# US 10,869,726 B2 · Spinal surgery navigation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,869,726 B2 - Document ID: US10869726B2 - Status: Granted - Kind: B2 - Application number: 16/225,583 - Filed: 2018-12-19 - Published: 2019-08-29 - Granted: 2020-12-22 - Earliest claimed: 2013-07-09 - Assignees: Spinal Developments Pty Ltd, A.T.F The Spinesr Unit Trust - Applicants: Spinal Developments Pty Ltd, A.T.F The Spinesr Unit Trust - Inventors: Gregory James Roger; Davor Saravanja - Web page: https://patentgrep.com/patent/US10869726B2 ## CPC - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 17/1703: {using imaging means, e.g. by X-rays} - A61B 17/1757: {for the spine} - A61B 34/25: {User interfaces for surgical systems} - A61B 90/37: {Surgical systems with images on a monitor during operation} - G16Z 99/00: Subject matter not provided for in other main groups of this subclass - A61B 17/8863: {Apparatus for shaping or cutting osteosynthesis equipment by medical personnel} - A61B 2034/2055: {Optical tracking systems} - A61B 2090/363: {Use of fiducial points} - A61B 2090/364: {Correlation of different images or relation of image positions in respect to the body} - A61B 2090/367: {creating a 3D dataset from 2D images using position information} - A61B 2090/374: {NMR or MRI} - A61B 2090/376: {using X-rays, e.g. fluoroscopy} - A61B 2090/3762: {using computed tomography systems [CT]} - A61B 2090/3916: {Bone tissue} - A61B 2090/3983: {Reference marker arrangements for use with image guided surgery} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G16Z: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS, NOT OTHERWISE PROVIDED FOR ## Abstract A system for aiding surgery on a patient is described including a display device and a storage device that stores an image of at least a portion of the anatomy of the patient, including one or more surgical navigation markers positioned on the patient, for display on the display device. An analyser is adapted to receive positional data of a probe based on positioning of the probe relative to the one or more markers on the patient. Based on the positional data, the analyser outputs correctional data to adjust an alignment of the image on the display device to match locations of said one or more markers. ## Claims ### Claim 1 A system configured for aiding spinal surgery on a patient comprising: a probe comprising a tip configured to engage one or more surgical navigation markers; a storage device configured to store one or more images of at least a portion of a spine of the patient, the one or more images including images of one or more surgical navigation markers secured to one or more vertebrae of the spine of the patient; a display device configured to display at least one image selected from the one or more images stored; and an analyser configured to receive positional data from the probe, the analyser comprising a processor and software, the software is configured to cause: (1) the processor to receive initial positional data of the probe based on positioning of the probe relative to the one or more surgical navigation markers on the patient; (2) the processor to determine initial correctional data based on initial positional data, and (3) the processor to cause an overlay of one or more of the following: a lordosis correction, kyphosis correction, a scoliosis correction, and a listhesis correction to be superimposed onto the at least one image and to display the overlay on at least one image on the display device to indicate a movement of at least part of one or more vertebrae of the spine of the patient. ### Claim 2 (depends on 1) The system of claim 1, wherein the one or more surgical navigation markers comprise one or more of the following: one or more fiduciary screws and one or more pedicle screws. ### Claim 3 (depends on 2) The system of claim 2, wherein at least one of the one or more surgical navigation markers comprises a connector which engages the probe. ### Claim 4 (depends on 2) The system of claim 2, wherein at least one of the one or more surgical navigation markers comprises a screw head which engages the probe. ### Claim 5 (depends on 2) The system of claim 2, wherein the software is configured to cause the processor to generate an adjustment of positioning of at least part of one or more vertebrae in the at least one image displayed on the display device based on the correctional data, and the software is configured to cause the processor to modify the at least one image, to overlay a modification on the at least one image, or a combination thereof. ### Claim 6 (depends on 2) The system of claim 2, wherein the software is configured to cause the processor to identify one or more features of a bony anatomy of the patient including one or more of the following: a spinous process, a lamina, a pars interarticularis, an articular process, and a transverse process, and to overlay the one or more features of the bony anatomy identified on the at least one image on the display device. ### Claim 7 (depends on 2) The system of claim 2, wherein the probe is configured to engage a further time the one or more surgical navigation markers; and the software is configured to cause: (1) the processor to receive further positional data of the probe based on positioning of the probe relative to the one or more surgical navigation markers on the patient; (2) the processor to determine further correctional data based on further positional data, and (3) the processor to cause an updated overlay that shows a further location of the one or more surgical markers and a previous location of the one or more surgical markers superimposed on the at least one image on the display device in order to check accuracy of a navigation during a surgical procedure. ### Claim 8 (depends on 2) The system of claim 2, wherein the software is configured to cause the processor to generate positional corrections of the one or more fiduciary screws, the one or more pedicle screws, or a combination thereof located on the patient, and to display on the display device the positional corrections as a correction overlay onto the at least one image to indicate a movement of the one or more fiduciary screws, the one or more pedicle screws, or the combination thereof. ### Claim 9 (depends on 8) The system of claim 8, wherein the probe is configured to engage a further time the one or more fiduciary screws, the one or more pedicle screws, or the combination thereof located on the patient; and the software is configured to cause: (1) the processor to receive further positional data of the probe based on positioning of the probe relative to the one or more fiduciary screws, the one or more pedicle screws, or the combination thereof; (2) the processor to determine further correctional data based on further positional data; and (3) the processor to cause a further correctional overlay, and to display on the display device the further correctional overlay onto the at least one image to indicate a movement of the one or more fiduciary screws, the one or more pedicle screws, or the combination thereof. ### Claim 10 (depends on 9) The system of claim 9, wherein the software is configured to cause the processor to generate a desired surgical correction of a shape of a vertebral column of the patient and a desired shape of a connecting rod to link the one or more pedicle