CA2476029A1 - Implant registration device for surgical navigation system - Google Patents

Implant registration device for surgical navigation system Download PDF

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Publication number
CA2476029A1
CA2476029A1 CA002476029A CA2476029A CA2476029A1 CA 2476029 A1 CA2476029 A1 CA 2476029A1 CA 002476029 A CA002476029 A CA 002476029A CA 2476029 A CA2476029 A CA 2476029A CA 2476029 A1 CA2476029 A1 CA 2476029A1
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CA
Canada
Prior art keywords
registration device
reference structure
implants
implant
navigation system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002476029A
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French (fr)
Other versions
CA2476029C (en
Inventor
James E. Grimm
Dale Walriven
Shawn E. Mcginley
Chetan Rangaiah
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zimmer Technology Inc
Original Assignee
Zimmer Technology, Inc.
James E. Grimm
Dale Walriven
Shawn E. Mcginley
Chetan Rangaiah
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Application filed by Zimmer Technology, Inc., James E. Grimm, Dale Walriven, Shawn E. Mcginley, Chetan Rangaiah filed Critical Zimmer Technology, Inc.
Publication of CA2476029A1 publication Critical patent/CA2476029A1/en
Application granted granted Critical
Publication of CA2476029C publication Critical patent/CA2476029C/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2/4603—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof
    • A61F2/4607—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof of hip femoral endoprostheses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A—HUMAN NECESSITIES
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    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/17—Guides or aligning means for drills, mills, pins or wires
    • A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
    • A61B17/1742—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the hip
    • A61B17/175—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the hip for preparing the femur for hip prosthesis insertion
    • A—HUMAN NECESSITIES
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    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681—Aspects not otherwise provided for
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    • A61B2034/2046—Tracking techniques
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    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • A61B2034/207—Divots for calibration
    • A—HUMAN NECESSITIES
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    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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    • A—HUMAN NECESSITIES
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    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
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    • A61F2/36—Femoral heads ; Femoral endoprostheses
    • A61F2/3662—Femoral shafts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
    • A61F2002/30316—The prosthesis having different structural features at different locations within the same prosthesis; Connections between prosthetic parts; Special structural features of bone or joint prostheses not otherwise provided for
    • A61F2002/30329—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
    • A61F2002/30383—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements made by laterally inserting a protrusion, e.g. a rib into a complementarily-shaped groove
    • A61F2002/30387—Dovetail connection
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
    • A61F2002/30316—The prosthesis having different structural features at different locations within the same prosthesis; Connections between prosthetic parts; Special structural features of bone or joint prostheses not otherwise provided for
    • A61F2002/30535—Special structural features of bone or joint prostheses not otherwise provided for
    • A61F2002/30604—Special structural features of bone or joint prostheses not otherwise provided for modular
    • A61F2002/30616—Sets comprising a plurality of prosthetic parts of different sizes or orientations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
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    • A61F2/36—Femoral heads ; Femoral endoprostheses
    • A61F2/3609—Femoral heads or necks; Connections of endoprosthetic heads or necks to endoprosthetic femoral shafts
    • A61F2002/3625—Necks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
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    • A61F2002/3625—Necks
    • A61F2002/3631—Necks with an integral complete or partial peripheral collar or bearing shoulder at its base
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
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    • A61F2002/4629—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof connected to the endoprosthesis or implant via a threaded connection
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
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    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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Abstract

A system for registering an orthopedic implant in a computer assisted navigation system. The system includes a plurality of differently sized implants which may be the femoral component or hip stem of a prosthetic hip joint. A registration devi ce is engageable with each of the implants in a predefined relative position. The registratio n device also includes at least one reference element registerable in the computer assiste d navigation system. A second reference structure also having at least one reference element registerable in the computer assisted navigation system is detachably secured to the implant. The relative positions of the reference elements located on the registration device and second reference structure differs for each of the plurality of implants and thereby allows t he navigation system to determine the nominal size of the implant. The relative position and orientation of the implant relative to the second structure can also be calibrated using the registration device.

