Patent Application
20230105898
The present application claims priority from Australian Provisional Patent Application No 2020900653 filed on 4 Mar. 2020, the contents of which are incorporated herein by reference in their entirety.
This disclosure relates to image processing for intraoperative guidance methods and systems for assisting surgery of a joint.
Joints between bones often deteriorate over time and need to be replaced. For example, a total hip replacement is a common surgical procedure where articulating surfaces of a hip joint affected by osteoarthritis are replaced by implant components. While a reasonable outcome can be achieved in many cases, the hip joint is complex and the total hip replacement has many parameters that can be influenced by the surgeon. For example, the surgeon can influence leg length, femoral offset, vertical and horizontal centre of rotation, acetabular inclination, acetabular anteversion, and femoral stem positioning. It is difficult for most surgeons to achieve optimal values for all these parameters.
Errors in implant component positioning, or errors in compensating for errors in implant component positioning, for example, by adjusting other cooperating implant components to compensate, can increase a number of risks associated with total hip replacements. These risks can include joint dislocation, bone fracture, change in leg length, incorrect femoral offset or loosening of the joint. Similar difficulties present themselves when replacing other joints, such as knee, shoulder and elbow joints. Therefore, systems and methods are needed that assist the surgeon to improve the quality of the joint replacement.
Any discussion of documents, acts, materials, devices, articles or the like which has been included in the present specification is not to be taken as an admission that any or all of these matters form part of the prior art base or were common general knowledge in the field relevant to the present disclosure as it existed before the priority date of each claim of this application.
Throughout this specification the word “comprise”, or variations such as “comprises” or “comprising”, will be understood to imply the inclusion of a stated element, integer or step, or group of elements, integers or steps, but not the exclusion of any other element, integer or step, or group of elements, integers or steps.
This disclosure relates to taking two or more X-ray images of a joint intraoperatively. The software creates a 3D model from the images and registers that 3D model with the preoperative model and/or surgical plan. From the difference between the actual and the planned implant placement, the software calculates an expected postoperative performance of the joint and displays that to the surgeon.
There is disclosed an intraoperative guidance system for total joint replacement of a joint of a patient by a surgeon. The guidance system comprises:
an X-ray imaging device for application of X-ray radiation to the joint and for detecting X-ray radiation to create a two-dimensional digital image of the joint and an implant component; and
a computer system configured to:
The computer system may be configured to determine a preoperative simulated performance metric by simulating movement of the initial three-dimensional model according to a surgical plan.
The surgical plan may comprise a planned placement of the implant component in the initial three-dimensional model.
The indication may comprise a comparison between the intraoperative simulated performance metric and the preoperative simulated performance metric.
The computer system may be configured to update the initial three-dimensional model based on the determined placement of the implant component in the digital three-dimensional model in relation to the initial three-dimensional model, thereby determining an updated digital three-dimensional model.
The intraoperative simulated performance metric may be associated with the digital three-dimensional model.
The intraoperative simulated performance metric may be an indication of a risk stratification.
The risk stratification may be indicative of a risk associated with multiple predicted postoperative movements by the patient.
The risk stratification may be indicative of a risk of one or more of:
dislocation of the joint;
edge loading; and
postoperative joint pain.
The computer system may comprise:
at least one processor; and
at least one memory storing program code accessible by the at least one processor, and configured to cause the at least one processor to:
a first computing device comprising:
a second computing device comprising:
The first computing device may be configured to receive the two or more two-dimensional digital images of the joint from the X-ray imaging device.
The second computing device may be configured to receive the two or more two-dimensional digital images of the joint from the X-ray imaging device.
The first computing device may be configured to receive the two or more two-dimensional digital images from the second computing device.
The system may comprise a display.
The intraoperative simulated performance metric may be provided as a visual output using the display.
Determining the placement of the implant component in the digital three-dimensional model may comprise identifying one or more edges of the implant component in the two or more two-dimensional digital images.
The joint may be a hip joint.
There is also disclosed a computer-implemented method for assisting a surgeon in total joint replacement of a joint of a patient, the method comprising:
storing an initial three-dimensional model of the joint and an implant component;
receiving two or more two-dimensional digital images of the joint and the implant component during the total joint replacement surgery;
creating a digital three-dimensional model of the joint and the implant component based on the two or more two-dimensional digital images;
performing registration between the digital three-dimensional model and the initial three-dimensional model to determine a placement of the implant component in the digital three-dimensional model in relation to a placement of the implant component in the initial three-dimensional model;
determining an intraoperative simulated performance metric by simulating movement of the digital three-dimensional model based on the placement of the implant component in the two or more two-dimensional digital images; and
providing an indication to the surgeon of the intraoperative simulated performance metric as an assessment of a current placement of the implant component.
The method may comprise determining a preoperative simulated performance metric by simulating movement of the initial three-dimensional model according to a surgical plan, the surgical plan comprising a planned placement of the implant component in the initial three-dimensional model.
The indication may comprise a comparison between the intraoperative simulated performance metric and the preoperative simulated performance metric.
The initial three-dimensional model may be updated based on the determined placement of the implant component in the digital three-dimensional model in relation to the initial three-dimensional model, thereby determining an updated digital three-dimensional model.
The intraoperative simulated performance metric may be associated with the digital three-dimensional model.
The intraoperative performance metric may be an indication of a risk stratification.
The risk stratification may be indicative of a risk associated with multiple predicted postoperative movements by the patient.
The risk stratification may be indicative of a risk of one or more of:
dislocation of the joint;
edge loading; and
postoperative joint pain.
The intraoperative simulated performance metric may be provided as a visual output on a display.
Determining the placement of the implant component in the digital three-dimensional model may comprise identifying one or more edges of the implant component in the two or more two-dimensional digital images.
There is also disclosed a computer-readable storage medium storing instructions that, when executed by a computing device, cause the computing device to perform the computer-implemented method.
Examples of the present disclosure will now be described by way of non-limiting example only, with reference to the accompanying drawings, in which:
Intraoperative guidance systems and methods for assisting with surgery are described. Surgeries, such as joint replacement surgeries have many parameters that can be influenced by the surgeon. For example,
The postoperative joint replacement X-ray 400 of
During total hip replacement surgery, the surgeon removes the patient's femoral head, reams the patient's natural acetabulum with a reamer, and implants the implant component 406 (the acetabular component) in the resulting recess. The implant component 406 is a hollow hemi-spherical component. The surgeon then implants subsequent implant components 407. The liner 412 is received by the implant component 406. The liner 412 is a hollow hemi-spherical component. The liner 412 is often polymeric. The surgeon implants the femoral stem 408 in the patient's femur (such as by hammering a broach into the medullary canal), and connects the neck 409 to the femoral stem 408. The surgeon connects the implanted femoral head 410 to the neck 409. The femoral stem 408 is an elongate component. The neck 409 is an elongate component. The implanted femoral head 410 is a generally spherical component. The implant component 406 and liner 412 receive the implanted femoral head 410. The acetabular component 406, liner 412, femoral stem 408, neck 409 and implanted femoral head 410 cooperate to emulate the mechanics of a natural hip joint.
Surgeries such as total hip replacements have many parameters that the surgeon can modify. For example, in the context of the illustrated total hip replacement, the surgeon can modify leg length, horizontal centre of rotation, vertical centre of rotation, acetabular inclination, acetabular anteversion, femoral stem positioning and cement mantle thickness. In some examples, these parameters may be measured as described in Vanrusselt, Jan & Vansevenant, Milan & Vanderschueren, Geert & Vanhoenacker, Filip. (2015). “Postoperative radiograph of the hip arthroplasty: what the radiologist should know”, the contents of which is incorporated herein by reference. The disclosed intraoperative guidance systems and methods can assist with joint surgery.
The processor 106 is configured to execute instructions 110 stored in memory 108 to cause the system 100 to function according to the described methods. The instructions 110 may be in the form of program code. The processor 106 may comprise one or more microprocessors, central processing units (CPUs), application specific instruction set processors (ASIPs), application specific integrated circuits (ASICs) or other processors capable of reading and executing instruction code.
Memory 108 may comprise one or more volatile or non-volatile memory types. For example, memory 108 may be a non-transitory compute readable medium, such as a hard drive, a solid state disk or CD-ROM. Memory 108 may comprise one or more of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM) or flash memory. Memory 108 is configured to store program code accessible by the processor 106. The program code comprises executable program code modules. In other words, memory 108 is configured to store executable code modules configured to be executable by the processor 106. The executable code modules, when executed by the processor 106 cause the system 100 to perform the methods disclosed herein.
The computing device 102 may also comprise a user interface 120. The user interface 120 is configured to receive one or more inputs from a user. The user interface 120 is also configured to provide one or more outputs to the user. In some examples, the user can submit a request to the computing device 102 via the user interface 120, and the computing device 102 can provide an output to the user via the user interface 120. The user interface 120 may comprise one or more user interface components, such as one or more of a display device, a touch screen display, a keyboard, a mouse, a camera, a microphone, buttons, switches and lights.
The computing device 102 comprises a computing device communications interface 122. The computing device communications interface 122 is configured to facilitate communication between the computing device 102 and the imaging device 104. The computing device communications interface 122 may comprise a combination of communication interface hardware and communication interface software suitable for establishing, maintaining and facilitating communication over a relevant communication channel. In some examples, the computing device communications interface 122 is in the form of a computing device network interface.
It is to be understood that ‘image’ may refer to a two-dimensional image, such as an X-ray image stored on memory 108. In some examples, the first digital image 1100 is stored in the form of a two-dimensional pixel matrix. The two-dimensional pixel matrix may comprise one intensity value for each pixel in the case of a grey scale image. Alternatively, the first digital image 1100 is stored in the form of a colour model (e.g. a RGB colour model) comprising colour information of each pixel. In some examples, the colour information is carried directly by the pixel bits themselves. In some examples, the colour information is provided by a colour look-up table. The colour information may be RGB information.
However, ‘image’ may also refer to a two-dimensional projection of a three-dimensional digital model constructed from multiple two-dimensional images, such as images from a MRI or a CT scan. The surgeon can peruse this “image stack” or the two-dimensional projection on a two-dimensional screen by specifying depth values and viewing angles. Two-dimensional images and three-dimensional models may be stored on data memory 108 as multiple intensity values, such as in a two-dimensional or three-dimensional pixel matrix or as a grid model. In other examples, the two-dimensional image or the three-dimensional model is stored in a parameterised representation, such as a spline representation, and processor 106 generates a two-dimensional view on a screen (e.g. user interface 120) by interpolation based on spline parameters of the spline representation.
As illustrated in
It is to be understood that any receiving step may be preceded by the processor 106 determining, computing and/or storing the data that is later received. For example, the processor 106 may store the data (e.g. the first digital image 1100) in memory 108. The processor 106 then requests the data from memory 108, such as by providing a read signal together with a memory address. The memory 108 provides the data as a voltage signal on a physical bit line and the processor 106 receives the data. It should also be understood that any receiving step may comprise the data being received from memory 108, imaging device 104, over a network via computing device communications interface 122 and/or from another device.
