above at operation 422, for example using the techniques described above with reference to operation 422.

At operation 326, the deformity parameters calculated at operation 424 are displayed, for example using one or more graphical user interfaces of a computing system. Referring now to FIG. 9, a deformity parameter interface 900 is shown. As shown, interface 900 includes various fields 901-906 for displaying calculated values of various example deformity parameters, including AP View translation and coronal angulation, LAT View translation and sagittal angulation, an amount by which anatomical structure length is too short or too long, and a degree of clinical rotational deformity. In the example of FIG. 9, fields 901-905 each have a respective PFM badge 915 (including the text “PFM”) that is displayed to the left of each field 901-905. Each PFM badge 915 indicates that the value shown in the respective field 901-905 has been calculated by the software. Interface 900 allows the deformity parameter values that are displayed in each field 901-906 to be edited by a user, for example by typing a number in the fields 901-906 and/or by using number increment controls 916 displayed to the right of each field 901-906. When a user edits a value that was calculated by the software, the PFM badge 915 adjacent to the respective field may be removed to indicate that the value for the field has been edited by the user. In some examples, after editing the values in one or more fields, the user may select Refresh Perspective Frame Matching Data button 920 to return each of the fields to the value that was calculated by the software. Also, in some examples, after editing the values in one or more fields, the user may select Save and Update button 921 to cause the deformity parameters to be recalculated based on the edited values provided by the user, for example by repeating all or any portion of the calculations performed at operation 322.

At operation 328, a graphical representation of the position and orientation of the first and the second anatomical structure segments is generated and displayed. The graphical representation of the position and orientation of the first and the second anatomical structure segments may be displayed using one or more graphical user interfaces of a computing system. For example, as shown in FIG. 9, interface 900 includes a graphical representation 950 of the position and orientation of the first and the second anatomical structure segments. Graphical representation 950 includes a representation 931 of the proximal anatomical structure segment and a representation 932 of the distal anatomical structure segment. In some examples, the graphical representation 950 may be generated based, at least in part, on the positions and orientations of the first and segment anatomical structure segments determined at operation 322. In some examples, when the user edits one or more deformity parameters and selects Save and Update button 921, the graphical representation 950 may also be adjusted to reflect the saved edits to the deformity parameters. Graphical representation 950 may, for example, improve efficiency and reliability by providing the user with a visual confirmation of information entered into interface 900, for example to allow fast and easy identification of errors or other problems.

At operation 330, one or more mounting parameters are calculated. The mounting parameters may include parameters relating to mounting of a reference ring of the fixator onto a respective anatomical structure segment. For example, in some cases, the mounting parameters may include an amount of offset (e.g., lateral, medial, anterior, and/or posterior) such as for a center of the reference ring with respect to a reference point, a degree of tilt (e.g., proximal and/or distal), an amount of axial offset, a master tab rotation, and others. In some examples, the mounting parameters may be calculated as part of the process determining the positions and orientations of the first and segment anatomical structure segments described above at operation 322, for example using the techniques described above with reference to operation 322. It is noted that, for the process of FIG. 3, the reference ring is not necessarily required to be orthogonal with respect to the respective anatomical structure segment on which it is mounted. Thus, in some examples, the reference ring may be non-orthogonal with respect to the respective anatomical structure segment on which it is mounted.

At operation 432, the mounting parameters calculated at operation 430 are displayed, for example using one or more graphical user interfaces of a computing system. Referring now to FIG. 10, a mounting parameter interface 1000 is shown. As shown, interface 1000 includes various fields 1001-1006 for displaying calculated values of various example mounting parameters, including AP View offset and tilt, LAT View offset and tilt, axial offset, and master tab rotation. In the example of FIG. 10, fields 1001-1006 each have a respective PFM badge 1015 that is displayed to the left of each field 1001-1006. Each PFM badge 1015 indicates that the value shown in the respective field 1001-1006 has been calculated by the software. Interface 1000 allows the mounting parameter values that are displayed in each field 1001-1006 to be edited by a user, for example by typing a number in the fields 1001-1006 and/or by using number increment controls 1016 displayed to the right of each field 1001-1006. When a user edits a value that was calculated by the software, the PFM badge 1015 adjacent to the respective field may be removed to indicate that the value for the field has been edited by the user. In some examples, after editing the values in one or more fields, the user may select Refresh Perspective Frame Matching Data button 1020 to return each of the fields to the value that was calculated by the software. Also, in some examples, after editing the values in one or more fields, the user may select Save and Update button 1021 to cause the deformity parameters to be recalculated based on the edited values provided by the user, for example by repeating all or any portion of the calculations performed at operation 322.

At operation 334, a graphical representation of the position and orientation of the reference ring and the respective anatomical structure segment to which it is mounted is generated and displayed. The graphical representation of the position and orientation of the reference ring and the respective anatomical structure segment may be displayed using one or more graphical user interfaces of a computing system. For example, as shown in FIG. 10, interface 1000 includes a graphical representation 1050 of the position and orientation of the reference ring and the respective anatomical structure segment. Graphical representation 1050 includes a representation 1031 of the proximal anatomical structure segment, a representation 1033 of the proximal (reference) ring, and a representation 1032 of the distal anatomical structure segment. In some examples, the graphical representation 1050 may be generated based, at least in part, on the positions and orientations of the reference ring and the respective anatomical structure segment determined at operation 322. The graphical representation of the reference ring and the respective anatomical structure segment may, therefore, reflect and/or indicate the positions and orientations of reference ring and the respective anatomical structure segment determined at operation 322. In some examples, when the user edits one or more mounting parameters and selects Save and Update button 1021, the graphical representation 1050 may also be adjusted to reflect the saved edits to the mounting parameters. Graphical representation 1050 may, for example, improve efficiency and reliability by providing the user with a visual confirmation of information entered into interface 1000, for example to allow fast and easy identification of errors or other problems.

At operation 336, one or more treatment plan options are received, for example using one or more graphical user interfaces of a computing system. A treatment plan is a plan for manipulating the fixation apparatus, for example in order to correct the deformity of the first and the second anatomical structure segments. The treatment plan may include, for example, a plan for making gradual adjustments to the positions and orientations of the fixator rings with respect to each other, for example by changing the lengths of the struts of the fixation apparatus. Referring now to FIG. 11, an example treatment plan interface 1100A is shown. The interface 1100A includes controls for selecting, by a user, various treatment plan options. In particular, controls 1101 and/or 1102 allow selecting of a treatment plan start date, control 1103 allows selection of an option to perform axial movement first (e.g., in an initial part of the treatment, such as prior to rotational movement), control 1104 allows selection of an option to indicate a final distance between reference points, control 1105 allows selection of an option to calculate the treatment plan based on a specified duration (e.g., a number of days) for axial movement, control 1106 allows selection of an option to calculate the treatment plan based on a rate of distraction at the reference point (e.g., for example millimeters (mm)/day) for axial movement, control 1108 allows selection of an option to calculate the treatment plan based on a specified duration (e.g., a number of days) for deformity correction, control 1109 allows selection of an option to calculate the treatment plan based on a rate of distraction at the reference point (e.g., for example millimeters (mm)/day) for deformity correction, and control 1107 allows selection of an option to perform two adjustments per day. In some examples, when control 1007 is not selected, a default option of one adjustment per day may be used. In some examples, after selecting desired treatment plan options, the user may select Update Adjustment Plan button 1110 to trigger generation of the treatment plan. Additionally, after initial generation of the treatment plan, the user may also be permitted to adjust the treatment plan options and have the treatment plan re-generated with the adjusted options by re-selecting Update Adjustment Plan button 1110.