Claims (35)

1. A system for registering an orthopedic implant in a computer assisted navigation system, said system comprising:
a plurality of differently sized implants;
a registration device engageable with each of said plurality of implants in a first predefined relative position;
a first reference structure and a second reference structure, each of said reference structures having at least one reference element registerable in the computer assisted navigation system, said first reference structure disposed on said registration device at a predetermined location, said second reference structure detachably securable to each of said plurality of implants; and wherein the relative positions of said first and second reference structures differs for each of said plurality of implants when said registration device is engaged at said first predefined location and said second reference structure is secured to a selected one of said implants.
2. The system of claim 1 wherein each of said first and second reference structures includes at least three non-linearly positioned reference elements.
3. The system of claim 1 wherein said first reference structure includes at least three non-linearly positioned reference elements defining a first pattern and said second reference structure includes at least three non-linearly positioned reference elements defining a second pattern, said first and second patterns being distinguishable.
4. The system of claim 1 wherein said second reference structure is mounted on a handling tool at a predefined location, said handling tool having an attachment feature detachably securable to each of said plurality of implants.
5. The system of claim 1 wherein said registration device defines at least one graduated space for receiving a distal end of a first one and a second one of said plurality of implants, said first and second implants engaging said registration device within said at least one graduated space whereby said engagement features of said first and second implants are positioned at first and second distances from said first reference structure respectively;
said first and second distances being non-equivalent.
6. The system of claim 1 wherein each of said plurality of differently sized implants has a generally L-shaped configuration defining a stem portion and a neck portion, said stem portion having a distal end and a proximal end and wherein each of said plurality of implants includes a projection disposed on said neck portion, said projections having a common configuration, said registration device including an engagement feature for engaging said projections at a predefined second relative position.
7. The system of claim 1 wherein said registration device includes at least one tapered slot, with each tapered slot being configured for receiving at least a portion of at least one of said implants.
8. The system of claim 7 wherein said at least one tapered slot is configured for receiving at least a portion of one of said implants from either a first direction or from a second direction, where said second direction is directly opposite of said first direction.
9. The system of claim 8 wherein said tapered slots are tapered inwardly with respect to both said first direction and said second direction.
10. A system for registering an orthopedic implant in a computer assisted navigation system, the implant being adapted for implantation on a bone, said system comprising:
a plurality of differently sized orthopedic implants, each of said implants having an elongate stem defining a stem axis;
a registration device engageable with said stem of each of said plurality of implants at a first predefined relative position along said stem axis of each of said plurality of implants;
a first reference structure having at least one reference element registerable in the computer assisted navigation system, said first reference structure disposed on said registration device at a predetermined location.
11. The system of claim 10 wherein said first reference structure includes at least three non-linearly positioned reference elements.
12. The system of claim 10 further comprising a second reference structure having at least one reference element registerable in the computer assisted navigation system, said second reference structure being detachably securable to each of said plurality of implants.
13. The system of claim 12 wherein each of said implants further comprises a projection extending at an angle to said stem axis and wherein said registration device further comprises an engagement feature engageable with each of said projections at a predefined second relative position in order to determine a rotational orientation of said projection relative to said stem axis.
14. The system of claim 10 wherein said registration device comprises at least one graduated space for engaging said elongate stems.
15. The system of claim 10, wherein said registration device comprises a plurality of differently sized graduated spaces for engaging said stems of said plurality of implants, and further wherein at least one of said graduated spaces is graduated to taper inwardly with respect to both a first direction and a second direction that is opposite of said first direction.
16. The system of claim 10 further comprising a second reference structure having at least one reference element registerable in the computer assisted navigation system, said second reference structure being detachably mounted on a handling tool at a predefined location, said handling tool having an attachment feature detachably securable to each of said plurality of implants.
17. A method of registering am orthopedic implant in a computer assisted navigation system, said method comprising:
providing a implant having a stem defining a stem axis, said stem having a distal end and a proximal end wherein said distal end has a smaller cross sectional area than said proximal end;
providing a registration device having a first reference structure, said first reference structure including at least one reference element registerable in the computer assisted navigation system, said registration device being engageable with said stem at a predefined axial location;