The second digital image 1102 is another intraoperative X-ray image of a patient's hip. In some examples, the second digital image 1102 is an X-ray image of the patient's hip taken transverse with respect to the first digital image 1102. That is, the second digital image 1102 an X-ray image of the patient's hip captured from a second direction. The second imaging direction is different to the first imaging direction. For example, the second imaging direction may be orthogonal to the first imaging direction. In some examples, the second digital image 1102 is a medial-lateral X-ray image of the patient's hip. The second digital image 1102 also represents an intraoperative stage of the total hip replacement surgery, with the implant component 406 (being the acetabular component) having been implanted. The second digital image 1102 may also comprise a representation of the patient's pelvis 406 and the patient's femur 404. In some examples, the second digital image 1102 is a two-dimensional image. In particular, the second digital image 1102 may be an X-ray image or a fluoroscopy image. The second digital image 1102 may be captured by the imaging device 104. In some examples, the second digital image 1102 may be captured from a second imaging device than the imaging device 104 or a different imaging device from the imaging device 104.
Memory 108 also comprises a digital model registration module 112 configured to perform registration between a first digital three-dimensional model and second digital three-dimensional model. In particular, the digital model registration module 112 is configured to perform registration between the digital three-dimensional model and the initial three-dimensional model 1200. The digital model registration module 112 is configured to perform registration between the digital three-dimensional model and the initial three-dimensional model 1200 to determine a placement of the implant component 406 in the digital three-dimensional model in relation to a placement of the implant component in the initial three-dimensional model 1200.
Memory 108 also comprises a performance metric simulation module 114 configured to simulate a performance metric associated with the determined placement of the implant component 406, as will be described in more detail below.
Memory 108 also comprises an indication module 116 configured to determine an indication of the intraoperative simulated performance metric. In particular, the indication module 116 may be configured to provide the indication of the intraoperative simulated performance metric as an assessment of a current (i.e. intraoperative) placement of the implant component 406, as will be described in more detail below.
Memory 108 also comprises a visualisation module 118 configured to provide the determined indication to the surgeon. In particular, the visualisation module 118 may be configured to provide the determined indication to the surgeon by way of a visual output using the user interface 120, as will be described in more detail below.
Imaging device 104 is configured to capture the first digital image 1100 of the joint and the implant component 406 during the total joint replacement surgery. Furthermore, the imaging device 104 is configured to provide the captured first digital image 1100 of the joint and the implant component 406 to the computing device 102. In some examples, the imaging device 104 can be an X-ray imaging device (e.g. a single-shot X-ray device or a fluoroscopy device), a computed tomography (CT) imaging device, a magnetic resonance image (MRI) imaging device, a digital camera (colour or black and white) or another type of imaging device. The advantages of using an X-ray imaging device during surgery include:
Imaging device 104 may also be configured to capture the second digital image 1102 of the joint and the implant component 406 during the total joint replacement surgery. Furthermore, the imaging device 104 is configured to provide the captured second digital image 1102 of the joint and the implant component 406 to the computing device 102. The imaging device 104 may be configured to be moved prior to capturing the second digital image 1102.
In some examples, the second imaging device is configured to capture the second digital image 1102. The second imaging device is configured to provide the captured second digital image 1102 of the joint and the implant component 406 to the computing device 102. In some examples, the second imaging device can be an X-ray imaging device (e.g. a single-shot X-ray device or a fluoroscopy device), a computed tomography (CT) imaging device, a magnetic resonance image (MRI) imaging device, a digital camera (colour or black and white) or another type of imaging device. The second imaging device may be separate to, and independently moveable with respect to the imaging device 104.
The information processing device 203 comprises a processor 206. The processor 206 is configured to execute instructions 210 stored in memory 208 to cause the system 200 to perform the methods disclosed herein. The instructions 210 may be in the form of program code. The processor 206 may comprise one or more microprocessors, central processing units (CPUs), application specific instruction set processors (ASIPs), application specific integrated circuits (ASICs) or other processors capable of reading and executing instruction code. In some examples, the processor 206 may be considered a first processor.
Memory 208 may comprise one or more volatile or non-volatile memory types. For example, memory 208 may be a non-transitory compute readable medium, such as a hard drive, a solid state disk or CD-ROM. Memory 208 may comprise one or more of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM) or flash memory. Memory 208 is configured to store program code accessible by the processor 206. The program code comprises executable program code modules. In other words, memory 208 is configured to store executable code modules configured to be executable by the processor 206. The executable code modules, when executed by the processor 206 cause the system 200 to perform the methods disclosed herein. In some examples, the memory 208 may be considered a first memory.
The information processing device 203 comprises an information processing device communications interface 222. The information processing device 203 is configured to facilitate communication between the imaging device 204 and/or the computing device 202 using the information processing device communications interface 222. The information processing device communications interface 222 may comprise a combination of communication interface hardware and communication interface software suitable for establishing, maintaining and facilitating communication over a relevant communication channel. In some examples, the information processing device communications interface 222 is in the form of an information processing device network interface. Examples of a suitable communications network 250 include a cloud server network, wired or wireless internet connection, Bluetooth® or other near field radio communication, and/or physical media such as USB. The processor 206 may receive data via the information processing device communications interface 222 and/or from memory 208.
As illustrated in
It is to be understood that any receiving step may be preceded by the processor 106 determining, computing and/or storing the data that is later received. For example, the processor 206 may store the data (e.g. the first digital image 1100) in memory 208. The processor 206 then requests the data from memory 208, such as by providing a read signal together with a memory address. The memory 208 provides the data as a voltage signal on a physical bit line and the processor 206 receives the data. It should also be understood that any receiving step may comprise the data being received from memory 208, computing device 202, information processing device 203, imaging device 204, over the communications network 250 via computing device communications interface 222 and/or from another device.
Memory 108 also comprises a digital model registration module 212 configured to perform registration between a first digital three-dimensional model and initial second three-dimensional model. In particular, the digital model registration module 212 is configured to perform registration between the digital three-dimensional model and the initial three-dimensional model 1200 as described with reference to system 100. The digital model registration module 212 is configured to perform registration between the digital three-dimensional model and the initial three-dimensional model 1200 to determine a placement of the implant component 406 in the digital three-dimensional model in relation to a placement of the implant component 406 in the initial three-dimensional model 1200.
Memory 208 also comprises a performance metric simulation module 214 configured to simulate a performance metric associated with the determined placement of the implant component 406, as will be described in more detail below.
Memory 208 also comprises an indication module 216 configured to determine an indication of the intraoperative simulated performance metric. In particular, the indication module 216 may be configured to provide the indication of the intraoperative simulated performance metric as an assessment of a current (i.e. intraoperative) placement of the implant component 406, as will be described in more detail below.
The computing device 202 comprises the computing device communications interface 230 and the user interface 220. The computing device 202 is configured to communicate with the information processing device 203 and/or the imaging device 204 over the communications network 250 using the computing device communications interface 230. The computing device communications interface 230 may comprise a combination of communication interface hardware and communication interface software suitable for establishing, maintaining and facilitating communication over a relevant communication channel. In some examples, the computing device 202 comprises a computing device processor. The computing device processor may be considered a second processor. In some examples, the computing device 202 comprises a computing device memory. In some examples, the computing device memory may be considered a second memory. The computing device memory may store program code accessible by the computing device processor. The program code may be configured to cause the computer device processor to perform the functionality described herein.
The user interface 220 is configured to receive one or more inputs from a user. The user interface 220 is also configured to provide one or more outputs to the user. In some examples, the user can submit a request to the computing device 202 via the user interface 220, and the computing device 202 can provide an output to the user via the user interface 220. In some examples, the user interface 220 is configured to provide the indication determined by the indication module 216 by way of a visual output. The user interface 220 may comprise one or more user interface components, such as one or more of a display device, a touch screen display, a keyboard, a mouse, a camera, a microphone, buttons, switches and lights.
Imaging device 204 is configured to capture the first digital image 1100 of the joint and the implant component 406 during the total joint replacement surgery. Furthermore, the imaging device 204 is configured to provide the captured first digital image 1100 of the joint and the implant component 406 to the information processing device 203 and/or the computing device 202. In the illustrated example, the imaging device 204 is configured to transmit the first digital image 1100 of the joint and the implant component 406 to the information processing device 203 and/or the computing device 202 using the communications network 220. In some examples, the imaging device 104 can be a X-ray imaging device (e.g. a single-shot X-ray device or a fluoroscopy device), a computed tomography (CT) imaging device, a magnetic resonance image (MRI) imaging device, a digital camera (colour or black and white) or another type of imaging device as previously described.
Imaging device 204 may also be configured to capture the second digital image 1102 of the joint and the implant component 406 during the total joint replacement surgery. Furthermore, the imaging device 104 is configured to provide the captured second digital image 1102 of the joint and the implant component 406 to the information processing device 203 and/or the computing device 202. In the illustrated example, the imaging device 204 is configured to transmit the first digital image 1100 of the joint and the implant component 406 to the information processing device 203 and/or the computing device 202 using the communications network 220. The imaging device 104 may be configured to be moved prior to capturing the second digital image 1102.
In some examples, the second imaging device is configured to capture the second digital image 1102. The second imaging device is configured to provide the captured second digital image 1102 of the joint and the implant component 406 to the information processing device 203 and/or the computing device 202. In the illustrated example, the imaging device 204 is configured to transmit the first digital image 1100 of the joint and the implant component 406 to the information processing device 203 and/or the computing device 202 using the communications network 220. In some examples, the second imaging device can be an X-ray imaging device (e.g. a single-shot X-ray device or a fluoroscopy device), a computed tomography (CT) imaging device, a magnetic resonance image (MRI) imaging device, a digital camera (colour or black and white) or another type of imaging device. The second imaging device may be separate to, and independently moveable with respect to the imaging device 204.
Prior to commencing total joint replacement surgery, it can be beneficial to determine a surgical plan. In some examples, the initial three-dimensional model 1200 can represent the surgical plan. A surgeon can adjust implant component sizing and pose relative to the patient's anatomy in the initial three-dimensional model 1200, and use the model as a baseline to monitor intraoperative surgical progress.