In some examples, the software may allow the treatment plan to be split into multiple treatment phases. This may allow for greater control of the deformity correction, such as by allowing the surgeon to define starting and target poses for each treatment phase, to control the options for each treatment phase, and to control the type of movement in each treatment phase. For example, in some cases, a user may be allowed to create multiple treatment phases. Each of the multiple treatment phases may be defined by an assigned starting pose and an assigned target (i.e., ending) pose. The starting pose for the first (initial) treatment phase may be the initial anatomical structure deformity position from which the treatment begins on the first day of treatment. The target pose for the final treatment phase may be the desired positions of the anatomical structure segments at the conclusion of treatment. The starting pose for each subsequent treatment phase (after the initial treatment phase) may be same as the target pose of each preceding treatment phase. For example, the starting pose of a second treatment phase may be the same as the target pose of the first treatment phase, and so forth. The multiple phases (1 to N) may be combined in a list, and the plans of the individual N phases may be combined into the treatment plan.

The software may provide an interface that allows the user to select the quantity of desired treatment phases, the starting pose and the target pose for each treatment phase, and separate options for each treatment phase. For example, for each treatment phase, the software may allow the user to select a respective duration (e.g., a number of days), a rate of distraction, a quantity of degrees of adjustment per day, of a number of adjustments (e.g., strut movements) per day. The options for each treatment phase may be different from one another. For example, the duration, rate of distraction, quantity of degrees of adjustment per day and/or number of adjustments per day for the first treatment phase may be different from the duration, rate of distraction, quantity of degrees of adjustment per day and/or number of adjustments per day for the second treatment phase. In some examples, the input parameters for each treatment phase may include a starting pose of the distal fragment, a target pose of the distal fragment, and plan options for the phase (duration/distraction rate at given point/degrees per day, etc.). In some examples, the multiple treatment phases may allow for overcorrection of the deformity. For example, the multiple treatment phases may allow for compression, which may be calculated by using an overcorrection with a negative value for the axial distraction. The multiple treatment phases may also provide a simple and intuitive mechanism to allow axial movement to be performed in an initial phase of the treatment, and to allow additional axial lengthening/distraction. In some examples, the user may describe the treatment plan in clinical terms (e.g. residual deformity as overcorrection, number of phases, distraction first, etc.). A software layer may then interpret the clinical language and create corresponding treatment phases according to the phase definitions described above.

At operation 338, manipulations to the fixation apparatus for correction of the anatomical structure deformity (i.e., a treatment plan) are determined. The manipulations to the fixation apparatus may include adjustments to the struts of the fixation apparatus, such as adjustments to the sizes and/or lengths of the struts. In some examples, operation 338 may be performed based, at least in part, on the treatment plan options received at operation 336. For example, operation 338 may be performed based, at least in part, on specified start date, on instructions to perform axial movement first (e.g., in an initial part of the treatment, such as prior to rotational movement), a specified final distance between reference points, instructions to perform additional lengthening by a specified amount, instructions to generate an axial gap to ensure anatomical structure clearance, a specified duration (e.g., a number of days) of treatment, a specified rate of distraction, and/or instructions to perform two perform a specified quantity (e.g., one, two, etc.) of adjustments per day.

In some examples, the treatment plan may also be determined based, at least in part, on a determination of desired changes to the positions and/or orientations of the anatomical structure segments 102, 104, for instance how the anatomical structure segments 102, 104 can be repositioned with respect to each other in order to promote union between the anatomical structure segments 102, 104. For example, in some cases, it may be desirable to change the angulation of the second anatomical structure segment 104 such that the axes L1 and L2 are brought into alignment, and to change the position of the second anatomical structure segment such that the fractured ends 103, 105 of the anatomical structure segments 102, 104 abut each other. Once the desired changes to the positions and/or orientations of the anatomical structure segments 102, 104 have been determined, a treatment plan for effecting the position and/or orientation changes can be determined. In a preferred embodiment, the desired changes to the positions and/or orientations of the anatomical structure segments 102, 104 can be effected gradually, in a series of smaller changes. The positions and/or orientations of the anatomical structure segments 102, 104 can be changed by changing the positions and/or orientations of the upper and lower fixator rings 106, 108 with respect to each other, for instance by lengthening or shortening one or more of the length adjustable struts 116.

The required changes to the geometry of the fixator 100 (i.e., the position and/or orientation of the fixator 100) that can enable the desired changes to the positions and/or orientations of the anatomical structure segments 102, 104 can be computed using the matrix algebra described above. For example, the required repositioning and/or reorientation of the second anatomical structure segment 104 with respect to the first anatomical structure segment 102 can be translated to changes in the position and/or orientation of the lower fixator ring 108 with respect to the upper fixator ring 106.

At operation 340, indications of the determined manipulations to the fixation apparatus are provided to one or more users. For example, in some cases, indications of the determined manipulations to the fixation apparatus may be provided using one or more graphical user interfaces of a computing system, using a printed hard copy, using audio feedback, and/or using other techniques. In particular, referring now to FIG. 12, it is seen that indications of the determined manipulations to the fixation apparatus may be provided within interface 1100B. Specifically, selection of Strut Adjustment Plan tab 1122 may cause treatment plan interface 1100B to provide a chart 1130, including day-by-day manipulation information for each strut within the fixation apparatus. In this example, chart 1130 shows a length for each strut on each day of treatment. In some examples, one or more alerts may be generated for one or more manipulations to the fixation apparatus that result in at least one of strut movement of more than a threshold amount. For example, in some cases, strut movements exceeding particular threshold amount (e.g., 3 mm per day), which may be referred to as rapid strut movements, may be indicated by displaying a red triangle icon next to the indication of the strut movement in chart 1130. As also shown in FIG. 12, a PDF version of the chart 1130 may be generated by selecting View Draft PDF button 1131. The generated PDF may, in some examples, be printed to create a hard copy version of chart 1130.

In the example of FIG. 12, chart 1130 includes blocks 1132-A and 1132-B indicating ranges of dates on which changes of strut sizes, referred to as strut swaps, may be performed. In particular, block 1132-A indicates that a strut swap may be performed for Strut 4 on Day 0 through Day 2, while block 1132-B indicates that a strut swap may be performed for Strut 4 on Day 3 through Day 14 (and subsequent days). In some examples, blocks 1132-A and 1132-B may be color-coded to match a color assigned to a respective strut. For example, blocks 1132-A and 1132-B may be colored green to match a green color that may be assigned to Strut 4. Referring now to FIG. 13, Strut Swaps Calendar tab 1123 of treatment plan interface 1100-C may be selected to generate a calendar 1140 indicating ranges of dates on which strut swaps may be performed.

In some examples, the struts of the fixation apparatus attached to the patient may be color-coded, for example using color-coded caps, marker, or other color-coded materials included within and/or attached to the struts. In some examples, the physical color-coding of the struts in the fixation apparatus attached to the patient may match the color-coding of struts used in the software. For example, the physical color-coding of the struts in the fixation apparatus may match the color-coding of struts that may be used to color-code the blocks 1132-A and 1132-B of chart 1130, graphical representation 520, and other color-coded representations of the struts displayed by the software. In some examples, this may make it easier for physicians and/or patients to confirm that, when they physically adjust a strut on the fixation apparatus, they are adjusting the correct strut by the correct amount.

