Method for performing an ankle arthroplasty
AssigneeExtremis Robotics
InventorsAnaelle Blachon, Stéphane Lavallee
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Abstract
Method for performing an ankle arthroplasty comprising: fixing the talar tracker, the tibial tracker and the surgical tool tracker, to determine relative poses of the talus, the tibia and the surgical tool with respect to one another, obtaining at least one segmented pre-operative 3D image of the ankle, obtaining at least one per-operative 2D image of the ankle, registering the segmented pre-operative 3D image on each per-operative 2D image, determining an optimized pose of the final tibial component, and an optimized pose of the final talar component, determining a targeted shape of the talus and a targeted shape of the tibia, machining the talus and the tibia, and implanting the final tibial component.
Claims20
A method for performing an ankle arthroplasty on a patient's leg by implanting a final ankle implant comprising at least one final tibial component, at least one final talar component and at least one final insert movable with respect to the final tibial component and to the final talar component, using a computer-assisted surgery system comprising a robotic arm holding a surgical tool and an electromagnetic tracking system comprising at least a talar tracker, a tibial tracker and at least one surgical tool tracker, the method comprising:
- fixing the talar tracker, the tibial tracker and the surgical tool tracker, respectively, to a talus of the patient's leg, to a tibia of the patient's leg and to the surgical tool, according to known geometries, to determine relative poses of the talus, the tibia and the surgical tool with respect to one another,
- obtaining at least one segmented pre-operative 3D image of the ankle,
- obtaining at least one per-operative 2D image of the ankle, each per-operative 2D image being acquired while a registration device comprising at least three radiopaque elements and at least one electromagnetic transceiver is placed on the ankle,
- registering the segmented pre-operative 3D image on each per-operative 2D image, using the registration device,
- determining an optimized pose of the final tibial component with respect to the tibia, and an optimized pose of the final talar component with respect to the tibia, based on at least one morphological criterion,
- determining a targeted shape of the talus and a targeted shape of the tibia to permit to position the final tibial component and the final talar component according to their respective planned optimized poses,
- machining the talus and the tibia with the surgical tool held by the robotic arm to obtain the targeted shapes, and
- implanting the final tibial component on the machined tibia, the final talar component on the machined talus, and the final insert of the ankle implant between the final tibial component and the final talar component.
A method for performing an ankle arthroplasty on a patient's leg by implanting a final ankle implant comprising at least one final tibial component, at least one final talar component and at least one final insert movable with respect to the final tibial component and to the final talar component, using a computer-assisted surgery system comprising a robotic arm holding a surgical tool and, an electromagnetic tracking system comprising at least a talar tracker, a tibial tracker and at least one surgical tool tracker, the method comprising:
- fixing the talar tracker, the tibial tracker and the surgical tool tracker, respectively, to a talus of the patient's leg, to a tibia of the patient's leg and to the surgical tool, to determine relative poses of the talus, the tibia and the surgical tool with respect to one another,
- obtaining at least one per-operative 3D image of the ankle while a registration device comprising at least three radiopaque elements and at least one electromagnetic transceiver is placed on the ankle, the 3D image being acquired for a given position of the talus with respect to the tibia,
- segmenting the per-operative 3D image of the ankle,
- recording an optimized pose of the final tibial component with respect to the tibia, and an optimized pose of the final talar component with respect to the tibia, based on at least one morphological criterion,
- determining a targeted shape of the talus and a targeted shape of the tibia to permit to position the final tibial component and the final talar component according to their respective planned optimized poses,
- machining the talus and the tibia with the surgical tool held by the robotic arm to obtain the targeted shapes, and
- implanting the final tibial component on the machined tibia, the final talar component on the machined talus, and the final insert of the ankle implant between the final tibial component and the final talar component.
Dependencies are inferred from the claim text.