In some examples, the computing device 102 generates the surgical plan. That is, the computing device generates the initial three-dimensional model 1200. In some examples, another computing device generates the surgical plan. That is, another computing device generates the initial three-dimensional model 1200. The initial three-dimensional model 1200 is a digital model. The digital three-dimensional model 1200 may be a hip, knee, shoulder, elbow or another joint. The initial three-dimensional model may be referred to as an initial digital three-dimensional model. The initial three-dimensional model 1200 comprises an initial anatomical three-dimensional model 1202. The initial anatomical three-dimensional model 1202 is a three-dimensional model of the patient's anatomy. In particular, the initial anatomical three-dimensional model 1202 is a three-dimensional model of the joint to be replaced in the joint replacement surgery. In some examples, the initial anatomical three-dimensional model 1202 is a three-dimensional model of the patient's pre-operative anatomy. The initial anatomical three-dimensional model 1202 may be modified to represent the patient's anatomy after the surgery (their postoperative anatomy). For example, in cases where the patient's bone is to be cut during the surgery, the cut(s) can be included in the representation of the bone in the initial anatomical three-dimensional model 1202. In some examples, the initial anatomical three-dimensional model 1202 includes both a pre-operative initial anatomical three-dimensional model and postoperative initial anatomical three-dimensional model. In said examples, the user of the system 100 may be able to toggle between the pre-operative initial anatomical three-dimensional model and postoperative initial anatomical three-dimensional model.
Computing device 102 (or a different computing device) generates the initial three-dimensional model 1200 using information provided by a preoperative imaging device. The preoperative imaging device can be a CT imaging device or an MRI imaging device, for example.
In some examples, the preoperative imaging device is configured to provide the information to the processor 106. The processor 106 processes the information provided by the preoperative imaging device to generate the initial anatomical three-dimensional model 1202. The initial anatomical three-dimensional model 1202 is then stored in memory 108.
In some examples, a model generating computing device (not shown) processes the information provided by the preoperative imaging device to generate the initial anatomical three-dimensional model 1202. In said examples, the initial anatomical three-dimensional model 1202 is provided to the computing device 102. The initial anatomical three-dimensional model 1202 is then stored in memory 108.
In some examples, the initial three-dimensional model 1200 also comprises an initial implant component assembly three-dimensional model 1204. The initial implant component assembly three-dimensional model 1204 is a digital model. The initial implant component assembly three-dimensional model 1204 is a three-dimensional representation of the implant component assembly 405. For example, the initial implant component assembly three-dimensional model 1204 can comprise three-dimensional models of the implant component 406, and the one or more subsequent implant components 407. The implant component 406 can be in the form of the acetabular component 406 as previously described. The subsequent implant components 407 can be in the form of the femoral stem 408, neck 409, implanted femoral head 410 and liner 412 as previously described.
In some examples, the initial three-dimensional model 1200 represents the intended joint configuration after the surgery. That is, the initial implant component assembly three-dimensional model 1204 is positioned with respect to the initial anatomical three-dimensional model 1202 such that the initial three-dimensional model 1200 represents the intended joint configuration after the surgery. In that respect, the initial three-dimensional model 1200 can be considered a surgical plan.
The initial three-dimensional model 1200 can be transformed, such as rotated, translated and/or scaled, to correspond with the actual sizing of the patient's anatomy and the implant component assembly 405. That is, a measurement between a first point and a second point of the initial anatomical three-dimensional model 1202 and/or the initial implant component assembly three-dimensional model 1204 can be the same as a measurement between a corresponding first point and a corresponding second point of the patient's anatomy and/or the implant component assembly 405.
The implant component assembly 405, and therefore, each implant component 406 and/or each subsequent implant component 407 can be provided in a plurality of sizes. For example, each of the acetabular component 406, liner 412, femoral stem 408, neck 409 and/or femoral head 410 used in the total hip replacement illustrated in
In some examples, the size, position and/or pose of each implant component 406, each subsequent implant component 407 and/or the implant component assembly 405 of the initial three-dimensional model 1200 is determined manually. That is, a user of the system 100 can observe the patient's anatomy and/or the initial anatomical three-dimensional model 1202, and select a size, position and/or pose for each implant component 406 and/or each subsequent implant component 407 in the initial three-dimensional model 1200.
In some examples, the computing device 102 automatically determines the size of each implant component 406, each subsequent implant component 407 and/or the implant component assembly 405 of the initial three-dimensional model 1200. The determined size of each implant component 406 and/or each subsequent implant component 407 may be optimized based on anatomical geometry of the patient. Each implant component 406 and subsequent implant component 407 size comprises unique dimensions and geometry which can be used in the optimisation.
In some examples, the computing device 102 automatically determines the pose of each implant component 406 and/or each subsequent implant component 407. The determined pose of each implant component 406 and/or each subsequent implant component 407 may be optimized based on anatomical geometry of the patient.
When in the context of the total hip replacement, the initial three-dimensional model 1200 can include the patient's pelvis 406 and femur 404. The implant components used in the total hip replacement, as illustrated in
In some examples, the computing device 102 processes the initial three-dimensional model 1200. In such cases, the initial three-dimensional model 1200 may be processed by the digital model registration module 112. In some examples, the model generating computing device, or another computing device processes the initial three-dimensional model 1200 and transmits the processed initial three-dimensional model 1200 to the computing device 102.
Processing the initial three-dimensional model 1200 may comprise determining one or more initial three-dimensional model parameters. The initial three-dimensional model parameters may comprise locations of one or more initial three-dimensional model landmarks. The initial three-dimensional model landmarks may be, in the case of a total hip replacement, the patient's greater trochanter 1103, lesser trochanter 1107, femoral stem alignment, femoral shaft alignment and/or the centre of rotation of the implanted femoral head 1107. The initial three-dimensional model landmarks may comprise a number of pelvic landmarks, for example, the anterior superior iliac spine, anterior inferior iliac spine, pubic symphysis, obturator foramen, acetabular floor, sacrum, coccyx and/or greater sciatic notch. The initial three-dimensional model landmarks may comprise a number of femoral landmarks, for example, the piriformis fossa and/or intertrochanteric ridge. Each initial three-dimensional model landmark may have an associated initial landmark location. Each initial landmark location may be a Cartesian coordinate in the reference frame of the initial three-dimensional model 1200. One or more of the initial three-dimensional model parameters may be associated with the implant component 406. In some examples, one or more of the initial three-dimensional model parameters may be indicative of a placement, pose, size and/or shape of the implant component 406.
The one or more initial three-dimensional model parameters may comprise one or more initial three-dimensional model measurements. The initial three-dimensional model measurements are indicative of a distance between two or more initial three-dimensional model landmarks. The initial three-dimensional model measurements may be, for example, leg length, acetabular inclination, acetabular anteversion and/or cement mantle thickness, femoral offset, anterior offset, stem varus/valgus angle, and/or the distance between one or more of the landmarks previously described.
Although the initial three-dimensional model is described as being processed after generation, in some examples, each of the initial anatomical three-dimensional model 1202 and/or the initial implant component assembly three-dimensional model 1204 are processed before being used to generate the initial three-dimensional model 1200. Thus, the initial three-dimensional model parameters may comprise initial anatomical three-dimensional model parameters. The initial anatomical three-dimensional model parameters may be determined from the initial anatomical three-dimensional model 1202. Furthermore, the initial three-dimensional model parameters may comprise initial implant component assembly three-dimensional model parameters. The initial implant component assembly three-dimensional model parameters may be determined from the initial implant component assembly three-dimensional model 1204.
At 302, the computing device 102 stores the processed initial three-dimensional model 1200 in memory 108. That is, the computing device 102 stores the initial three-dimensional model 1200, and the associated initial three-dimensional model parameters.
The imaging device 104 captures the first digital image 1100 of the joint and the implant component 406. In particular, the imaging device 104 captures the first digital image 1100 of the joint and the implant component 406 during the total joint replacement surgery. The first digital image 1100 is captured from a first imaging direction. In some examples, the first digital image 1100 is an anterior-posterior X-ray image of the patients hip.
In some examples, the imaging device 104 captures the second digital image 1102 of the joint and the implant component 406. In particular, the imaging device 104 captures the second digital image 1102 of the joint and the implant component 406 during the total joint replacement surgery. The imaging device 104 may be moved after capturing the first digital image 1100, and prior to capturing the second digital image 1102. This may allow the imaging device 104 to capture the second digital image 1102 from a second imaging direction. The second imaging direction is different to the first imaging direction. For example, the second imaging direction may be orthogonal to the first imaging direction. In some examples, the second digital image 1102 is a medial-lateral X-ray image of the patient's hip.
At 304, the computing device 102 receives the two or more two-dimensional digital images. The computing device receives the two or more two-dimensional digital images from the imaging device 104. In some examples, the computing device receives one of the two or more two-dimensional digital images from the imaging device 104, and another of the two or more two-dimensional digital images from the second imaging device. In particular, the computing device 102 receives the first digital image 1100 of the joint and the implant component 406 and the second digital image of the joint and the implant component 406. The processor 106 stores the two or more two-dimensional digital images in memory 108. In particular, the processor 106 stores the first digital image 1100 and the second digital image in memory 108.
The computing device 102 processes the first digital image 1100. The computing device 102 also processes the second digital image. In other words, the computing device 102 processes the two or more two-dimensional digital images. In particular, the digital model registration module 112 may process the first digital image 1100 and the second digital image 1102. In other words, the digital model registration module 112 may process the two or more two-dimensional digital images. Processing the first digital image 1100 and/or the second digital image 1102 may comprise determining one or more digital image parameters associated with each respective image. Thus, processing the first digital image 1100 may comprise determining one or more first digital image parameters (digital image parameters associated with the first digital image). Processing the second digital image 102 may comprise determining one or more second digital image parameters (digital image parameters associated with the second digital image).
The one or more first digital image parameters and/or second digital image parameters may comprise locations of one or more digital image landmarks in each respective digital image. The digital image landmarks may be, in the case of a total hip replacement, the patient's greater trochanter 1103, lesser trochanter 1105, femoral stem alignment, femoral shaft alignment and/or the centre of rotation of the implanted femoral head 1107. The one or more digital image landmarks may comprise a number of pelvic landmarks, for example, the anterior superior iliac spine, anterior inferior iliac spine, pubic symphysis, obturator foramen, acetabular floor, sacrum, coccyx and/or greater sciatic notch. The one or more digital image landmarks may comprise a number of femoral landmarks, for example, the piriformis fossa and/or intertrochanteric ridge. Each digital image landmark may have a determined digital image landmark location. That is, each first digital image landmark may have a determined first digital image landmark location. Furthermore, each second digital image landmark may have a determined second digital image landmark location. Each digital image landmark location may be a Cartesian coordinate in the reference frame of the respective digital image.
The digital image parameters may comprise one or more digital image measurements. That is, the first digital image parameters may comprise one or more first digital image measurements (measurements associated with the first digital image and/or the first digital image parameters). Furthermore, the second digital image parameters may comprise one or more second digital image measurements (measurements associated with the second digital image and/or the second digital image parameters). The digital image measurements are indicative of a distance between two or more digital image landmarks. The digital image measurements may be, for example, leg length, acetabular inclination, acetabular anteversion and/or cement mantle thickness, femoral offset, anterior offset, stem varus/valgus angle, and/or the distance between one or more of the landmarks previously described.
