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EP-4142633-B1 - A SYSTEM AND METHOD FOR PLANNING AN IMPLANT CONFIGURATION FOR A PROCEDURE

EP4142633B1EP 4142633 B1EP4142633 B1EP 4142633B1EP-4142633-B1

Inventors

  • KOENIG, MATTHEW W.
  • CAPOTE, MARCO

Dates

Publication Date
20260506
Application Date
20210427

Claims (10)

  1. A system for planning an implant configuration for a procedure, comprising: a processor system (66) configured to execute instructions to: access an image data of a subject having at least a first portion and a second portion of the subject (330; 756); analyze a region of interest (ROI) between the first portion and the second portion (768); determine a ROI geometry of the region of interest (772); access a model of an object (338; 780), the model including at least (i) a dimension of a rigid portion of the object and (ii) a plurality of possible configurations of a configurable portion of the object; and analyze the accessed model to determine an optimal fit of the object to achieve the ROI geometry (364; 780); and output a result of the analysis of the accessed model (374; 802), characterized in that the plurality of possible configurations of the configurable portion of the object includes at least one of a range of motion of the configurable portion, a plastic deformation range of the configurable portion, and an elastic deformation range of the configurable portion, or combinations thereof.
  2. The system of Claim 1, wherein the processor system (66) is further configured to execute to: select the region of interest in the image data with an input from a user.
  3. The system of Claim 1 or 2, wherein outputting the result includes outputting that the object may positively achieve the ROI geometry within a selected threshold or outputting that the object may not achieve the ROI geometry within the selected threshold.
  4. The system of any one of Claims 1 to 3, wherein the model of the object is a first model of a first object, wherein the processor system (66) is further configured to execute to: access a second model of a second object, wherein the second model of the second object includes at least (i) a dimension of a rigid portion of the second object and (ii) a plurality of possible configurations of a configurable portion of the second object; and analyze the accessed second model to determine whether the second object may achieve the ROI geometry based on the accessed second model; and output a result of the analysis of the accessed second model.
  5. The system of Claim 4, wherein the processor system (66) is further configured to execute to: compare the output result of the analysis of the accessed first model and the output result of the analysis of the accessed second model; and output a comparison result of the comparing the output result of the analysis of the accessed first model and the output result of the analysis of the accessed second model.
  6. The system of Claim 5, wherein the processor system (66) is further configured to execute to: determine an optimal fit of the first object or the second object to the ROI geometry based on the comparing the output result of the analysis of the accessed first model and the output result of the analysis of the accessed second model.
  7. The system of Claim 1, wherein the model is a first model and the object is a first object, wherein the processor system (66) is further configured to execute to: determine whether the output result of the analysis of the accessed first model matches the ROI geometry within a selected threshold; if the output result of the analysis of the accessed first model is outside the selected threshold match of the ROI geometry: access a second model of a second object, wherein the second model of the second object includes at least (i) a dimension of a rigid portion of the second object and (ii) a plurality of possible configurations of a configurable portion of the second object; analyze the accessed second model to determine whether the second object may achieve the ROI geometry based on the accessed second model; and output a result of the analysis of the accessed second model.
  8. A method of planning an implant configuration for a procedure, comprising: accessing an image data of a subject (756) having at least a first portion and a second portion of the subject; analyze a region of interest (ROI) between the first portion and the second portion (767); determining a ROI geometry of the region of interest (772); accessing a model of an object (780), the model including at least (i) a dimension of a rigid portion of the object and (ii) a plurality of possible configurations of a configurable portion of the object; and analyzing the accessed model to determine an optimal fit of the object to achieve the ROI geometry (784); and outputting a result of the analysis of the accessed model (802), characterized in that the plurality of possible configurations of the configurable portion of the object includes at least one of a range of motion of the configurable portion, a plastic deformation range of the configurable portion, and an elastic deformation range of the configurable portion, or combinations thereof.
  9. The method of Claim 8, wherein the object comprises a first object and a second object and the model comprises a first model and a second model; wherein the first model includes (i) a first dimension of a first rigid portion of the first object and (ii) a first plurality of possible configurations of a first configurable portion of the first object; wherein the second model includes (i) a second dimension of a second rigid portion of the second object and (ii) a second plurality of possible configurations of a second configurable portion of the second object.
  10. The method of Claim 9, wherein analyzing the accessed model includes analyzing the first model and the second model to determine the optimal fit of at least one of the first object or the second object to achieve the ROI geometry.