At operation 342, one or more graphical representations of the position and orientation of the first and second anatomical structure segments and the rings of the fixation apparatus is generated and displayed. The graphical representation of the position and orientation of the first and the second anatomical structure segments and the rings of the fixation apparatus may be displayed using one or more graphical user interfaces of a computing system. For example, referring back to FIG. 11, selection of Treatment Simulation tab 1121 may cause interface 1100 to display a graphical representation 1150 of the position and orientation of the first and the second anatomical structure segments and the rings of the fixation apparatus. Graphical representation 1150 includes a representation 1031 of the proximal anatomical structure segment, a representation 1033 of the proximal (reference) ring, a representation 1032 of the distal anatomical structure segment, and a representation 1034 of the distal ring. In some examples, the one or more graphical representations of the position and orientation of the first and second anatomical structure segments and the rings of the fixation apparatus may include day-by-day graphical representations of the position and orientation of the first and second anatomical structure segments and the rings of the fixation apparatus throughout treatment for the anatomical structure deformity. For example, as shown in FIG. 11, a user may select a particular day of treatment for which to generate and display a graphical representation 1150 using controls 1151, 1152, 1153, and/or 1154. For example, control 1151 may be selected to allow incrementing of the selected day, control 1154 may be selected to allow decrementing of the selected day, and slider 1152 may be slid along bar 1153 to increment and/or decrement the selected day. It is also noted that slider 1152 displays an indication of the currently selected day, which, in the example of FIG. 11, is treatment day zero. Thus, in FIG. 11, graphical representation 1150 shows the position and orientation of the first and second anatomical structure segments and the rings of the fixation apparatus at treatment day zero. Using controls 1151-1154 to select a different day of treatment may cause graphical representation 1150 to be adjusted to show the position and orientation of the first and second anatomical structure segments and the rings of the fixation apparatus on the selected different day. As should be appreciated, allowing the surgeon and/or patient to see graphical representations of the position and orientation of the first and second anatomical structure segments and the rings of the fixation apparatus throughout treatment may be beneficial by, for example, providing an additional visual tool to improve accuracy and assist in planning of treatment. Additionally, graphical representation 1150 (as well as graphical representations described herein) may, for example, improve efficiency and reliability by providing the user with a visual confirmation of information entered into interface 1100, for example to allow fast and easy identification of errors or other problems. It is further noted that the view of graphical representation 1150 (as well as other graphical representations described herein) may be rotated (for example by a complete 360 degrees), zoomed in and out, moved in direction, and otherwise manipulated, for example using controls 1181-1184 adjacent to the upper right side of the graphical representation 1150. This may allow views of the first and second anatomical structure segments and/or the rings of the fixation apparatus from various orientations that may not be available, or may be difficult to obtain, using x-rays and other imaging techniques, thereby also improving reliability and accuracy and providing additional visual confirmation of calculated values. In particular, view of the graphical representation 1150 may be rotated using control 1181, zoomed in using control 1182, zoomed out using control 1183, and panned using control 1184. Also, in some examples, other controls, such as a mouse and touchscreen, may also be employed to rotate, zoom, pan, and otherwise manipulate graphical representation 1150. Additionally, in some examples, control 1185 may be used to select an anteroposterior (AP) view, control 1186 may be used to select a lateral view, and control 1187 may be used to select a proximal view.

At operation 344, the treatment plan may be implemented, that is the geometry of the fixation apparatus may be changed, for example based on the manipulations determined at operation 338, in order to change positions and orientations of the anatomical structure segments.

Hinge Detection for Orthopedic Fixation

As described above, a frame matching process may be employed to determine positions and orientations of anatomical structure segments in three-dimensional space, such as for generating a treatment plan for correction of an anatomical deformity. As also described above, in some examples, as part of the frame matching process, a surgeon or other user may identify locations of fixator elements (e.g., hinges, struts, etc.) within displayed images (e.g., x-rays) that show the fixator attached to the anatomical structure segments. Some examples of this process are described above with reference to operation 318 of FIG. 3A and FIG. 6. For example, as shown in FIG. 6 and described above, a user may identify locations of hinges within AP View image 601-A and LAT View image 601-B as part of the frame matching process. However, it may often be difficult for the user to identify and mark positions of certain fixator elements, such as hinges, within the images. In particular, depending upon the location and orientation from which an image is captured, hinges and other fixator elements may not be identified easily, such as because they may wholly or partially overlap one another or may otherwise be obscured within the images.

In some examples, to alleviate the above and other problems, an automated or semi-automated hinge detection technique may be employed. Some examples of these hinge detection technique will now be described with reference to FIGS. 14A-25. Specifically, referring now to FIG. 14A, an example process for hinge detection for orthopedic fixation will now be described in detail. Any or all of the operations and sub-operations depicted in FIGS. 14A-B may be performed by one or more computing devices, such as by computer software executing on the one or more computing devices. As described above, a fixator may include fixator elements such as rings, struts and a plurality of hinges and may be used for correcting a deformity of first and second anatomical structure segments to which the fixator is attached. The process of FIG. 14 is initiated at operation 1410, at which first and second images of the first and the second anatomical structure segments and the fixator attached thereto are displayed. The first and the second images may have respective image planes. As shown in FIG. 2 and described above, there is an angle α between the image planes of the images 126, 128.

A first example of the display of the first and the second images at operation 1410 is shown in FIG. 6, which includes AP View image 601-A and LAT View image 601-B as described above. An additional example of the display of the first and the second images at operation 1410 is shown in FIG. 15A, which will now be described in detail. In particular, FIG. 15A displays an AP View image 1501-A and a LAT View image 1501-B, which are images of a fixator 1510 including proximal fixator ring 1511, distal fixator ring 1512, fixator struts 1513, and twelve hinges 1541 (shown as black circles at the endpoints of the struts 1513). The hinges 1541 include six proximal hinges (adjacent to proximal fixator ring 1511) and six distal hinges (adjacent to distal fixator ring 1512). The images 1501-A and 1501-B show the fixator 1510 attached to a first anatomical structure segment 1521 and a second anatomical structure segment 1522. The first and second images of the first and the second anatomical structure segments and the fixator attached thereto may be displayed at operation 1410 using one or more graphical user interfaces of a computing system. For example, images 1501-A and 1501-B of FIGS. 15A-25 may be displayed using one or more graphical user interfaces of a computing system. It is noted that, in some examples, any, or all, of the contents shown in each of FIGS. 15A-25 may be displayed using one or more graphical user interfaces of a computing system.

It is noted that, in the examples of FIGS. 15A-25, the images 1501-A and 1501-B are simulated images—as opposed to actual x-rays (as in FIG. 6) or other images captured from an imager or imaging source. It is noted that the simulated images of FIGS. 15A-25 are provided merely for ease of illustration of the concepts described herein. In practice, the images 1501-A and 1501-B may be non-simulated images, such as x-rays, which are captured using an imager, imaging source, x-ray imager, camera or other image capture device, and that show an actual fixator that is physically attached to an actual anatomical structure segment (such as shown in FIG. 6). Thus, even though images 1501-A and 1501-B are displayed as simulations, the concepts described herein should be understood to also be applicable to non-simulated images (i.e., images that were captured using an imager, imaging source, x-ray imager, camera or other image capture device) similar to the images 601-A and 601-B of FIG. 6.

At operation 1412, indications are received of first image hinge locations associated with the plurality of hinges in the first image, for example using the one or more graphical user interfaces of the computing system. For example, as described above with respect to FIG. 6, the user may indicate locations of hinges within the AP View image 601-A, such as by clicking on the hinges using an attached mouse or other input device. As described above, the strut indicator button 611-A for Strut 1 may be pre-selected automatically for the user. Upon selection (or automatic pre-selection) of the strut indicator button 611-A for Strut 1, the user may proceed to draw (or otherwise indicate) a representation of the hinges at endpoints of Strut 1 within AP View image 601-A. For example, in some cases, the user may use a mouse or other input device to select a location 621 (e.g., a center point) of a proximal hinge for Strut 1 within image 601-A. In some examples, the user may then use a mouse or other input device to select a location 622 (e.g., a center point) of the distal hinge of Strut 1 within image 601-A. As shown in FIG. 6, the software may generate points or circles at the locations 621 and 622 of the proximal and distal hinges selected by the user within image 601-A. Additionally, the software may generate a line 623 representing the location and/or length of Strut 1 that connects the points or circles at the locations 621 and 622 and of the proximal and distal hinges selected by the user within image 601-A. In some examples, the above described process may be repeated to draw points representing proximal and distal hinges at endpoints of each of the six struts in the AP View image 601-A. A similar technique may also be employed to indicate the locations of each of the twelve hinges 1541 in AP View image 1501-A of FIG. 15A.