One or more of the first digital image parameters may correspond with one or more of the initial three-dimensional model parameters. One or more of the second digital image parameters may correspond with one or more of the initial three-dimensional model parameters. That is, the first digital image parameters may correspond with respective initial three-dimensional model parameters. Furthermore, the second digital image parameters may correspond with respective initial three-dimensional model parameters. Therefore, one or more of the first digital image landmarks may correspond with a respective initial three-dimensional model landmark. Furthermore, one or more of the second digital image landmarks may correspond with a respective initial three-dimensional model landmark. That is, the first digital image landmarks may correspond with respective initial three-dimensional model landmarks. The second digital image landmarks may also correspond with respective initial three-dimensional model landmarks. Furthermore, one or more of the first digital image measurements may correspond with a respective initial three-dimensional model measurement. One or more of the second digital image measurements may correspond with a respective initial three-dimensional model measurement. That is, the first digital image measurements may correspond with respective initial three-dimensional model measurements. Furthermore, the second digital image measurements may correspond with respective initial three-dimensional model measurements.
In some examples, processing the first digital image 1100 may comprise scaling the first digital image 1100. The first digital image 1100 may be scaled using a reference object of known dimension that is present in the first digital image 1100. For example, in the case of the total hip replacement surgery of the first digital image 1100 illustrated in
In some examples, the first digital image 1100 may be scaled based on a comparison between one or more of the first digital image parameters and one or more of the initial three-dimensional model parameters. In said examples, the first digital image 1100 is scaled such that the relevant first digital image parameter corresponds with the respective initial three-dimensional model parameter. Alternatively, the magnification can be calculated based on the distance between the observed object (e.g. the joint) and the imaging device 104. For example, where the distance between the joint and an X-ray origin of the imaging device 104 (i.e. the location of the imaging device 104 from which X-rays are emitted) is known, and where the distance between the joint and an X-ray detector of the imaging device 104 (i.e. the location of the imaging device that detects the X-rays) is known, the magnification of the first digital image 1100 can be determined.
In some examples, processing the second digital 1102 image may comprise scaling the second digital image. The second digital image may be scaled using a reference object of known dimension that is present in the second digital image 1102. For example and as previously described, in the case of the total hip replacement surgery, the size of the implant component 406 is known. Thus, the second digital image 1102 can be scaled to correspond with the initial three-dimensional model 1200 using a measured implant component dimension. The measured implant component dimension can, for example, be a radius of the implant component 406. In some examples, the reference object may be separate from the implant component assembly 405. That is, the reference object may be unrelated to the implant component assembly 405.
In some examples, the second digital image 1102 may be scaled based on a comparison between one or more of the second digital image parameters and one or more of the initial three-dimensional model parameters. In said examples, the second digital image is scaled such that the relevant second digital image parameter corresponds with the respective initial three-dimensional model parameter. Alternatively, the magnification can be calculated based on the distance between the observed object (e.g. the joint) and the imaging device 104 (or the second imaging device, where relevant). For example, where the distance between the joint and an X-ray origin of the imaging device 104 (or the second imaging device, where relevant) (i.e. the location of the imaging device 104 or the second imaging device from which X-rays are emitted) is known, and where the distance between the joint and an X-ray detector of the imaging device 104 (or the second imaging device, where relevant) (i.e. the location of the imaging device that detects the X-rays) is known, the magnification of the second digital image 1102 can be determined.
In some examples, processing the first digital image 1100 comprises detecting one or more edges in the first digital image 1100. For example, the computing device 102 detects the edges of the implant component 406. The computing device 102 may detect the edges using a suitable edge detection method, such as using a Sobel operator.
In some examples, processing the second digital image 1102 comprises detecting one or more edges in the second digital image 1102. For example, the computing device 102 detects the edges of the implant component 406. The computing device 102 may detect the edges using a suitable edge detection method, such as using a Sobel operator.
In some examples, processing the first digital image 1100 comprises detecting one or more objects in the first digital image 1100. For example, an anatomical features, e.g. a bone, may be detected in the first digital image 1100. Furthermore, one or more of the implant component 406 and or the subsequent implant components 407 may be detected in the first digital image 1100. In particular, the implant component 406 may be detected in the first digital image 1100.
In some examples, the computing device 102 detects the objects in the first digital image 1100. The computing device 102 may use the detected edges to detect the objects. Alternatively, the computing device 102 may use other features of the first digital image 1100 to detect the objects. The computing device 102 may detect the objects using a suitable object detection method. For example the computing device 102 may use a machine learning method to detect the objects. In some examples, the computing device 102 detects features using the Viola-Jones object detection framework based on Haar features, a scale-invariant feature transform or a histogram of oriented gradients, and uses a classification technique such as a support vector machine to classify the objects.
In some examples, the computing device 102 is also configured to determine the pose of the objects in the first digital image 1100. For example, after detecting the implant component 406, the computing device 102 is configured to determine the pose of the implant component 406. The pose of the implant component 406 may comprise an indication of the location and orientation of the implant component 406.
In some examples, the computing device 102 may be configured to use the detected edges, objects and/or poses of said objects to determine the one or more first digital image parameters.
In some examples, processing the second digital image 1102 comprises detecting one or more objects in the second digital image 1102. For example, an anatomical features, e.g. a bone, may be detected in the second digital image 1102. Furthermore, one or more of the implant component 406 and or the subsequent implant components 407 may be detected in the second digital image 1102. In particular, the implant component 406 may be detected in the second digital image 1102.
In some examples, the computing device 102 detects the objects in the second digital image 1102. The computing device 102 may use the detected edges to detect the objects. Alternatively, the computing device 102 may use other features of the second digital image 1102 to detect the objects. The computing device 102 may detect the objects using a suitable object detection method. For example the computing device 102 may use a machine learning method to detect the objects. In some examples, the computing device 102 detects features using the Viola-Jones object detection framework based on Haar features, a scale-invariant feature transform or a histogram of oriented gradients, and uses a classification technique such as a support vector machine to classify the objects.
In some examples, the computing device 102 is also configured to determine the pose of the objects in the second digital image 1102. For example, after detecting the implant component 406, the computing device 102 is configured to determine the pose of the implant component 406. The pose of the implant component 406 may comprise an indication of the location and orientation of the implant component 406.
In some examples, the computing device 102 may be configured to use the detected edges, objects and/or poses of said objects to determine the one or more of the second digital image parameters.
At 306, the computing device 102 creates a digital three-dimensional model of the joint and the implant component 406. In particular, the computing device 102 creates the digital three-dimensional model of the joint and the implant component 406 based on the two or more two-dimensional digital images. The digital model creation module 111 may create the digital three-dimensional model. In some examples, the computing device 102 creates the digital three-dimensional model of the joint and the implant component 406 based on the first digital image 1100 and the second digital image 1102.
The digital three-dimensional model includes details of the patient's anatomy based on the two or more two-dimensional digital images. For example, the digital three-dimensional model can include the patient's bone and/or soft tissue structure at and around the joint at the time the two or more two-dimensional digital images were captured. The digital three-dimensional model may be a wire mesh model or finite element model. The digital three-dimensional model may represent mechanical connections for force transfer provided by the bones as well as bearing surfaces of the bones to form joints. The digital three-dimensional model can also include representation of the implant component 406, including a wire mesh or finite element model of the implant component 406 together with pose and 3D location and/or placement within the digital three-dimensional model. In particular, the digital three-dimensional model comprises a representation of the implant component 406 based on the two or more two-dimensional digital images. The representation of the implant component 406 can also represent mechanical connections for force transfer and bearing surfaces to form joints.
The digital three-dimensional model comprises a digital anatomical three-dimensional model. The digital anatomical three-dimensional model is a digital model. The digital anatomical three-dimensional model is a three-dimensional model of the patient's intraoperative anatomy.
The digital three-dimensional model also comprises a digital implant component assembly three-dimensional model. The digital implant component assembly three-dimensional model is a digital model. The digital implant component assembly three-dimensional model is a three-dimensional representation of the implant component 406 based on the two or more two-dimensional digital images. For example, the digital implant component assembly three-dimensional model can comprise a three-dimensional model of the implant component 406 with a pose corresponding to that determined from the two or more two-dimensional digital images.
In some examples, the computing device 102 processes the digital three-dimensional model. In such cases, the digital three-dimensional model may be processed by the digital model registration module 112. In some examples, the model generating computing device, or another computing device processes the digital three-dimensional model and transmits the digital three-dimensional model to the computing device 102.
Processing the digital three-dimensional model may comprise determining one or more digital three-dimensional model parameters. The digital three-dimensional model parameters may comprise locations of one or more digital three-dimensional model landmarks. The digital three-dimensional model landmarks may be, in the case of a total hip replacement, the patient's greater trochanter 1103, lesser trochanter 1107, femoral stem alignment, femoral shaft alignment and/or the centre of rotation of the implanted femoral head 1107. The digital three-dimensional model landmarks may comprise a number of pelvic landmarks, for example, the anterior superior iliac spine, anterior inferior iliac spine, pubic symphysis, obturator foramen, acetabular floor, sacrum, coccyx and/or greater sciatic notch. The digital three-dimensional model landmarks may comprise a number of femoral landmarks, for example, the piriformis fossa and/or intertrochanteric ridge. Each digital three-dimensional model landmark may have an associated digital landmark location. Each digital landmark location may be a Cartesian coordinate in the reference frame of the digital three-dimensional model. One or more of the digital three-dimensional model parameters may be associated with the implant component 406. In some examples, one or more of the digital three-dimensional model parameters may be indicative of a placement, pose, size and/or shape of the implant component 406.
The one or more digital three-dimensional model parameters may comprise one or more digital three-dimensional model measurements. The digital three-dimensional model measurements are indicative of a distance between two or more digital three-dimensional model landmarks. The digital three-dimensional model measurements may be, for example, leg length, acetabular inclination, acetabular anteversion and/or cement mantle thickness, femoral offset, anterior offset, stem varus/valgus angle, and/or the distance between one or more of the landmarks previously described.
In some examples, the computing device 102 creates the digital three-dimensional model of the joint and the implant component 406 based on the two or more two-dimensional digital images using a two-dimension to three-dimension conversion method. For example, the computing device 102 may create the digital three-dimensional model using the method of two-dimension to three-dimension conversion described in published PCT specification WO2019180747A1, the contents of which are incorporated herein by reference.
In some examples, the computing device 102 creates the digital three-dimensional model of the joint and the implant component 406 based on the two or more two-dimensional digital images using an atlas-based three-dimensional shape reconstruction method. For example, the computing device may create the digital three-dimensional model using the method of two-dimension to three-dimension conversion described in Hans Lamecker et al., “Atlas-based 3D-Shape Reconstruction from X-Ray Images”.