Description

FIELD The invention relates to a system according to the preamble of claim 1, and to a method according to the preamble of claim 8. Accordingly, the subject disclosure generally relates to a system for performing a procedure, and particularly to a system and method for illustrating an altered and/or current pose of a portion of a subject and/or portion relative to a subject. BACKGROUND This section provides background information related to the present disclosure which is not necessarily prior art. In a navigation system for various procedures, such as surgical procedures, assembling procedures, and the like, an instrument may be tracked. The instrument may be tracked by one or more tracking systems of various operation modes, such as by measuring an effect of an electromagnetic (EM) field on a sensor coil and/or determining a location with optical sensors. The sensor coil may include a conductive material that is placed within an EM field where a current is induced in the sensor coil. The measured induced current may be used to identify or determine a position of the instrument or object. The electromagnetic field may be generated with a plurality of coils, such as three orthogonally placed coils. Various transmitter or field generation systems include the AxiEM™ electro-magnetic navigation system sold by Medtronic Navigation, Inc., having a place of business in Louisville, Colorado. The AxiEM™ electromagnetic navigation system may include a plurality of coils that are used to generate an electro-magnetic field that is sensed by a tracking device, which may be the sensor coil, to allow a navigation system, such as a StealthStation® surgical navigation system, to be used to track and/or illustrate a tracked position of an instrument. The tracking system may also, or alternatively, include an optical tracking system. Optical tracking systems include those such as the StealthStation ® S7 ® tracking system. The optical tracking system includes a set of cameras with a field of vision to triangulate a position of the instrument. A system and method of the initially-mentioned types are known, e.g., from WO 2019/246559 A1. Further systems are known, e.g., from US 2007/276501 A1 and US 2016/371838 A1. SUMMARY The invention provides a system for planning an implant configuration for a procedure according to claim 1, and provides a method of planning an implant configuration for a procedure according to claim 8. Further embodiments of the invention are described in the dependent claims. A system for performing a procedure is disclosed. The procedure may be performed on a living subject such as an animal, human, or other selected patient. The procedure may also or alternatively include any appropriate type of procedure, such as one being performed on an inanimate object (e.g. an enclosed structure, airframe, chassis, etc.). Nevertheless, the procedure may be performed using a navigation system where a tracking system is able to track a selected one or more items. A navigation system may be used to navigate an object or item, such as an instrument, prosthesis, or implant, relative to a subject for or while performing a procedure. In various embodiments, the procedure may include a procedure on a spine such as a spinal fusion where two or more vertebrae are connected together with a selected implant system or assembly. The implant system may include more than one component that is interconnected at a selected time. Positioning of a portion of the implant system, such as a screw, may be performed relative to a boney structure including a vertebrae. The screw may be positioned into the vertebrae along a selected trajectory and to a selected depth along the trajectory into the vertebrae. In addition to the above example, other appropriate procedures may also be performed relative to and/or on the spine or other appropriate locations. At a selected time, such as for performing a procedure and/or planning a procedure, image data may be acquired of the subject. Image data may be used to generate an image that is displayed on the display device. The image data may include any appropriate image data such as computed tomography image data, magnetic resonance image data, X-ray cone beam image data (such as with a x-ray cone beam imager). Further, the imager may be any appropriate imager such as the O-arm® imaging system, as discussed further herein. A selected set of instructions, such as a machine learning (e.g. computer vision algorithm), may be used to identify portions within the image data, such as individual vertebrae. The instructions may include a machine learning technique or process, such as a neural network system, that is programed to determine the boundaries (i.e. segment) of selected items, such as one or more vertebrae. The image data may be analyzed substantially or entirely automatically within the neural network to determine the boundaries of the vertebrae. A selected workflow may be used to efficiently and effe