In some examples, after the user indicates locations of the hinges 1541 within the AP View image 1501-A, the software may use the indicated hinge locations to determine locations of the fixator rings 1511 and 1512 within the AP View image 1501-A. The software may then generate ring graphical representations 1531 and 1532, corresponding to the fixator rings 1511 and 1512, respectively, and display the ring graphical representations 1531 and 1532 at the determined locations of the fixator rings 1511 and 1512 within the AP View image 1501-A. Referring now to FIG. 15B, it is seen that ring graphical representations 1531 and 1532 are generated by the software and displayed within AP View image 1501-A at the corresponding locations of the respective fixator rings 1511 and 1512. It is noted that the fixator ring graphical representations 1531 and 1532 are shown in FIG. 15B with a different shade/color than the actual fixator rings 1511 and 1512 to indicate that the fixator ring graphical representations 1531 and 1532 are generated by the software and are not included in the actual underlying AP View image 1501-A. Specifically, the fixator ring graphical representations 1531 and 1532 are shown in blue color/shades, while the fixator rings 1511 and 1512 are shown in black color/shades.

At operation 1414, a graphical projection of the fixator is overlaid, for example using the one or more graphical user interfaces of the computing system, on the second image. For example, referring now to FIG. 16, it is seen that a graphical projection 1600 of the fixator is displayed that includes a graphical representation 1611 of the proximal ring and a graphical representation 1612 of the distal ring. As shown, the graphical projection 1600, including graphical representations 1611 and 1612 is overlaid on the second image, which in this example is the LAT View image 1501-B.

The graphical projection 1600 of the fixator may be rotated relative to fixator elements in the first image, such as based at least in part on an angle (such as at the exact angle or at an approximation of the angle) of image planes of the first and the second images with respect to one another. As shown in FIG. 2 and described above, there is an angle α between the image planes of the images 126, 128. Thus, in the example of FIG. 16, the AP View image 1501-A may have a respective AP View image plane, and the LAT View image 1501-B may have a respective LAT View image plane at an angle of ninety degrees with respect to the AP View image plane. Accordingly, in the example of FIG. 16, the graphical projection 1600 of the fixator is rotated ninety degrees relative to the first locations of the plurality of fixator elements identified in the first image. For example, both the proximal ring graphical representation 1611 and the distal ring graphical representation 1612 of FIG. 16 are rotated ninety degrees relative to the proximal fixator ring 1511 (and/or the respective ring representation 1531) and distal fixator ring 1512 (and/or the respective ring representation 1532) in the AP View image 1501-A.

The graphical projection 1600 of the fixator may be rotated based at least in part on the angle between image planes of the images because that rotation may correspond to the expected position of the fixator in the second image. For example, if an image plane of the LAT View image 1501-B is at an angle of ninety degrees to an image plane of the AP View image 1501-A, then it may be expected that the locations of the fixator rings in the LAT View image 1501-B will be rotated ninety degrees relative to the locations of the fixator rings in the AP View image 1501-A. In this way, the overlaying of the graphical projection 1600 on the second image may assist the user in identifying locations of the plurality of fixator elements in the second image. In some examples, a user may provide a numerical value, such as a quantity of degrees (e.g., ninety degrees), that expressly indicates to the software the value of the angle between image planes of the images. In other examples, the value of the angle may be inferred by the software based on descriptions of the images (e.g., anteroposterior, anterior, posterior, lateral, medial, etc.) or using other techniques. In the examples of FIGS. 15A-17, image 1501-A is an AP View image and image 1501-B is a lateral image. It is noted, however, that the techniques described herein may be used between any different combinations of images taken from any directions and orientations and having image planes at any angle with respect to one another.

Additionally, it is noted that the software may also manipulate other features of the graphical projection 1600 (e.g. size, location, orientations, etc.) such as to correct for other differences (e.g., location, orientation, zoom level, etc.) between the first and the second images. For example, in some cases, if the second image was captured from a closer location to the fixator and/or is more zoomed-in than the first image, then the software may correct for this by enlarging the size of the graphical projection 1600 relative to the size of the fixator elements in the first image. By contrast, in some cases, if the second image was captured from a further location from the fixator and/or is more zoomed-out than the first image, then the software may correct for this by reducing the size of the graphical projection 1600 relative to the size of the fixator elements in the first image.

Thus, in some examples, the graphical projection 1600 of the fixator may be generated based, at least in part, on locations of fixator elements in the first image. Additionally or alternatively, in some examples, the graphical projection 1600 of the fixator may be generated based, at least in part, on configuration information for the fixator that is provided to the software by the user, such as ring types (e.g., full ring, foot plate, etc.), ring sizes, strut lengths, indications of mounting points (e.g., ring holes), and other information. Various types of configuration information and techniques for providing such information to the software are described in detail above, such as with respect to FIG. 5 and operation 314 of FIG. 3A, and are not repeated here.

At operation 1416, the software may allow a user to manipulate (e.g., resize, rotate, move, etc.) the graphical projection and/or the second image. For example, the user may manipulate the graphical projection to make it more precisely align with the positions of the fixator elements in the second image. For example, the software may provide controls that allow resizing (making the graphical projection larger or smaller) or rotating of the graphical projection relative to its initial placement by the software when being overlaid upon the second image at operation 1414. For example, in some cases, it may be necessary to resize and/or rotate the graphical projection to correct for slight differences in the actual angle between the first and the second images relative to the expected angle (e.g., if the images are actually at an angle of ninety-two degrees rather than ninety degrees, etc.), to correct for differences in distance, position or orientation of the first and the second images relative to the objects included in the images, or for other reasons. In some examples, the software may provide various controls, such as buttons, that allow selections of operations such as move, resize and rotate, and the software may be configured to receive input from input devices, such as a mouse or keyboard, to accomplish those manipulations, for example via drag-and-drop, button clicks, keystrokes, etc.

In some examples, in addition or as an alternative to allowing a user to manipulate the graphical projection, the software may allow the user to manipulate the second image (e.g., LAT View image 1501-B) upon which the graphical projection is overlaid. For example, in some cases, the software may allow the user to resize, rotate and/or move the second image and/or elements shown within the second image, such as to assist in aligning the fixator elements shown in the second image with corresponding elements of the graphical projection. Referring now to FIG. 17, it is seen that the user has manipulated the second image, which is LAT View image 1501-B, by moving the LAT View image 1501-B down and to the right from its prior screen/interface location shown in FIG. 16. By moving the LAT View image 1501-B in this manner (without moving the graphical projection 1600), this allows the fixator elements in the LAT View image 1501-B to be moved down and to the right such that they align with corresponding elements of graphical projection 1600. For example, as shown in FIG. 17, the graphical representations 1611 and 1612 of the fixator rings substantially align with the respective fixator rings 1511 and 1512. Thus, only small portions of the fixator rings 1511 and 1512 are visible in FIG. 17 because they have been almost entirely overlaid by the respective graphical representations 1611 and 1612 of the fixator rings. In particular, in FIG. 17, proximal ring graphical representation 1611 substantially aligns with (and almost entirely overlays) proximal fixator ring 1511, and distal ring graphical representation 1612 substantially aligns with (and almost entirely overlays) distal fixator ring 1512. It is noted that, while the use of the graphical overlay shown in FIGS. 16 and 17 may sometimes be advantageous to assist in correlating the first and second image with one another, there is no requirement that the hinge detection techniques described herein must include the use of a graphical overlay.