At 308, the computing device 102 performs registration between the digital three-dimensional model and the initial three-dimensional model 1200 to determine a placement of the implant component 406 in the digital three-dimensional model in relation to the initial three-dimensional model 1200.
The computing device 102 may perform registration between the digital three-dimensional model and the initial three-dimensional model 1200 using a landmark-based registration method. In the registration, one or more of the digital three-dimensional model parameters are registered to the corresponding initial three-dimensional model parameters. For example, one or more of the digital three-dimensional model landmarks may be registered to the corresponding initial three-dimensional model landmarks. In some examples, the digital three-dimensional model landmarks are registered to the corresponding initial three-dimensional model landmarks by iteratively adjusting the pose of the initial three-dimensional model 1200, and minimising an error function. The error function may represent a difference between the digital three-dimensional model and the initial three-dimensional model. In particular, the error function may represent the difference between the size, shape and/or pose of the digital three-dimensional model and the initial three-dimensional model. That is, the computing device determines a minimized error pose in which the error function between the digital three-dimensional model and the initial three-dimensional model is minimised.
In some examples, the computing device 102 determines one or more differences between the pose of the implant component 406 as represented in the digital three-dimensional model, and the pose of the implant component 406 as represented in the initial three-dimensional model 1200. In particular, the computing device 102 uses the registration of the digital three-dimensional model against the initial three-dimensional model 1200 to determine the differences. The differences may comprise a parameter difference between one or more of the digital three-dimensional model parameters and the corresponding initial three-dimensional model parameter. For example, the difference between the acetabular inclination angle of the digital three-dimensional model and the initial three-dimensional model may be determined.
In some examples, the computing device 102 compares one or more of the digital three-dimensional model parameters to one or more parameter thresholds. The parameter thresholds can be indicative of the desired surgical parameters, or acceptable surgical parameters. For example, in the case of the total hip replacement, a parameter threshold can be an implant component inclination angle threshold of 40°. That is, the desired inclination angle of the implant component is 40°. The inclination angle of the implanted implant component can be determined from the first digital image 1100 and the second digital image 1102 as previously described, and this can be compared to the implant component inclination angle threshold. In some examples, implant component inclination angle threshold is a range, for example, between 30° and 50°. The surgeon may specify the parameter thresholds, which may be selected to maximise the postoperative performance of the joint. Alternatively, the computing device 102 can automatically determine the parameter thresholds. If the implant component 406 is determined to deviate from its corresponding parameter thresholds, it can be classified as high risk.
In some examples, the parameter thresholds are equal to the desired surgical parameters. In other examples, the parameter thresholds are threshold ranges centred upon, or including the desired surgical parameter.
The computing device 102 may determine an updated digital three-dimensional model. The computing device 102 updates the pose of the implant component 406 in the initial three-dimensional model 1200 to reflect the actual implanted pose of the implant component 406 determined from the two or more digital images. In other words, the computing device 102 updates the pose of the implant component 406 in the initial three-dimensional model 1200 to reflect the actual implanted pose of the implant component 406 determined from first digital image 1100 and the second digital image 1102. Thus, the initial three-dimensional model 1200 is intraoperatively updated to reflect the state of the surgery at the time the two or more digital images were captured. In other words, the computing device 102 intraoperatively updates the pose of the implant component 406 in the initial three-dimensional model 1200 to reflect the actual implanted pose of the implant component 406 determined from first digital image 1100 and the second digital image 1102.
Updating the pose of the implant component 406 may comprise, for example, translating and/or rotating the implant component 406 of the initial three-dimensional model 1200. The computing device 102 updates the initial three-dimensional model 1200 based on the determined placement of the implant component 406 in the two or more two-dimensional digital images in relation to the initial three-dimensional model, thereby determining the updated digital three-dimensional model.
At 310, the computing device 102 determines an intraoperative simulated performance metric by simulating movement of the updated digital three-dimensional model. In particular, the computing device 102 determines the intraoperative simulated performance metric by simulating movement of the updated digital three-dimensional model based on the placement of the implant component 406 in the two or more two-dimensional digital images. The performance metric simulation module 114 determines the intraoperative simulated performance metric by simulating movement of the updated digital three-dimensional model.
The computing device 102 determines the intraoperative simulated performance metric by performing a kinematic analysis on the updated digital three-dimensional model. The kinematic analysis can comprise moving the relevant portions of the updated digital three-dimensional model to determine a postoperative range of motion of the joint. This movement is performed by the computing device 102 and comprises moving elements of the updated digital three-dimensional model 1200, such as moving bones against each other. This movement may be defined by the shape and location of bearing surfaces of joints represented by the updated digital three-dimensional model.
The kinematic analysis may comprise a number of postoperative joint movements. Each postoperative joint movement can simulate a typical movement of the patient after the surgery. For example, in the case of the total hip replacement, the kinematic analysis may comprise the seated flexion movement as shown in
Also in the case of the total hip replacement, the kinematic analysis can comprise a standing pivot extension movement.
The kinematic analysis is associated with at least one kinematic analysis target parameter. Each kinematic analysis target parameter can be indicative of a desired or target performance of the joint. For example, the kinematic analysis target parameter can be an angle representing a target rotation desired of the joint before an impingement occurs. The computing device 102 is configured to provide a risk stratification based on a comparison between the kinematic performance of the updated digital three-dimensional model and the at least one kinematic analysis target parameter.
In some examples, a flexion target parameter can be associated with the seated flexion movement of the kinematic analysis. The flexion target parameter is indicative of a maximum flexion angle achievable by the updated digital three-dimensional model. Furthermore, an extension rotation target parameter can be associated with the standing pivot extension of the kinematic analysis. The extension rotation target is indicative of a maximum rotation angle that the femur can be rotated about the relevant leg's longitudinal axis achievable by the updated digital three-dimensional model.
The computing device 102 may also compare a current (i.e. intraoperative) implant component pose with a number of alternative poses (e.g. of the acetabular component) by determining an alternative simulated performance metric associated with an alternative implant component pose. The computing device 102 can adjust the pose of the implant component 406 in the updated digital three-dimensional model, and re-run the kinematic analysis. The computing device 102 is configured to provide an alternative risk stratification based on a comparison between the kinematic performance of the updated digital three-dimensional model with the alternative implant component pose and the at least one kinematic analysis target parameter. For example, the computing device 102 can change the acetabular inclination angle of the implant component 406, and re-run the kinematic analysis. In some examples, this can be used to assist the surgeon in determining whether or not the implant component 406 that has been implanted should be removed, and/or re-implanted in a different position.
In some examples, the computing device 102 also determines the alternative simulated performance metric associated with an alternative subsequent implant component 407′. As previously described, the updated digital three-dimensional model includes one or more subsequent implant components 407 that are to be implanted after the implant component 406. The positioning of the implant component 406 that has been implanted may however mean the originally planned subsequent implant components 407 are unsuitable. Thus, the computing device 102 determines the alternative simulated performance metric associated with the alternative subsequent implant component 407′. The alternative simulated performance metric can be compared to the intraoperative simulated performance metric to assess surgical options. In some examples, this can be used to assist the surgeon in intraoperatively determining appropriate sizing for the subsequent implant components 407.
The computing device 102 determines the alternative subsequent implant component 407′. The computing device 102 can substitute the alternative subsequent implant component 407′ for the subsequent implant component 407 in the updated digital three-dimensional model, and re-run the kinematic analysis. The computing device 102 is configured to provide an alternative risk stratification based on a comparison between the kinematic performance of the updated digital three-dimensional model with the subsequent implant component 407 and the alternative subsequent implant component 407′ using the kinematic analysis target parameter.
In some examples, the computing device 102 determines a preoperative simulated performance metric. The computing device 102 determines the preoperative simulated performance metric by simulating movement of the initial three-dimensional model 1200 according to a surgical plan. In some examples, the surgical plan is the initial three-dimensional model 1200. In some examples, the surgical plan comprises the initial three-dimensional model 1200, in addition to supplemental information. The surgical plan (and/or the initial three-dimensional model) may comprise a planned placement of the implant component 406 in the initial three-dimensional model 1200.
The computing device 102 determines the preoperative simulated performance metric by performing a preoperative kinematic analysis on the initial three-dimensional model 1200 as previously described with reference to the updated digital three-dimensional model. The preoperative kinematic analysis can comprise moving the relevant portions of the initial three-dimensional model 1200 to determine the surgical plan representing the postoperative range of motion of the joint. This movement is performed by the computing device 102 and comprises moving elements of the initial three-dimensional model 1200, such as moving bones against each other. This movement may be defined by the shape and location of bearing surfaces of joints represented by the initial three-dimensional model 1200. As previously described with reference to the kinematic analysis, the preoperative kinematic analysis may comprise a number of postoperative joint movements. Furthermore, the preoperative kinematic analysis may be associated with at least one preoperative kinematic analysis target parameter. The preoperative kinematic analysis target parameter may correspond with a respective kinematic analysis target parameter associated with the updated digital three-dimensional model.
The computing device 102 may compare the preoperative kinematic analysis with the kinematic analysis. That is, the computing device 102 may compare the preoperative kinematic analysis performed with respect to the initial three-dimensional model 1200 to the kinematic analysis performed with respect to the updated digital three-dimensional model. In some examples, the computing device 102 compares the at least one preoperative kinematic analysis target parameter with the corresponding kinematic analysis target parameter. The comparison may be used to, for example update the updated digital three-dimensional model. That is, the computing device 102 may update the updated digital three-dimensional model based on the comparison. For example, one or more of the subsequent implant components 407 may be updated based on the comparison. The update may comprise replacing the existing subsequent implant component 407 of the updated digital three-dimensional model with a different subsequent implant component 407 (e.g. of a different size, manufacturer, material and/or type), and/or may comprise updating the pose of the relevant subsequent implant component 407.
Each implant component 406 and subsequent implant component 407 size comprises unique dimensions and geometry. The progression of implant component 406 and subsequent implant component 407 dimensions for the different sized components are known. Memory 108 can therefore store features of each size of the implant component 406 and the subsequent implant components 407. The computing device 102 can compare one or more of the initial three-dimensional model parameters to the features of each size of the implant component 406 and/or the subsequent implant components 407 and use the comparison to determine an optimized size of each subsequent implant component 407 and/or the implant component assembly 405 in the updated digital three-dimensional model. This comparison may be based on the registration and/or the risk stratification. The computing device 102 can therefore update the updated digital three-dimensional model with an optimised implant component 406 and/or an optimised supplementary implant component(s) 407. The optimised implant component 406 and/or an optimised supplementary implant component(s) 407 may be optimised by size. The optimisation may be performed with reference to the surgical parameters and/or the parameter thresholds.
