US 12,433,686 B2
Systems and methods for visualizing a trajectory with a surgical instrument
Rahul Sharma, Gurgaon (IN); and Sanjeev Gautam, Gurgaon (IN)
Assigned to Stryker Corporation, Portage, MI (US)
Appl. No. 18/011,382
Filed by Stryker Corporation, Kalamazoo, MI (US)
PCT Filed Aug. 4, 2021, PCT No. PCT/US2021/044429
§ 371(c)(1), (2) Date Dec. 19, 2022,
PCT Pub. No. WO2022/031770, PCT Pub. Date Feb. 10, 2022.
Claims priority of provisional application 63/060,726, filed on Aug. 4, 2020.
Prior Publication US 2023/0233263 A1, Jul. 27, 2023
Int. Cl. A61B 34/20 (2016.01); A61B 17/17 (2006.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 17/1728 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2048 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/2072 (2016.02); A61B 2090/364 (2016.02); A61B 2562/0257 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A surgical system for operating on a bone of a patient, the surgical system comprising:
a reference device defining at least one reference axis and including one or more radiopaque markers, the reference device configured to have a fixed pose relative to a surgical implant;
a first sensor configured to have a fixed pose relative to the reference device when disposed on the reference device and configured to generate a first signal pertaining to orientation data of the reference device relative to a first coordinate system;
a surgical instrument for coupling to an end effector;
a second sensor configured to have a fixed pose relative to the surgical instrument and configured to generate a second signal pertaining to orientation data of at least one of end effector and the surgical instrument relative to a second coordinate system; and
a navigation system configured to:
receive (i) the first signal, (ii) the second signal, and (iii) an image of the reference device and the bone of the patient;
display the image of the reference device and the bone of the patient;
receive input signal related to a desired position of at least one of the end effector and the surgical instrument relative to the bone;
register (i) the first coordinate system to the second coordinate system (ii) an orientation of the at least one reference axis relative to the bone in an image coordinate system, and (iii) a position of at least one of the end effector and the surgical instrument relative to the bone based on the input signal;
determine an orientation of at least one of the end effector and the surgical instrument relative to bone based on the first signal and the second signal; and
superimpose a virtual representation of at least one of the end effector and the surgical instrument over the image based on the registered position and the determined orientation of at least one of the end effector and the surgical instrument.