At operation 1418, projected second image hinge locations associated with the plurality of hinges in the second image are determined. In some examples, the software may determine the projected second image hinge locations based at least in part on the indications of the first image hinge locations received at operation 1412. The projected second hinge locations are the software's estimated locations of where the software expects the hinges to be located within the second image based on the user's indications of the hinge locations in the first image. For example, because the software knows the spatial relationship (e.g., angle) between the first and second images, the software can use the locations of the hinges in the first image to project/estimate where the locations of the hinges are expected to be in the second image. In some examples, the projected second image hinge locations may be expressed by the software via X and Y coordinate values within the second image. FIG. 18 shows a diagram of the second image (e.g., LAT View image 1501-B) that shows the fixator struts 1513 and twelve hinges 1541, which are all included in the second image (e.g., LAT View image 1501-B). It is appreciated that, although the second image (e.g., LAT View image 1501-B) would also include the fixator rings and anatomical structure segments to which the fixator is attached (as shown in FIGS. 15A-17), the fixator rings and anatomical structure segments are not shown in FIGS. 18 and 22-24 in order to reduce clutter in the diagrams. As shown in FIG. 18, the software may determine projected second image hinge locations 1841 corresponding to the hinges 1541 in the LAT View image 1501-B. It is appreciated that the actual locations of hinges 1541 that are part of the LAT View image 1501-B are shown in FIG. 18 as twelve circles with a normal (thinner) outline. By contrast, the projected second image hinge locations 1841 are shown in FIG. 18 as twelve circles with a heavier (thicker) outline. It is noted that the projected second image hinge locations 1841 are in close-proximity (i.e. adjacent—but not identical) to the actual locations of the hinges 1541 in the LAT View image 1501-B. In particular, in this example, the projected second image hinge locations 1841 are positioned up and to the right of respective actual locations of the hinges within the LAT View image 1501-B

In some examples, the software may determine the projected second image hinge locations 1841 by rotating the first image hinge locations in the first image, such as based at least in part on an angle (such as at the exact angle or at an approximation of the angle) of image planes of the first and the second images with respect to one another. As shown in FIG. 2 and described above, there is an angle α between the image planes of the images 126, 128. Thus, as described above, the AP View image 1501-A may have a respective AP View image plane, and the LAT View image 1501-B may have a respective LAT View image plane at an angle of ninety degrees with respect to the AP View image plane. Accordingly, in the example of FIG. 18, projected second image hinge locations 1841 are rotated ninety degrees relative to the first image hinge locations of the hinges 1541 identified in the first image.

The projected second image hinge locations 1841 may be rotated based at least in part on the angle between image planes of the images because that rotation may correspond to the expected position of the fixator in the second image. For example, if an image plane of the LAT View image 1501-B is at an angle of ninety degrees to an image plane of the AP View image 1501-A, then it may be expected that the locations of the hinges 1541 in the LAT View image 1501-B will be rotated ninety degrees relative to the locations of the hinges 1541 in the AP View image 1501-A. In some examples, a user may provide a numerical value, such as a quantity of degrees (e.g., ninety degrees), that expressly indicates to the software the value of the angle between image planes of the images. In other examples, the value of the angle may be inferred by the software based on descriptions of the images (e.g., anteroposterior, anterior, posterior, lateral, medial, etc.) or using other techniques.

At operation 1420, hinge candidates are detected in the second image. The hinge candidates have shapes associated with the plurality of hinges. A hinge candidate is an area of the second image that has a shape that is associated with (e.g., that resembles) a hinge. For example, a hinge candidate may be an area of the second image that is defined by a same or similar visual feature (e.g., a same or similar shade of white, black or gray or another color) and that has a shape (e.g., a substantially circular shape) that matches or corresponds to a shape of one of the hinges. The hinge candidates may be detected by computer software using automated software-based image analysis techniques that are performed on the second image. For example, the hinges may have circular shapes, and the performing of hinge detection by the computer software may include employing circle detection algorithms, such as a Hough transformation, on the second image to identify circular shapes in the second image as hinge candidates. It is noted that the identification of a circular shape for purposes of hinge detection, as that term is used herein, is meant to encompass identifying of both exactly circular shapes and shapes that are substantially circular, such as a circle that may be partly obfuscated or that has an oval shape. In many cases, the number of hinge candidates that are detected in the second image may be greater than the number of actual fixator hinges. This may be because the, in addition to detecting the actual hinges, the software may detect a number of false positive hinge candidates, such as other circular shapes (e.g., wires, other objects, etc.) in the second image. In addition, in some examples, even a single hinge may sometimes be detected as multiple hinge candidates, such different circles that have similar or adjacent locations but that have different size characteristics (e.g., radius lengths).

In some examples, in order to improve the hinge candidate detection results, the software may use a priori knowledge to detect the hinge candidates. In some cases, the software may determine a range of expected size characteristics (e.g., radius lengths) for the plurality of hinges, and the software may limit the hinge candidates to circular shapes having determined size characteristics that are within the range of expected size characteristics. For example, the software may determine a range of expected radius lengths for a hinge, and the software may limit the hinge candidates to circular shapes having radii whose lengths are within the range of expected radius lengths. For example, a range of expected radius lengths may include a minimum expected radius length and a maximum expected radius length as well as all lengths between the minimum and maximum expected radius lengths. In some examples, the minimum expected radius length may be based on the smallest detected hinge radius in the first image (e.g., AP View image 1501-A). For example, the minimum expected radius length may be equal to the smallest detected hinge radius in the first image (e.g., AP View image 1501-A) minus a selected offset value. Also, in some examples, the maximum expected radius length may be based on the largest detected hinge radius in the first image (e.g., AP View image 1501-A). For example, the maximum expected radius length may be equal to the largest detected hinge radius in the first image (e.g., AP View image 1501-A) plus a selected offset value. In some cases, the radius lengths or other size characteristics of the hinges in the first image may be determined by the software by also performing an automated image analysis (e.g., using a Hough transformation) on the first image to detect the size characteristics of circles at the locations of the first image that were indicated by the user for the hinges in the first image. In some examples, because the second image and the first image may be captured from a same or similar distance to the fixator, the software may reasonably assume that the size characteristics (e.g., radius length) of the hinges should be the same or similar in the first and the second images. Thus, the size characteristics of the hinges in the first image may be used as a priori knowledge to more accurately identify hinge candidates, such as by excluding certain false positives, for example shapes or objects that have a size characteristic (e.g., radius length) that is too big or too small to be an actual hinge. It is noted that, in addition or as an alternative to radius lengths, other size characteristics (e.g., circumference, diameter, etc.) may be used to limit the detected hinge range of hinge candidates in a corresponding fashion as the radius length features described above.

Additionally, in some examples, a priori knowledge used to improve hinge detection results may include hinge orientation. For example, in some cases, the software may expect one or more rings of the fixator to be displayed at a certain angle within the image, such as substantially perpendicular to a bone segment, which may result in the ring being substantially horizontal in the second image. Moreover, the software may also expect hinges corresponding to a particular ring to be aligned with one another in a straight line. For example, the software may expect proximal hinges adjacent to a proximal ring to be aligned with one another in a straight line. The software may also expect distal hinges adjacent to the distal ring to be aligned with one another in a straight line. The software may also expect the line to have the same or similar angle as the respective ring. The software may use this a priori knowledge to more accurately identify hinge candidates, such as by excluding certain false positives. For example, in some cases, if the software identifies an outlying circular shape that is not aligned with any other detected circular shapes, then the software may consider this outlying circular shape to be a false positive and may not include it within the group of detected hinge candidates. Thus, in some examples, the detecting of the hinge candidates may be performed based at least in part on orientations of detected shapes within the second image.

At operation 1422, candidate second image hinge locations are identified. The candidate second image hinge locations are the locations of the hinge candidates in the second image. In some examples, the software may identify the candidate second image hinge locations by determining coordinate values (e.g., X and Y coordinate values) for each of the detected hinge candidates within the second image. Referring now to FIG. 19, an example is shown of a hinge candidate list 1900 that includes information corresponding to example hinge candidates that may be detected by the software at operation 1420. Specifically, each row of the hinge candidate list 1900 includes information for a respective hinge candidate. The first (i.e., left-most) value listed in each row is the respective X coordinate value of the location (e.g., center point) for the hinge candidate within the second image. The second (i.e., center) value listed in each row is the respective Y coordinate value of the location (e.g., center point) for the hinge candidate within the second image. The third (i.e., right-most) value listed in each row is the respective determined radius length of the hinge candidate.