Furthermore, the computing device 102 can compare one or more of the initial three-dimensional model parameters to the features of each size of the implant component 406 and/or the subsequent implant components 407 and use the comparison to determine an optimized pose of each subsequent implant component 407 and/or the implant component assembly 405 in the updated digital three-dimensional model. This comparison may be based on the registration and/or the risk stratification. The computing device 102 can therefore update the updated digital three-dimensional model with an optimised implant component 406 and/or an optimised supplementary implant component(s) 407. The computing device 102 can update the pose of the implant component 406 and/or an supplementary implant component(s) 407 based on this optimisation in the updated digital three-dimensional model. The optimisation may performed with reference to the surgical parameters and/or the parameter thresholds.
At 312, the computing device 102 provides an indication of the intraoperative simulated performance metric as an assessment of a placement of the implant component 406. In particular, the computing device 102 provides the indication of the intraoperative simulated performance metric as an assessment of a current (i.e. intraoperative) placement of the implant component 406. In providing the indication, the computing device 102 generates the indication of the intraoperative simulated performance metric. In particular, the indication module 116 generates the indication of the intraoperative simulated performance metric. The indication of the intraoperative simulated performance metric is determined as an assessment of the current placement of the implant component 406. The indication of the intraoperative simulated performance metric may also comprise an indication of the one or more alternative simulated performance metrics.
Providing the indication 700 to the surgeon may comprise displaying a graphic similar to that in
The indication 800 includes a plurality of simulated performance metrics 804. The simulated performance metrics 804 may comprise at least one intraoperative simulated performance metric. The simulated performance metrics 804 were determined in the kinematic analyses previously described, and thus are an assessment of the placement of the implant component 406 and selection of the subsequent implant components 407 based on the determined placement of the implant component 406.
Each simulated performance metric 804 (plotted against the y-axis) is a maximum seated flexion angle. Each simulated performance metric 804 is associated with a corresponding implant component parameter 801 (the x-axis). In this case, the implant component parameter 801 is the acetabular component 406 (cup) anteversion angle. Each simulated performance metric 804 corresponds with a respective kinematic analysis performed with the particular implant component parameter 801 and subsequent implant component parameter 808. The circled simulated performance metric 806 corresponds with the kinematic analysis performed with respect to the updated digital three-dimensional model. That is, the circled simulated performance metric 806 can be considered the intraoperative simulated performance metric.
Simulated performance metrics 804 above the kinematic analysis target parameter 802 represent low risk options. That is, the surgery being completed with parameters as per the simulated performance metrics 804 above the kinematic analysis target parameter 802 are less likely to result in a problematic outcome than the surgery being completed with parameters as per the simulated performance metrics 804 below the kinematic analysis target parameter 802. Thus, the indication 800 of the simulated performance metrics may be considered a risk stratification. In some examples, the risk stratification is indicative of a risk associated with multiple predicted postoperative movements by the patient. The risk stratification may be indicative of a risk of one or more of dislocation of the joint, edge loading, and postoperative joint pain. In some examples, the indication 700 and the indication 800 may be presented together as the indication of the intraoperative simulated performance metric.
The indication 1000 includes a plurality of simulated performance metrics 1004. The simulated performance metrics 1004 were determined in the kinematic analyses previously described, and thus are an assessment of the placement of the implant component 406 and selection of the subsequent implant components 407 based on the determined placement of the implant component 406.
Each simulated performance metric 1004 (plotted against the y-axis) is a maximum standing pivot extension angle as previously described. Each simulated performance metric 1004 is associated with a corresponding implant component parameter 1001 (the x-axis). In this case, the implant component parameter 1001 is the acetabular component 406 (cup) anteversion angle. Each simulated performance metric 1004 corresponds with a respective kinematic analysis performed with the particular implant component parameter 1001 and subsequent implant component parameter 1008. The circled simulated performance metric 1006 corresponds with the kinematic analysis performed with respect to the updated digital three-dimensional model. That is, the circled simulated performance metric 1006 can be considered the intraoperative simulated performance metric.
Simulated performance metrics 1004 above the kinematic analysis target parameter 1002 represents low risk options. That is, the surgery being completed with parameters as per the simulated performance metrics 1004 above the kinematic analysis target parameter 1002 are less likely to result in a problematic outcome than the surgery being completed with parameters as per the simulated performance metrics 1004 below the kinematic analysis target parameter 1002. Thus, the indication 1000 of the simulated performance metrics may be considered a risk stratification. In some examples, the risk stratification is indicative of a risk associated with multiple predicted postoperative movements by the patient. The risk stratification may be indicative of a risk of one or more of dislocation of the joint, edge loading, and postoperative joint pain. In some examples, the indication 9000 and the indication 1000 may be presented together as the indication of the intraoperative simulated performance metric.
The processor 106 is configured to encode the indication of the intraoperative simulated performance metric into one or more display object(s). The display object can be in the form of a bitmap (e.g. a PNG or JPEG file) that illustrates the indication of the intraoperative simulated performance metric. Alternatively, the display object can be in the form of intraoperative simulated performance metric indication display program code executable to cause display of the indication.
The computing device 102 provides the indication of the intraoperative simulated performance metric as the assessment of the current placement of the implant component 406. In particular, the visualisation module 118 is configured to provide the indication of the intraoperative simulated performance metric. The computing device 102 displays the indication using the user interface 120. In some examples, the computing device 102 is configured to execute the performance metric indication display program code, thereby rendering the encoded indication of the intraoperative simulated performance metric on the user interface 120.
In some examples, the method 300, or part thereof, can be performed by a remote computing device. For example, as described below, 302, 304, 306 and 308 may be performed by the information processing device 203 that is remote from the computing device 202 and/or the imaging device 204. This can be advantageous where the computational specification(s) of the computing device 202 is insufficient to perform one or more of the steps of the method 300.
In some examples, the information processing device 203 generates the surgical plan. That is, the information processing device 203 generates the initial three-dimensional model 1200. In some examples, another computing device generates the surgical plan. That is, another computing device generates the initial three-dimensional model 1200. The initial three-dimensional model 1200 is a digital model. The digital three-dimensional model 1200 may be a hip, knee, shoulder, elbow or another joint. The initial three-dimensional model may be referred to as an initial digital three-dimensional model. The initial three-dimensional model 1200 can comprise an initial anatomical three-dimensional model 1202 and an initial implant component assembly three-dimensional model 1204, and can be generated as previously described with reference to method 300 being performed by system 100. That is, the initial three-dimensional model 1200 is generated using information provided by the preoperative imaging device, and is a three-dimensional model of the joint to be replaced in the joint replacement surgery. Furthermore, as previously described, the initial implant component assembly three-dimensional model 1204 is a three-dimensional representation of the implant component assembly 405.
In some examples, the preoperative imaging device may be configured to provide the information to the processor 206. The processor 206 processes the information provided by the preoperative imaging device to generate the initial anatomical three-dimensional model 1202. The initial anatomical three-dimensional model 1202 can be stored in memory 208.
In some examples, a model generating computing device (not shown) processes the information provided by the preoperative imaging device to generate the initial anatomical three-dimensional model 1202. In said examples, the initial anatomical three-dimensional model 1202 can be provided to the information processing device 203. The initial anatomical three-dimensional model 1202 can be stored in memory 208.
The initial three-dimensional model 1200 represents the intended joint configuration after the surgery by comprising the initial anatomical three-dimensional model 1202 and the initial implant component assembly three-dimensional model 1204.
In some examples the information processing device 203 processes the initial three-dimensional model 1200 as described with reference to method 300 being performed by system 100. In such cases, the initial three-dimensional model 1200 may be processed by the digital model registration module 112. In some examples, the model generating computing device or another computing device processes the initial three-dimensional model 1200 and transmits the processed initial three-dimensional model 1200 to the information processing device 203. Processing the initial three-dimensional model 1200 may comprise scaling the initial three-dimensional model 1200 and/or determining one or more initial three-dimensional model parameters, landmarks and/or measurements as previously described. In some examples, the initial three-dimensional model parameters may comprise initial anatomical three-dimensional model parameters as previously described. In some examples, initial three-dimensional model parameters may comprise initial implant component assembly three-dimensional model parameters as previously described.
At 302, the information processing device 203 stores the processed initial three-dimensional model 1200 in memory 208. That is, the information processing device 203 stores the initial three-dimensional model 1200, and the associated initial three-dimensional model parameters.
The imaging device 204 captures the first digital image 1100 of the joint and the implant component 406. In particular, the imaging device 204 captures the first digital image 1100 of the joint and the implant component 406 during the total joint replacement surgery. In some examples, the first digital image 1100 is an intraoperative X-ray image of a patient's hip as previously described. The first digital image 1100 is captured from a first imaging direction. In some examples, the first digital image 1100 is an anterior-posterior X-ray image of the patients hip.
In some examples, the imaging device 104 captures the second digital image 1102 of the joint and the implant component 406 as previously described. The second imaging direction is different to the first imaging direction. For example, the second imaging direction may be orthogonal to the first imaging direction. In some examples, the second digital image 1102 is a medial-lateral X-ray image of the patient's hip.
At 304, the information processing device 203 receives two or more two-dimensional digital images. The computing device receives the two or more two-dimensional digital images from the imaging device 104. In some examples, the computing device receives one of the two or more two-dimensional digital images from the imaging device 104, and another of the two or more two-dimensional digital images from the second imaging device. In particular, the computing device 102 receives the first digital image 1100 of the joint and the implant component 406 and the second digital image of the joint and the implant component 406. The processor 206 stores the two or more two-dimensional digital images in memory 108. In particular, the processor 106 stores the first digital image 1100 and the second digital image 1102 in memory 208. In some examples, the imaging device 204 transmits the two or more two-dimensional digital images to the information processing device 203 over the communications network 250. That is, the imaging device 204 may transmit the first digital image 1100 to the information processing device 203 over the communications network 250. Furthermore, the imaging device 204 may transmit the second digital image 1102 to the information processing device 203 over the communications network 250.
The information processing device 203 processes the first digital image 1100. The information processing device 203 also processes the second digital image 1102. In other words, the information processing device 203 processes the two or more two-dimensional digital images. In particular, the digital model registration module 212 may process the first digital image 1100 and the second digital image 1102. In other words, the digital model registration module 112 may process the two or more two-dimensional digital images. Processing the first digital image 1100 and/or the second digital image 1102 may comprise determining one or more digital image parameters associated with each respective image as described with reference to method 300 being performed by system 100. Thus, processing the first digital image 1100 may comprise determining one or more first digital image parameters (digital image parameters associated with the first digital image). Processing the second digital image 102 may comprise determining one or more second digital image parameters (digital image parameters associated with the second digital image).
The one or more first digital image parameters and/or second digital image parameters may comprise locations of one or more digital image landmarks in each respective digital image as previously described. Each digital image landmark may have a determined digital image landmark location as previously described. That is, each first digital image landmark may have a determined first digital image landmark location. Furthermore, each second digital image landmark may have a determined second digital image landmark location. The digital image parameters may comprise one or more digital image measurements as previously described. For example, the digital image measurements are indicative of a distance between two or more landmarks of the respective digital image.