attaching a handling tool to said implant, said handling tool having a second reference structure mounted thereon, said second reference structure including at least one reference element registerable in the computer assisted navigation system;
engaging the registration device with the implant at the predefined axial location with said implant secured to said handling tool and registering the positions of said first and second structures in the computer assisted navigation system; and determining the position of the implant stem relative to second reference structure.
18. The method of claim 17 further comprising the step of disengaging the registration device from the implant stem following the step of determining the position of the implant stem relative to the second reference structure.
19. The method of claim 18 wherein said implant includes a projection extending at an angle to said stem axis and said method further comprises the steps of:
engaging the reference device with said projection at a predefined relative position and registering the relative positions of said first and second reference structures in said computer assisted navigation system; and determining the rotational position of said projection relative to said stem axis.
20. The method of claim 17 wherein a plurality of implants are provided, each of said implants having a differently sized tapered stem defining a stem axis, each said stem having a distal end and a proximal end wherein said distal end has a smaller cross sectional area than said proximal end, said handling tool being attachable to each of said implants at a predefined location; and wherein said method further includes the steps of selecting one of said implants for attachment to said handling tool and engagement with said registration device and said step of determining the position of the implant stem relative to said second structure further includes determining the size of the selected implant based upon the distance between said first and second reference structures.
21. The method of claim 17 wherein said registration device defines at least one graduated space and said step of engaging the registration device with said implant includes inserting said tapered stem into said graduated space.
22. The method of claim 17 wherein said registration device defines at least one graduated space that is graduated to taper inwardly with respect to both a first direction and a second direction, where said second direction is opposite of said first direction, and wherein said step of engaging the registration device with said implant includes inserting said tapered stem into said graduated space from either said first direction or from said second direction.
23. An assembly for use in a computer assisted navigation system comprising:
an orthopedic implant;
at least one wire loop removably mounted on said orthopedic implant;
a communication means operably coupled between said wire loop and the computer assisted navigation system and communicating a signal between said wire loop to the navigation system indicative of the magnetic field sensed by said wire loop.
24. The assembly of claim 23 wherein said communication means comprises a communications cable operably coupled to said wire loop.
25. The assembly of claim 23 wherein said at least one wire loop comprises at least two wire loops, each of said loops defining a loop axis, said loops disposed in relatively fixed locations wherein said loop axes are positioned in a mutually perpendicular orientation.
26. The assembly of claim 23 wherein said at least one wire loop is mounted on a surgical instrument removably attached to said implant.
27. A registration device for use with a computer assisted navigation system, said registration device comprising:
a body including at least one first arrangement engageable with at least one orthopedic implant in a first predefined relative position and at least one second arrangement engageable with at least one surgical instrument,in a second predefined relative position;
a first reference structure having at least one reference element registerable in a computer assisted navigation system, said first reference structure being disposed on said registration device at a predetermined location, wherein said first reference structure is configured to cooperate with both a second reference structure disposed on a surgical instrument at a predetermined location and a third reference structure disposed on an orthopedic implant at a predetermined location;
wherein the relative positions of said first reference structure with respect to another reference structure when an implant or an instrument is engaged with one of said structures on said body are utilized by the computer assisted navigation device to determine the size of the selected implant or instrument.
28. The registration device of claim 27 wherein at least some of said first arrangements are comprised of a plurality of tapered slots, with each of said tapered slots configured for receiving at least a portion of at least one implant.
29. The registration device of claim 28 wherein said tapered slots are each configured for receiving at least a portion of one implant from either a first direction or from a second direction, where said second direction is directly opposite of said first direction.
30. The registration device of claim 29 wherein said tapered slots are tapered inwardly with respect to both said first direction and said second direction.
31. The registration device of claim 27 wherein at least some of said second arrangements are configured for receiving a handle of a surgical instrument.
32. A system for registering a surgical tool in a computer assisted navigation system, said system comprising:
a plurality of differently sized surgical tools;
a registration device engageable with each of said plurality of tools in a first predefined relative position;
a first reference structure and a second reference structure, each of said reference structures having at least one reference element registerable in the computer assisted navigation system, said first reference structure disposed on said registration device at a predetermined location, said second reference disposed on any one of said plurality of tools; and wherein the relative positions of said first and second reference structures differs for each of said plurality of tools when said registration device is engaged at said first predefined location and said second reference structure is disposed upon a selected one of said tools.
33. The system of claim 32, wherein said plurality of surgical tools comprise a plurality of differently sized handles configured to fit surgical instruments.
34. A method of registering a surgical instrument in a computer assisted navigation system, said method comprising:
providing a surgical instrument with a first reference structure mounted thereon, said first reference structure including at least one reference element registerable in the computer assisted navigation system;
providing a registration device having a second reference structure, said second reference structure including at least one reference element registerable in the computer assisted navigation system, said registration device being engageable with said surgical instrument at a predefined location;
engaging the registration device with the surgical instrument at the predefined location and registering the positions of said first and second structures in the computer assisted navigation system; and determining the size of the surgical instrument with the computer assisted navigation system.
35. The method according to claim 34, further comprising the steps of:
attaching a surgical tool to an associated handle;
engaging the registration device with surgical tool with the tool secured to the handle; and verifying the size of the tool and handle assembly with the computer assisted navigation system.
CA002476029A 2004-03-03 2004-07-29 Implant registration device for surgical navigation system Expired - Fee Related CA2476029C (en)

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AU2004203895A1 (en) 2005-09-22
EP1570801A1 (en) 2005-09-07
US6988009B2 (en) 2006-01-17
EP1570801B1 (en) 2009-04-08
ATE427713T1 (en) 2009-04-15
CA2476029C (en) 2010-01-19
JP2005279263A (en) 2005-10-13
US20040167654A1 (en) 2004-08-26
DE602004020443D1 (en) 2009-05-20

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