At operation 1424, adjusted second image hinge locations associated with the plurality of hinges in the second image are calculated. The adjusted second image hinge locations may be calculated based, at least in part, on the projected second image hinge locations (determined at operation 1418) and the candidate second image hinge locations (determined at operation 1422). For example, FIG. 14B shows an example of a group of sub-operations 1424A-F that may be included in operation 1424 in order to calculate the adjusted second image hinge locations. In particular, at sub-operation 1424A, the hinge candidates are grouped into a set of hinge candidate groups. In some examples, the hinge candidates may be grouped based at least in part on a similarity of size characteristics (e.g., radius lengths) and/or locations. For example, in some cases, two or more hinge candidates may be grouped together if their respective size characteristics (e.g., radius lengths) are within a selected allowed threshold size/length of one another. Also, in some cases, two or more hinge candidates may be grouped together if their respective locations are within a selected allowed threshold distance of one another. For example, two or more hinge candidates may be grouped together if their respective X coordinate location (e.g., center point) values are within a selected allowed threshold distance of one another and their respective Y coordinate location (e.g., center point) values are within a selected allowed threshold distance of one another. For example, as shown in FIG. 19, four of the rows of the hinge candidate list 1900 are underlined in order to indicate an example of four hinge candidates that may be grouped into a hinge candidate group. Specifically, it can be seen that the four underlined rows include X coordinate values (X:134, X:134, X:136 and X:138) in close proximity to one another, for example such that they are within a selected allowed X coordinate threshold distance. It can also be seen that the four underlined rows include Y coordinate values (Y:376, Y:378, Y:378 and Y:378) in close proximity to one another, for example such that they are within a selected allowed Y coordinate threshold distance. In some examples, the radius lengths of the four underlined rows (11, 12, 12, and 14) are close to one another, for example such that they are within a selected allowed radius length threshold. Thus, four hinge candidates corresponding to the four underlined rows in FIG. 19 may be grouped into a respective hinge candidate group. As should be appreciated, although not shown in FIG. 19, other hinge candidates corresponding to other rows in FIG. 19 may also be grouped into other hinge candidate groups.

Referring now to FIG. 20, an example is shown of a hinge candidate group list 2000 that includes information corresponding to example hinge candidate groups that may be formed from the hinge candidates identified in hinge candidate list 1900 of FIG. 19. Specifically, each row of the hinge candidate group list 2000 includes information for a respective hinge candidate group. The first (i.e., left-most) value listed in each row is a number of hinge candidates that are included in the respective group. The second (i.e., center) value listed in each row is the average of the X coordinate location values for the hinge candidates within the respective group. The third (i.e., right-most) value listed in each row is the average of the Y coordinate location values for the hinge candidates within the respective group. The underlined row in hinge candidate group list 2000 includes information for the hinge candidate group formed from the four hinge candidates corresponding to the four underlined rows in hinge candidate list 1900.

At sub-operation 1424B, the set of hinge candidate groups are weighted. In some examples, the set of hinge candidate groups may be weighted based at least in part on a number of hinge candidates within each of the set of hinge candidate groups. In some examples, hinge candidate groups with more included hinge candidates may be assigned a higher priority weight, while hinge candidate groups with fewer included hinge candidates may be assigned a lower priority weight. In some examples, the number of hinge candidates in each group may correspond to the exact weight assigned to the group. As shown in hinge candidate group list 2000, the weight assigned to each hinge candidate group may be the first (i.e. left-most) value shown in each row that indicates the number of hinge candidates included in the respective group. For example, the underlined row of hinge candidate group list 2000 indicates that the respective hinge candidate group includes four hinge candidates, and this group may therefore receive a weight of four. By contrast, the top row of hinge candidate group list 2000 indicates that the respective hinge candidate group includes five hinge candidates, and this group may therefore receive a weight of five.

At sub-operation 1424C, a highest weighted subset of hinge candidate groups may be selected from the set of hinge candidate groups. For example, if a subset of the four highest weighted hinge candidate groups were selected from the hinge candidate group list 2000, then this subset would include hinge candidate groups represented by the first/top four rows on the hinge candidate group list 2000 (e.g., with respective weights of five or four). As another example, if a subset of the seven highest weighted hinge candidate groups were selected from the hinge candidate group list 2000, then this subset would include hinge candidate groups represented by the first/top seven rows on the hinge candidate group list 2000 (e.g., with respective weights of five, four or three).

At sub-operation 1424D, the software calculates a plurality of average group locations for the subset of highest weighted hinge candidate groups. Each of the average group locations may be associated with a respective hinge candidate group of the highest weighted subset of hinge candidate groups. For example, the average group location for a group may include an average of the X coordinate values of all of the hinge candidates in the group (i.e., the second/center value shown in each row of hinge candidate group list 2000) and an average of the Y coordinate values of all of the hinge candidates in the group (i.e., the third/right-most value shown in each row of hinge candidate group list 2000). Referring now to FIG. 21, an example is shown of an average group location 2120 that may be calculated for a hinge candidate group 2100 that includes four hinge candidates 2111, 2112, 2113 and 2114. The hinge candidates 2111, 2112, 2113 and 2114 are labeled with the letters HC and include solid outlines, while the average group location 2120 is labeled with the letter A and includes a dashed outline. As shown, the average group location 2120 is positioned in FIG. 21 at a horizontal (X axis) location that is the average of the horizontal locations of the four hinge candidates 2111, 2112, 2113 and 2114 in the hinge candidate group 2100. Additionally, the average group location 2120 is positioned in FIG. 21 at a vertical (Y axis) location that is the average of the vertical locations of the four hinge candidates 2111, 2112, 2113 and 2114 in the hinge candidate group 2100.

At sub-operation 1424E, a transformation matrix is constructed that describes a spatial relationship between the projected second image hinge locations (determined at operation 1418) and the plurality of average group locations (determined at sub-operation 1424D). Referring now to FIG. 22, an example is shown in which the subset of highest weighted hinge candidate groups (selected at sub-operation 1424C) includes six hinge candidate groups. As shown in FIG. 22, six average group locations 2200 are calculated, including one for each of the six hinge candidate groups in the highest weighted subset of hinge candidate groups. In FIG. 22, the six average group locations 2200 are each labeled with the letter A and include a dashed outline. In the particular example of FIG. 22, each of the six average group locations 2200 directly aligns with a respective actual hinge location. This is merely a simplistic example that is selected for purposes of clarity and ease of illustration. In practice, there is no requirement that the average group locations 2200 must directly align with respective actual hinge locations—and may often be close (but not exactly identical) to the respective actual hinge locations. As shown in FIG. 22, six arrows (pointing diagonally up and to the right) are drawn between the average group locations 2200 and the six closest respective projected second image hinge locations 1841 (shown as circles with bold/heavy outline) to which they correspond. These six diagonal arrows in FIG. 22 represent the transformation matrix that describes the spatial relationship between the projected second image hinge locations 1841 and the plurality of average group locations 2200. As should be appreciated, in the example of FIG. 22, because a subset of only six of the highest weighted hinge candidates is selected, the six average group locations 2200 correspond to only six (and not all twelve) of the projected second image hinge locations 1841. In some examples, one or more relevant algorithms may be used by the software to calculate the transformation matrix, such as an iterative point cloud or iterative closest point (ICP) algorithm and/or a coherent point drift (CPD) algorithm.