One or more of the first digital image parameters may correspond with one or more of the initial three-dimensional model parameters. One or more of the second digital image parameters may correspond with one or more of the initial three-dimensional model parameters. That is, the first digital image parameters may correspond with respective initial three-dimensional model parameters as previously described. Furthermore, the second digital image parameters may correspond with respective initial three-dimensional model parameters as previously described. Therefore, one or more of the digital image landmarks may correspond with a respective initial three-dimensional model landmark. Furthermore, one or more of the digital image measurements may correspond with a respective three-dimensional model measurement.
In some examples, processing the first digital image 1100 comprises scaling the first digital image 1100. The first digital image 1100 may be scaled as described with reference to method 300 being performed by system 100.
In some examples, processing the second digital image 1102 comprises scaling the second digital image 1102. The second digital image 1102 may be scaled as described with reference to method 300 being performed by system 100.
In some examples, processing the first digital image 1100 comprises detecting one or more edges in the first digital image 1100. For example, the information processing device 203 detects the edges of the implant component 406. The information processing device 203 may detect the edges using a suitable edge detection method, such as using a Sobel operator.
In some examples, processing the second digital image 1102 comprises detecting one or more edges in the second digital image 1102. For example, the information processing device 203 detects the edges of the implant component 406. The information processing device 203 may detect the edges using a suitable edge detection method, such as using a Sobel operator.
In some examples, processing the first digital image 1100 comprises detecting one or more objects in the first digital image 1100. For example, an anatomical feature, e.g. a bone, may be detected in the first digital image 1100. Furthermore, one or more of the implant component 406 and/or the subsequent implant components 407 may be detected in the first digital image 1100. In particular, the implant component 406 may be detected in the first digital image 1100.
The information processing device 203 detects the objects in the first digital image 1100. The information processing device 203 may detect the objects in the first digital image 1100 as described with reference to method 300 being performed by system 100.
In some examples, the information processing device 203 also determines the pose of the objects in the first digital image 1100. For example, after detecting the implant component 406, the information processing device 203 is configured to determine the pose of the implant component 406. The information processing device 203 may be configured to determine the pose of the implant component 406 as described with reference to method 300 being performed by system 100. The pose of the implant component 406 may comprise an indication of the location and orientation of the implant component 406.
In some examples, the information processing device 203 uses the detected edges, objects and/or poses of said objects to determine the one or more first digital image parameters.
In some examples, processing the second digital image 1102 comprises detecting one or more objects in the second digital image 1102. For example, an anatomical feature, e.g. a bone, may be detected in the second digital image 1102. Furthermore, one or more of the implant component 406 and/or the subsequent implant components 407 may be detected in the second digital image 1102. In particular, the implant component 406 may be detected in the second digital image 1102.
The information processing device 203 detects the objects in the second digital image 1102. The information processing device 203 may detect the objects in the second digital image 1102 as described with reference to method 300 being performed by system 100.
In some examples, the information processing device 203 is also configured to determine the pose of the objects in the second digital image 1102. For example, after detecting the implant component 406, the information processing device 203 is configured to determine the pose of the implant component 406. The pose of the implant component 406 may comprise an indication of the location and orientation of the implant component 406.
In some examples, the information processing device 203 may be configured to use the detected edges, objects and/or poses of said objects to determine the one or more of the second digital image parameters.
At 306, the information processing device 203 creates a digital three-dimensional model of the joint and the implant component 406. In particular, the information processing device 203 creates the digital three-dimensional model of the joint and the implant component 406 based on the two or more two-dimensional digital images. The digital model creation module 211 may create the digital three-dimensional model. In some examples, the information processing device 203 creates the digital three-dimensional model of the joint and the implant component 406 based on the first digital image 1100 and the second digital image 1102.
The digital three-dimensional model includes details of the patient's anatomy based on the two or more two-dimensional digital images. For example, the digital three-dimensional model can include the patient's bone and/or soft tissue structure at and around the joint at the time the two or more two-dimensional digital images were captured, as previously described.
The digital three-dimensional model also comprises a digital implant component assembly three-dimensional model. The digital implant component assembly three-dimensional model is a digital model. The digital implant component assembly three-dimensional model is a three-dimensional representation of the implant component 406 based on the two or more two-dimensional digital images as previously described.
In some examples, the information processing device 203 processes the digital three-dimensional model as previously described with reference to the method 300 being performed by the system 100. In such cases, the digital three-dimensional model may be processed by the digital model registration module 212, as previously described. Processing the digital three-dimensional model may comprise determining one or more digital three-dimensional model parameters. The digital three-dimensional model parameters may comprise locations of one or more digital three-dimensional model landmarks as previously described. In some examples, one or more of the digital three-dimensional model parameters may be indicative of a placement, pose, size and/or shape of the implant component 406. The one or more digital three-dimensional model parameters may comprise one or more digital three-dimensional model measurements as previously described.
In some examples, the information processing device 203 creates the digital three-dimensional model of the joint and the implant component 406 based on the two or more two-dimensional digital images using a two-dimension to three-dimension conversion method. The two-dimension to three-dimension conversion method may be as described with reference to the method 300 being performed by the system 100.
At 308, the information processing device 203 performs registration between the digital three-dimensional model and the initial three-dimensional model 1200 to determine a placement of the implant component 406 in the digital three-dimensional model in relation to the initial three-dimensional model 1200. In particular, the digital model registration module 112 performs registration between the digital three-dimensional model and the initial three-dimensional model 1200.
The information processing device 203 may perform registration between the digital three-dimensional model and the initial three-dimensional model 1200 as described with reference to method 300 being performed by system 100. That is, the information processing device 203 may perform registration between the digital three-dimensional model and the initial three-dimensional model 1200 using a landmark-based registration method. In the registration, one or more of the digital three-dimensional model parameters are registered to the corresponding initial three-dimensional model parameters as previously described. In some examples, the digital three-dimensional model landmarks are registered to the corresponding initial three-dimensional model landmarks by iteratively adjusting the pose of the initial three-dimensional model 1200, and minimising an error function as previously described.
In some examples, the information processing device 203 determines one or more differences between the pose of the implant component 406 as represented in the digital three-dimensional model, and the pose of the implant component 406 as represented in the initial three-dimensional model 1200. In particular, the information processing device 203 uses the registration of the first digital image 1100 against the initial three-dimensional model 1200 to determine the differences. The differences may comprise a parameter difference between one or more of the digital three-dimensional model parameters and the corresponding initial three-dimensional model parameter. For example, the difference between the acetabular inclination angle of the digital three-dimensional model and the initial three-dimensional model may be determined.
In some examples, the information processing device 203 compares one or more of the digital three-dimensional model parameters to one or more parameter thresholds. The parameter thresholds can be indicative of the desired surgical parameters, or acceptable surgical parameters. For example, in the case of the total hip replacement, a parameter threshold can be an implant component inclination angle threshold of 40°. That is, the desired inclination angle of the implant component is 40°. The inclination angle of the implanted implant component can be determined from the first digital image 1100 and the second digital image 1102 as previously described, and this can be compared to the implant component inclination angle threshold. In some examples, implant component inclination angle threshold is a range, for example, between 30° and 50°. The surgeon may specify the parameter thresholds, which may be selected to maximise the postoperative performance of the joint. Alternatively, the information processing device 203 can automatically determine the parameter thresholds. If the implant component 406 is determined to deviate from its corresponding parameter thresholds, it can be classified as high risk.
In some examples, the parameter thresholds are equal to the desired surgical parameters. In other examples, the parameter thresholds are threshold ranges centred upon, or including the desired surgical parameter.
The information processing device 203 may determine an updated digital three-dimensional model. The information processing device 203 updates the pose of the implant component 406 in the initial three-dimensional model 1200 to reflect the actual implanted pose of the implant component 406 determined from the two or more digital images. In other words, the information processing device 203 updates the pose of the implant component 406 in the initial three-dimensional model 1200 to reflect the actual implanted pose of the implant component 406 determined from first digital image 1100 and the second digital image 1102. Thus, the initial three-dimensional model 1200 is intraoperatively updated to reflect the state of the surgery at the time the two or more digital images were captured. In other words, the information processing device 203 intraoperatively updates the pose of the implant component 406 in the initial three-dimensional model 1200 to reflect the actual implanted pose of the implant component 406 determined from first digital image 1100 and the second digital image 1102.
Updating the pose of the implant component 406 may comprise, for example, translating and/or rotating the implant component 406 of the initial three-dimensional model 1200. The information processing device 203 updates the initial three-dimensional model 1200 based on the determined placement of the implant component 406 in the two or more two-dimensional digital images in relation to the initial three-dimensional model 1200, thereby determining the updated digital three-dimensional model.
At 310, the information processing device 203 determines an intraoperative simulated performance metric by simulating movement of the updated digital three-dimensional model. In particular, the information processing device 203 determines the intraoperative simulated performance metric by simulating movement of the updated digital three-dimensional model based on the placement of the implant component 406 in the two or more two-dimensional digital images. The performance metric simulation module 114 determines the intraoperative simulated performance metric by simulating movement of the updated digital three-dimensional model.
The information processing device 203 determines the intraoperative simulated performance metric by performing a kinematic analysis on the updated digital three-dimensional model. The kinematic analysis can comprise moving the relevant portions of the updated digital three-dimensional model to determine a postoperative range of motion of the joint. This movement is performed by the information processing device 203 and comprises moving elements of the updated digital three-dimensional model 1200, such as moving bones against each other. This movement may be defined by the shape and location of bearing surfaces of joints represented by the updated digital three-dimensional model.
The kinematic analysis performed by the information processing device 203 may be as described with reference to system 100 and at least
As previously described, the kinematic analysis is associated with at least one kinematic analysis target parameter. Each kinematic analysis target parameter can be indicative of a desired or target performance of the joint. For example, the kinematic analysis target parameter can be an angle representing a target rotation desired of the joint before an impingement occurs. The information processing device 203 is configured to provide a risk stratification based on a comparison between the kinematic performance of the updated digital three-dimensional model and the at least one kinematic analysis target parameter.
In some examples, a flexion target parameter can be associated with the seated flexion movement of the kinematic analysis as described with reference to system 100. Furthermore, an extension rotation target parameter can be associated with the standing pivot extension of the kinematic analysis as described with reference to system 100.
The information processing device 203 may also compare a current (i.e. intraoperative) implant component pose with a number of alternative poses (e.g. of the acetabular component) by determining an alternative simulated performance metric associated with an alternative implant component pose. The information processing device 203 can adjust the pose of the implant component 406 in the updated digital three-dimensional model, and re-run the kinematic analysis. The information processing device 203 is configured to provide an alternative risk stratification based on a comparison between the kinematic performance of the updated digital three-dimensional model with the alternative implant component pose and the at least one kinematic analysis target parameter. For example, the information processing device 203 can change the acetabular inclination angle of the implant component 406, and re-run the kinematic analysis. In some examples, this can be used to assist the surgeon in determining whether or not the implant component 406 that has been implanted should be removed, and/or re-implanted in a different position as previously described.