screws, and to display a desired surgical correction overlay onto the at least one image. ### Claim 11 (depends on 9) The system of claim 9, wherein the software is configured to cause the processor to generate a desired surgical correction based on the software being configured to cause one or more of the following: a determination of what degree of bending of a rod designed to extend between the one or more vertebrae of the spine of the patient is indicated; a determination of angular corrections indicated for a correct rod bend; and a determination of a rod length, and to display on the display device the desired surgical correction as a rod overlay onto the at least one image to indicate how the rod needs to be bent for a desired fit and to achieve a desired surgical outcome. ### Claim 12 (depends on 8) The system of claim 8, wherein the positional corrections comprise a point to point line of anatomic corrections of an orientation of a spinal column in one or more of the following: a lordotic direction, a kyphotic direction, a scoliotic direction, and a listhetic direction. ### Claim 13 (depends on 8) The system of claim 8, wherein the software is configured to cause the processor to determine a desired surgical correction of a shape of a vertebral column of the patient and determine a desired shape of a connecting rod to link the one or more pedicle screws, and to display a desired surgical correction overlay onto the at least one image. ### Claim 14 (depends on 13) The system of claim 13, wherein the probe is configured to engage a further time the one or more fiduciary screws, the one or more pedicle screws, or a combination thereof located on the patient; and the software is configured to cause: (1) the processor to receive further positional data of the probe based on positioning of the probe relative to the one or more fiduciary screws, the one or more pedicle screws, or the combination thereof; (2) the processor to determine further correctional data based on further positional data; and (3) the processor to generate a further desired surgical correction of the shape of the vertebral column of the patient and a further desired shape of the connecting rod to link the one or more pedicle screws, and to display a further desired surgical correction overlay onto the at least one image. ### Claim 15 (depends on 8) The system of claim 8, wherein the software is configured to cause the processor to generate a desired surgical correction based on the processor causing one or more of the following: a determination of what degree of bending of a rod designed to extend between the one or more vertebrae of the spine of the patient is indicated; a determination of angular corrections indicated for a correct rod bend; and a determination of a rod length, and to display on the display device the desired surgical correction as a rod overlay onto the at least one image to indicate how the rod needs to be bent for a desired fit and to achieve a desired surgical outcome. ### Claim 16 (depends on 1) The system of claim 1, wherein the software is configured to cause the processor to generate an adjustment of positioning of at least part of one or more vertebrae in the at least one image displayed on the display device based on the correctional data, and the software is configured to cause the processor to modify the at least one image, to overlay a modification on the at least one image, or a combination thereof. ### Claim 17 (depends on 1) The system of claim 1, wherein the software is configured to cause the processor to identify one or more features of a bony anatomy of the patient including one or more of the following: a spinous process, a lamina, a pars interarticularis, an articular process, and a transverse process, and to overlay the one or more features of the bony anatomy identified on the at least one image on the display device. ### Claim 18 (depends on 1) The system of claim 1, wherein the probe is configured to engage a further time the one or more surgical navigation markers; and the software is configured to cause: (1) the processor to receive further positional data of the probe based on positioning of the probe relative to the one or more surgical navigation markers on the patient; (2) the processor to determine further correctional data based on further positional data; and (3) the processor to cause an updated overlay that shows a further location of the one or more surgical markers and a previous location of the one more surgical markers superimposed on the at least one image on the display device in order to check accuracy of a navigation during a surgical procedure. ### Claim 19 (depends on 1) The system of claim 1, wherein the software is configured to cause the processor to determine a desired surgical correction of a shape of a vertebral column of the patient and determine a desired shape of a connecting rod to link the one or more pedicle screws, and to display a desired surgical correction overlay onto the at least one image. ### Claim 20 (depends on 1) The system of claim 1, wherein the one or more surgical navigation markers further comprise one or more pedicle screws and the software is configured to cause the processor to determine a desired surgical correction of a shape of a vertebral column of the patient and determine a desired shape of a connecting rod to link the one or more pedicle screws, and to display a desired surgical correction overlay onto the at least one image. ### Claim 21 (depends on 20) The system of claim 20, wherein the probe is configured to engage a further time the one or more surgical navigation markers located on the patient; and the software is configured to cause: (1) the processor to receive further positional data of the probe based on positioning of the probe relative to the one or more surgical navigation markers; (2) the processor to determine further correctional data based on further positional data; and (3) the processor to generate a further desired surgical correction of the shape of the vertebral column of the patient and a further desired shape of the connecting rod to link the one or more pedicle screws, and to display a further desired surgical correction overlay onto the at least one image. ### Claim 22 (depends on 1) The system of claim 1, wherein the one or more surgical navigation markers further comprise one or more pedicle screws and the software is configured to cause the processor to generate a desired surgical correction of a shape of a vertebral column of the patient and a desired shape of a connecting rod to link the one or more pedicle screws, and to display a desired surgical correction overlay onto the at least one image. ### Claim 23 (depends on 1) The system of claim 1, wherein the software is configured to cause the processor to generate a desired surgical correction based on the processor causing one or more of the following: a determination of what degree of bending of a rod designed to extend between the one or more vertebrae of the spine of the patient is indicated; a determination of angular corrections indicated for a correct rod bend; and a determination of a rod length, and to display on the display device the desired surgical correction as a rod overlay onto the at least one image to indicate how the rod needs to be bent for a desired fit and to achieve a desired surgical outcome.