At sub-operation 1424F, the transformation matrix is used to adjust the projected second image hinge locations to the adjusted second image hinge locations. This may include, for example, determining spatial relationships that correlate the average group locations to the projected second image hinge locations and then using those spatial relationships (e.g., by reversing the spatial relationships) to adjust (e.g., transform) the projected second image hinge locations. For example, referring now to FIG. 23, the six diagonal arrows from FIG. 22 (point diagonally up and to the right) that were used point from the average group locations 2200 to their respective closest projected second image hinge locations 1841 (and which represent the transformation matrix) are now reversed (to point diagonally down and to the left) to represent the adjustment that may be made to the projected second image hinge locations 1841 using the transformation matrix. Additionally, it is noted that, instead of only six arrows, FIG. 23 includes twelve diagonal arrows to indicate that all twelve of the projected second image hinge locations 1841 may be transformed in this manner. Referring now to FIG. 24, the output of the adjustment (e.g., transformation) performed at sub-operation 1424F is shown. In particular, each of the twelve projected second image hinge locations 1841 are shifted diagonally down and to the left (as shown by the twelve arrows in FIG. 23) to form twelve adjusted second image hinge locations 2400 (represented by circles with bold outlines). In the particular example of FIG. 24, each of the twelve adjusted second image hinge locations 2400 directly aligns with a respective actual hinge location. This is merely a simplistic example that is selected for purposes of clarity and ease of illustration. In practice, there is no requirement that any or all of the adjusted second image hinge locations 2400 must directly align with respective actual hinge locations—and may often be close (but not exactly identical) to the respective actual hinge locations.

In some examples, the software may use the adjusted second image hinge locations 2400 to determine locations of the fixator rings 1511 and 1512 within the LAT View image 1501-B. The software may then generate ring graphical representations corresponding to the fixator rings 1511 and 1512 and display the ring graphical representations at the determined locations of the fixator rings 1511 and 1512 within the LAT View image 1501-B. Referring now to FIG. 25, it is seen that graphical representations 1731 and 1732 are generated by the software and displayed within LAT View image 1501-B at the corresponding locations of the respective fixator rings 1511 and 1512.

Referring back to FIG. 14A, at operation 1426, the adjusted second image hinge locations 2400 are used to determine positions and orientations of the first and second anatomical structure segments in three-dimensional space. For example, as described in detail above with respect to operation 322 of FIG. 3A, imaging scene parameters may be used to determine positions and orientations of the first and second anatomical structure segments in three-dimensional space. As also described above, the imaging scene parameters may be obtained by comparing the locations of representations of particular components, or fixator elements of the fixator within the two-dimensional spaces of the first and the second images, with the corresponding locations of those same fixator elements in actual, three-dimensional space. At operation 1428, the physical locations of the fixation device and the first and second anatomical structures in three-dimensional space may be used to determine manipulations to the fixation device for the correction of the deformity. For example, as also described above, such as with respect to operation 338 of FIG. 3B, manipulations to the fixation apparatus for correction of the anatomical structure deformity (i.e., a treatment plan) may be determined using the positions and orientations of the first and second anatomical structure segments in three-dimensional space. Specifically, the treatment plan may be determined based, at least in part, on a determination of desired changes to the positions and/or orientations of the anatomical structure segments, for instance how the anatomical structure segments can be repositioned with respect to each other in order to promote union between the anatomical structure segments.

It is noted that the above description of the hinge detection techniques includes examples in which a priori knowledge from the first image is used for various purposes with respect to the second image, such as to determine projected second image hinge locations in the second image and to assist in identifying hinge candidates in the second image. It is noted, however, that the techniques described herein do not necessarily require a priori knowledge from the first image in order to perform hinge detection in the second image (or vice versa). For example, in some cases, hinge candidates could be detected in an image, such as by performing automated software-based image analysis techniques. The image analysis techniques may include performing a Hough transformation to detect circular shapes within the image. Hinge locations within the image may then be determined based at least in part on the detected hinge candidates, in some examples without the use of any a priori knowledge from another image. In some examples, various techniques described above, such as the grouping, weighting, location averaging and/or other techniques, may also optionally be employed. For example, in some cases, the detected hinge candidates may be grouped, such as using the grouping techniques described above. In some examples, only a selected subset of the highest weighted hinge groups may be used. In some examples, average group locations may be calculated for the hinge groups, such as using the techniques described above. In some examples, these average group locations may be used as the determined hinge locations, or the determined hinge locations may otherwise be calculated based at least in part on these average group locations. The determined hinge locations may then be used to determine physical locations of the fixation device and the first and the second anatomical structure segments in three-dimensional space. The physical locations of the fixation device and the first and the second anatomical structure segments may then be used to determine manipulations to the fixation device for the correction of the deformity.

Example Computing Device

Referring to FIG. 26, a suitable computing device such as example computing device 78 can be configured to perform any or all of the techniques set forth above. It will be understood that the computing device 78 can include any appropriate device, examples of which include a desktop computing device, a server computing device, or a portable computing device, such as a laptop, tablet, or smart phone.

In an example configuration, the computing device 78 includes a processing portion 80, a memory portion 82, an input/output portion 84, and a user interface (UI) portion 86. It is emphasized that the block diagram depiction of the computing device 78 is exemplary and not intended to imply a specific implementation and/or configuration. The processing portion 80, memory portion 82, input/output portion 84, and user interface portion 86 can be coupled together to allow communications therebetween. As should be appreciated, any of the above components may be distributed across one or more separate devices and/or locations.

In various embodiments, the input/output portion 84 includes a receiver of the computing device 78, a transmitter of the computing device 78, or a combination thereof. The input/output portion 84 is capable of receiving and/or providing information pertaining to communicate a network such as, for example, the Internet. As should be appreciated, transmit and receive functionality may also be provided by one or more devices external to the computing device 78.

The processing portion 80 may include one or more processors. Depending upon the exact configuration and type of processor, the memory portion 82 can be volatile (such as some types of RAM), non-volatile (such as ROM, flash memory, etc.), or a combination thereof. The computing device 78 can include additional storage (e.g., removable storage and/or non-removable storage) including, but not limited to, tape, flash memory, smart cards, CD-ROM, digital versatile disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, universal serial bus (USB) compatible memory, or any other medium which can be used to store information and which can be accessed by the computing device 78.

The computing device 78 also can contain the user interface portion 86 allowing a user to communicate with the computing device 78. The user interface 86 can include inputs that provide the ability to control the computing device 78, via, for example, buttons, soft keys, a mouse, voice actuated controls, a touch screen, movement of the computing device 78, visual cues (e.g., moving a hand in front of a camera on the computing device 78), or the like. The user interface portion 86 can provide outputs, including visual information (e.g., via a display), audio information (e.g., via speaker), mechanically (e.g., via a vibrating mechanism), or a combination thereof. In various configurations, the user interface portion 86 can include a display, one or more graphical user interfaces, a touch screen, a keyboard, a mouse, an accelerometer, a motion detector, a speaker, a microphone, a camera, a tilt sensor, or any combination thereof. Thus, a computing system including, for example, one or more computing devices 78 can include a processor, a display coupled to the processor, and a memory in communication with the processor, one or more graphical user interfaces, and various other components. The memory can have stored therein instructions that, upon execution by the processor, cause the computer system to perform operations, such as the operations described above. As used herein, the term computing system can refer to a system that includes one or more computing devices 78. For instance, the computing system can include one or more server computing devices that communicate with one or more client computing devices.

While example embodiments of devices for executing the disclosed techniques are described herein, the underlying concepts can be applied to any computing device, processor, or system capable of communicating and presenting information as described herein. The various techniques described herein can be implemented in connection with hardware or software or, where appropriate, with a combination of both. Thus, the methods and apparatuses described herein can be implemented, or certain aspects or portions thereof, can take the form of program code (i.e., instructions) embodied in tangible non-transitory storage media, such as floppy diskettes, CD-ROMs, hard drives, or any other machine-readable storage medium (computer-readable storage medium), wherein, when the program code is loaded into and executed by a machine, such as a computer, the machine becomes an apparatus for performing the techniques described herein. In the case of program code execution on programmable computers, the computing device will generally include a processor, a storage medium readable by the processor (including volatile and non-volatile memory and/or storage elements), at least one input device, and at least one output device, for instance a display. The display can be configured to display visual information. The program(s) can be implemented in assembly or machine language, if desired. The language can be a compiled or interpreted language, and combined with hardware implementations.