In some examples, the information processing device 203 also determines the alternative simulated performance metric associated with an alternative subsequent implant component 407′. As previously described, the updated digital three-dimensional model includes one or more subsequent implant components 407 that are to be implanted after the implant component 406. The positioning of the implant component 406 that has been implanted may however mean the originally planned subsequent implant components 407 are unsuitable. Thus, the information processing device 203 determines the alternative simulated performance metric associated with the alternative subsequent implant component 407′. The alternative simulated performance metric can be compared to the intraoperative simulated performance metric to assess surgical options. In some examples, this can be used to assist the surgeon in intraoperatively determining appropriate sizing for the subsequent implant components 407.
The information processing device 203 determines the alternative subsequent implant component 407′. The computing device 102 can substitute the alternative subsequent implant component 407′ for the subsequent implant component 407 in the updated digital three-dimensional model, and re-run the kinematic analysis. The information processing device 203 is configured to provide an alternative risk stratification based on a comparison between the kinematic performance of the updated digital three-dimensional model with the subsequent implant component 407 and the alternative subsequent implant component 407′ using the kinematic analysis target parameter.
In some examples, the information processing device 203 determines a preoperative simulated performance metric. The information processing device 203 determines the preoperative simulated performance metric by simulating movement of the initial three-dimensional model 1200 according to a surgical plan. In some examples, the surgical plan is the initial three-dimensional model 1200. In some examples, the surgical plan comprises the initial three-dimensional model 1200, in addition to supplemental information. The surgical plan (and/or the initial three-dimensional model) may comprise a planned placement of the implant component in the initial three-dimensional model 1200.
The information processing device 203 determines the preoperative simulated performance metric by performing a preoperative kinematic analysis on the initial three-dimensional model 1200 as previously described with reference to the updated digital three-dimensional model. The preoperative kinematic analysis can comprise moving the relevant portions of the initial three-dimensional model 1200 to determine the surgical plan representing the postoperative range of motion of the joint. This movement is performed by the information processing device 203 and comprises moving elements of the initial three-dimensional model 1200, such as moving bones against each other as described with reference to the method 300 being performed by the system 100.
As previously described with reference to the method 300 being performed by the system 100, the preoperative kinematic analysis may be associated with at least one preoperative kinematic analysis target parameter. The preoperative kinematic analysis target parameter may correspond with a respective kinematic analysis target parameter associated with the updated digital three-dimensional model.
The information processing device 203 may compare the preoperative kinematic analysis with the kinematic analysis. That is, the information processing device 203 may compare the preoperative kinematic analysis performed with respect to the initial three-dimensional model 1200 to the kinematic analysis performed with respect to the updated digital three-dimensional model. In some examples, the information processing device 203 compares the at least one preoperative kinematic analysis target parameter with the corresponding kinematic analysis target parameter. The comparison may be used to, for example update the updated digital three-dimensional model. That is, the information processing device 203 may update the updated digital three-dimensional model based on the comparison. For example, one or more of the subsequent implant components 407 may be updated based on the comparison. The update may comprise replacing the existing subsequent implant component 407 of the updated digital three-dimensional model with a different subsequent implant component 407 (e.g. of a different size, manufacturer, material and/or type), and/or may comprise updating the pose of the relevant subsequent implant component 407.
Each implant component 406 and subsequent implant component 407 size comprises unique dimensions and geometry. The progression of implant component 406 and subsequent implant component 407 dimensions for the different sized components are known. Memory 208 can therefore store features of each size of the implant component 406 subsequent implant component 407. The information processing device 203 can compare one or more of the initial three-dimensional model parameters to the features of each size of the implant component 406 and/or the subsequent implant components 407 and use the comparison to determine an optimized size of each subsequent implant component 407 and/or the implant component assembly 405 in the updated digital three-dimensional model. This comparison may be based on the registration and/or the risk stratification. The information processing device 203 can therefore update the updated digital three-dimensional model with an optimised implant component 406 and/or an optimised supplementary implant component(s) 407. The optimised implant component 406 and/or an optimised supplementary implant component(s) 407 may be optimised by size. The optimisation may be performed with reference to the surgical parameters and/or the parameter thresholds.
Furthermore, the information processing device 203 can compare one or more of the initial three-dimensional model parameters to the features of each size of the implant component 406 and/or the subsequent implant components 407 and use the comparison to determine an optimized pose of each subsequent implant component 407 and/or the implant component assembly 405 in the updated digital three-dimensional model. This comparison may be based on the registration and/or the risk stratification. The information processing device 203 can therefore update the updated digital three-dimensional model with an optimised implant component 406 and/or an optimised supplementary implant component(s) 407. The information processing device 203 can update the pose of the implant component 406 and/or an supplementary implant component(s) 407 based on this optimisation in the updated digital three-dimensional model. The optimisation may performed with reference to the surgical parameters and/or the parameter thresholds.
At 312, the information processing device 203 provides an indication of the intraoperative simulated performance metric as an assessment of a placement of the implant component 406. In particular, the information processing device 203 provides the indication of the intraoperative simulated performance metric as an assessment of a current (i.e. intraoperative) placement of the implant component 406. In providing the indication, the information processing device 203 generates an indication of the intraoperative simulated performance metric. In particular, the indication module 216 generates the indication of the intraoperative simulated performance metric. The indication of the intraoperative simulated performance metric is determined as an assessment of a placement of the implant component 406. The indication of the intraoperative simulated performance metric may also comprise an indication of the one or more alternative simulated performance metrics.
The information processing device 203 may generate an indication 700 of the intraoperative simulated performance metric as described with reference to system 100 and
The processor 206 is configured to encode the indication of the intraoperative simulated performance metric into one or more display object(s). The display object can be in the form of a bitmap (e.g. a PNG or JPEG file) that illustrates the indication of the intraoperative simulated performance metric. Alternatively, the display object can be in the form of intraoperative simulated performance metric indication display program code executable to cause display of the indication. The information processing device 203 is configured to transmit the one or more display objects to the computing device 202 using the communications network 250.
The computing device 202 provides the indication of the intraoperative simulated performance metric as the assessment of a placement of the implant component 406. The computing device 202 is configured to execute the performance metric indication display program code, thereby rendering the encoded indication of the intraoperative simulated performance metric on the user interface 120.
As previously described, surgeons can modify a large number of parameters in surgeries, and in particular, in joint replacement surgeries. The disclosed examples enable the surgeon to intraoperatively assess the progress of the surgery, and continue, or adjust the course of the surgery in accordance with feedback provided by the disclosed examples.
By generating and storing the initial three-dimensional model 1200 of the joint, the surgeon has available a detailed surgical plan that can be used as a target outcome for the surgery. Intraoperatively capturing the two or more two-dimensional digital images (e.g. comprising the first digital image 1100 and the second digital image 1102) enables intraoperative analysis of surgical progress. Performing registration between the digital three-dimensional model created based on the two or more two-dimensional digital images, and the initial three-dimensional model 1200 advantageously enables comparison of the placement of the implant component 406 in the first digital image 1100 and the second digital image 102 (and thus, as implanted in the patient) to the target placement as represented in the initial three-dimensional model 1200.
Incorrectly implanting the implant component 406 can result in a number of undesirable postoperative outcomes. For example, in total hip replacements, incorrect acetabular cup positioning can increase the risk of postoperative joint dislocations, edge loading and joint pain. Postoperative joint dislocations cause great discomfort to the patient, and can require subsequent surgical intervention. Edge loading can cause premature wear of the joint. Joint pain again causes discomfort to the patient.
In the disclosed examples, the initial three-dimensional model 1200 is updated based on the registration between the digital three-dimensional model and the initial three-dimensional model to more accurately reflect the current operative state. This enables simulation and optimisation of the performance of the joint.
In some examples, subsequent implant components of the updated digital three-dimensional model can also be optimised and updated. The optimisation can be performed with reference to the surgical parameters and/or the parameter thresholds and can thus improve the outcome of the surgery by increasing the likelihood that the final joint will fall within the surgical parameters and/or the parameter thresholds.
The disclosed kinematic analysis is used to determine the intraoperative simulated performance metric of the joint based on the updated digital three-dimensional model. The intraoperative simulated performance metric is provided to the surgeon, and provides the surgeon with an insight into the future performance or the joint during the operation. Where the intraoperative simulated performance metric indicates there is a high risk of an undesirable postoperative outcome, the surgeon may adjust one or more of the surgical parameters accordingly to attempt to improve it. For example, the surgeon may attempt to reposition the implant component. Alternatively, the surgeon may select alternative subsequent implant components 407 to compensate for the state of the implant component 406 that has already been implanted.
Some examples pre-operatively support the surgeon's decision making process by performing the kinematic analysis across a range of implant component 406 poses, and subsequent implant component 407 sizes. The results of this analysis may be presented to the surgeon in the form of a risk stratification. Furthermore, some examples can determine optimised parameters, and make corresponding suggestions to the surgeon. For example, some examples can suggest optimised subsequent implant component sizes that minimise the risk of postoperative complications.
It will be appreciated by persons skilled in the art that numerous variations and/or modifications may be made to the above-described examples, without departing from the broad general scope of the present disclosure. The present examples are, therefore, to be considered in all respects as illustrative and not restrictive.
It will be appreciated by persons skilled in the art that numerous variations and/or modifications may be made to the specific examples without departing from the scope as defined in the claims.
It should be understood that the techniques of the present disclosure might be implemented using a variety of technologies. For example, the methods described herein may be implemented by a series of computer executable instructions residing on a suitable computer readable medium. Suitable computer readable media may include volatile (e.g. RAM) and/or non-volatile (e.g. ROM, disk) memory, carrier waves and transmission media. Exemplary carrier waves may take the form of electrical, electromagnetic or optical signals conveying digital data streams along a local network or publically accessible network such as the internet.
It should also be understood that, unless specifically stated otherwise as apparent from the following discussion, it is appreciated that throughout the description, discussions utilizing terms such as “estimating” or “processing” or “computing” or “calculating”, “optimizing” or “determining” or “displaying” or “maximising” or the like, refer to the action and processes of a computer system, or similar electronic computing device, that processes and transforms data represented as physical (electronic) quantities within the computer system's registers and memories into other data similarly represented as physical quantities within the computer system memories or registers or other such information storage, transmission or display devices.
The present examples are, therefore, to be considered in all respects as illustrative and not restrictive.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2020900653 | Mar 2020 | AU | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/AU2021/050172 | 2/26/2021 | WO |