It should be appreciated that the orthopedic fixation with imagery analysis techniques described herein provide not only for the use of non-orthogonal images, but also allow the use of overlapping images, images captured using different imaging techniques, images captured in different settings, and the like, thereby presenting a surgeon with greater flexibility when compared with existing fixation and imagery techniques.

The techniques described herein also can be practiced via communications embodied in the form of program code that is transmitted over some transmission medium, such as over electrical wiring or cabling, through fiber optics, or via any other form of transmission. When implemented on a general-purpose processor, the program code combines with the processor to provide a unique apparatus that operates to invoke the functionality described herein. Additionally, any storage techniques used in connection with the techniques described herein can invariably be a combination of hardware and software.

While the techniques described herein can be implemented and have been described in connection with the various embodiments of the various figures, it is to be understood that other similar embodiments can be used or modifications and additions can be made to the described embodiments without deviating therefrom. For example, it should be appreciated that the steps disclosed above can be performed in the order set forth above, or in any other order as desired. Further, one skilled in the art will recognize that the techniques described in the present application may apply to any environment, whether wired or wireless, and may be applied to any number of such devices connected via a communications network and interacting across the network. Therefore, the techniques described herein should not be limited to any single embodiment, but rather should be construed in breadth and scope in accordance with the appended claims.

Claims

1. A computer-implemented method comprising: displaying first and second images of first and second anatomical structure segments with a fixation device attached thereto, the fixation device for correction of a deformity of the first and the second anatomical structure segments, the first and the second images captured from different positions and orientations with respect to one another, the fixation device comprising rings, struts and a plurality of hinges;receiving indications of first image hinge locations associated with the plurality of hinges in the first image;detecting hinge candidates in the second image having shapes associated with the plurality of hinges;identifying candidate second image hinge locations of the hinge candidates in the second image;calculating, based at least in part on the candidate second image hinge locations, adjusted second image hinge locations associated with the plurality of hinges in the second image; anddetermining, based at least in part on the first image hinge locations and the adjusted second image hinge locations, physical locations of the fixation device and the first and the second anatomical structure segments in three-dimensional space.
2. The computer-implemented method of claim 1, further comprising determining a range of expected size characteristics for the plurality of hinges, wherein the hinge candidates are limited to shapes having determined size characteristics that are within the range of expected size characteristics.
3. The computer-implemented method of claim 1, wherein the detecting of the hinge candidates is performed based at least in part on orientations of detected shapes within the second image.
4. The computer-implemented method of claim 1, wherein the plurality of hinges have a circular shape, and wherein the detecting the of the hinge candidates comprises performing a Hough transformation to detect circular shapes in the second image.
5. The computer-implemented method of claim 1, wherein calculating the adjusted second image hinge locations comprises grouping the hinge candidates into a set of hinge candidate groups.
6. The computer-implemented method of claim 5, wherein the hinge candidates are grouped based at least in part on a similarity of at least one of size characteristics or locations.
7. The computer-implemented method of claim 5, wherein calculating the adjusted second image hinge locations further comprises weighting the set of hinge candidate groups based at least in part on a number of hinge candidates within each of the set of hinge candidate groups.
8. The computer-implemented method of claim 7, wherein calculating the adjusted second image hinge locations further comprises selecting a highest weighted subset of hinge candidate groups from the set of hinge candidate groups.
9. The computer-implemented method of claim 8, wherein calculating the adjusted second image hinge locations further comprises calculating a plurality of average group locations, each of the average group locations associated with a respective hinge candidate group of the highest weighted subset of hinge candidate groups.
10. The computer-implemented method of claim 9, wherein calculating the adjusted second image hinge locations further comprises: calculating the adjusted second image hinge locations based at least in part on the plurality of average group locations.
11. The computer-implemented method of claim 1, further comprising: using the physical locations of the fixation device and the first and the second anatomical structure segments to determine manipulations to the fixation device for the correction of the deformity.
12. One or more non-transitory computer-readable storage media having stored thereon instructions that, upon execution by one or more computing devices, cause the one or more computing devices to perform operations comprising: displaying first and second images of first and second anatomical structure segments with a fixation device attached thereto, the fixation device for correction of a deformity of the first and the second anatomical structure segments, the first and the second images captured from different positions and orientations with respect to one another, the fixation device comprising rings, struts and a plurality of hinges;receiving indications of first image hinge locations associated with the plurality of hinges in the first image;detecting hinge candidates in the second image having shapes associated with the plurality of hinges;identifying candidate second image hinge locations of the hinge candidates in the second image;calculating, based at least in part on the candidate second image hinge locations, adjusted second image hinge locations associated with the plurality of hinges in the second image; anddetermining, based at least in part on the first image hinge locations and the adjusted second image hinge locations, physical locations of the fixation device and the first and the second anatomical structure segments in three-dimensional space.
13. The one or more non-transitory computer-readable storage media of claim 12, wherein the operations further comprise determining a range of expected size characteristics for the plurality of hinges, wherein the hinge candidates are limited to shapes having determined size characteristics that are within the range of expected size characteristics.
14. The one or more non-transitory computer-readable storage media of claim 12, wherein calculating the adjusted second image hinge locations comprises grouping the hinge candidates into a set of hinge candidate groups.
15. The one or more non-transitory computer-readable storage media of claim 14, wherein the hinge candidates are grouped based at least in part on a similarity of at least one of size characteristics or locations.
16. The one or more non-transitory computer-readable storage media of claim 14, wherein calculating the adjusted second image hinge locations further comprises weighting the set of hinge candidate groups based at least in part on a number of hinge candidates within each of the set of hinge candidate groups.
17. The one or more non-transitory computer-readable storage media of claim 16, wherein calculating the adjusted second image hinge locations further comprises selecting a highest weighted subset of hinge candidate groups from the set of hinge candidate groups.
18. The one or more non-transitory computer-readable storage media of claim 17, wherein calculating the adjusted second image hinge locations further comprises calculating a plurality of average group locations, each of the average group locations associated with a respective hinge candidate group of the highest weighted subset of hinge candidate groups.
19. The one or more non-transitory computer-readable storage media of claim 18, wherein calculating the adjusted second image hinge locations further comprises: calculating the adjusted second image hinge locations based at least in part on the plurality of average group locations.
20. A computing system comprising: one or more computer processors; andone or more memories having stored therein instructions that, upon execution by the one or more computer processors, causes the one or more computer processors to perform operations comprising: displaying first and second images of first and second anatomical structure segments with a fixation device attached thereto, the fixation device for correction of a deformity of the first and the second anatomical structure segments, the first and the second images captured from different positions and orientations with respect to one another, the fixation device comprising rings, struts and a plurality of hinges;receiving indications of first image hinge locations associated with the plurality of hinges in the first image;detecting hinge candidates in the second image having shapes associated with the plurality of hinges;identifying candidate second image hinge locations of the hinge candidates in the second image;calculating, based at least in part on the candidate second image hinge locations, adjusted second image hinge locations associated with the plurality of hinges in the second image; anddetermining, based at least in part on the first image hinge locations and the adjusted second image hinge locations, physical locations of the fixation device and the first and the second anatomical structure segments in three-dimensional space.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No. 16/839,381 filed Apr. 3, 2020, the contents of which are hereby incorporated by reference in their entirety.

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Related Publications (1)

	Number	Date	Country
	20220237797 A1	Jul 2022	US

Continuations (1)

	Number	Date	Country
Parent	16839381	Apr 2020	US
Child	17720371		US

Hinge detection for orthopedic fixation

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