Systems and methods for measurement of anatomic alignment

Abstract

Systems and methods for estimating anatomic alignment between two or more bones are described herein. An example method can include registering an anatomic reference frame. Additionally, the method can include establishing a respective rotational relationship between each of one or more bones and an orientation sensor attached to each of the one or more bones. The method can also include receiving, from each of the orientation sensors, orientation information, and then calculating an orientation of a bone relative to the anatomic reference frame. The method can further include calculating, using the respective orientations of the bones relative to the anatomic reference frame, an anatomic alignment parameter between first and second bones.

1 . A method for estimating anatomic alignment between two or more bones, comprising:
 receiving, via a first orientation sensor, first information indicative of an orientation of an anatomic axis or plane relative to a global reference frame;   registering, using the first information, an anatomic reference frame;   establishing a rotational relationship between said global reference frame and a second orientation sensor attached to a first bone;   receiving, via the second orientation sensor attached to the first bone, second information indicative of an orientation of the second orientation sensor attached to the first bone;   calculating, using the registered anatomic reference frame, an orientation of the first bone relative to the anatomic reference frame; and,   calculating, using the orientation of the first bone relative to the anatomic reference frame, an anatomic alignment parameter between the first bone and a second bone.   
     
     
         2 . The method of  claim 1 , further comprising receiving information related an angle of the second bone. 
     
     
         3 . The method of  claim 1 , further comprising:
 establishing a respective rotational relationship between the second bone and respective reference frames of a respective orientation sensor attached to the second bone;   receiving, via each of the respective orientation sensors attached to the second bone, third information indicative of a respective orientation of each of the respective orientation sensors attached to the second bone; and   calculating, using the registered anatomic reference frame, a respective orientation of second bone relative to the anatomic reference frame; wherein the anatomic alignment parameter between the first bone and the second bone are calculated using the respective orientations of the first bone and the second bone relative to the anatomic reference plane.   
     
     
         4 . (canceled) 
     
     
         5 . The method of  claim 1 , wherein registering the anatomic reference frame comprises palpating one or more anatomic landmarks with a tool comprising the orientation sensor. 
     
     
         6 . The method of  claim 1 , registering the anatomic reference frame comprises performing kinematic registration with the second orientation sensor. 
     
     
         7 . The method of  claim 1 , further comprising calibrating/zeroing the first orientation sensor and the second orientation sensor attached to the first bone to establish a common global reference frame. 
     
     
         8 . The method of  claim 1 , wherein establishing the rotational relationship between the anatomical reference frame of the second orientation sensor attached to the first bone and the first bone comprises using a mechanical instrument to align the first orientation sensor in a known orientation relative to the first bone. 
     
     
         9 . The method of  claim 1 , wherein establishing the rotational relationship between the anatomical reference frame of the second orientation sensor attached to the first bone and the first bone comprises using an image of the first bone with the second orientation sensor attached to the first bone. 
     
     
         10 . The method of  claim 1 , wherein establishing the rotational relationship between the anatomical reference frame of the second orientation sensor attached to the first bone and the first bone comprises deriving the rotational relationship based on respective rotational relationships between the respective reference frames of the second orientation sensor attached to the first bone and the first bone relative to the anatomic reference frame. 
     
     
         11 . The method of  claim 1 , wherein the anatomic axis or plane is at least one of a sagittal, coronal, or transverse plane. 
     
     
         12 . The method of  claim 1 , wherein the anatomic axis or plane is a plane parallel to at least one of a sagittal, coronal, or transverse plane. 
     
     
         13 . The method of  claim 1 , wherein the anatomic axis or plane is parallel to at least one of a longitudinal, transverse, or frontal axis. 
     
     
         14 . The method of  claim 1 , wherein the anatomic reference frame is specific to a certain portion of a patient's anatomy identified by bony landmarks. 
     
     
         15 . The method of  claim 1 , further comprising displaying the anatomic alignment parameter between the first bone and the at least one second bone on a display device. 
     
     
         16 . The method of  claim 1 , wherein the anatomic alignment parameter is a joint angle or a spine alignment angle. 
     
     
         17 . A system for estimating anatomic alignment between two or more bones, the system comprising:
 an elongated tool having first and second ends;   a first orientation sensor coupled to the elongated tool;   a second orientation sensor configured to be coupled to a first bone;   a processor, communicatively coupled to the first and second orientation sensors and configured to:
 receive, via the first orientation sensor, first information indicative of an orientation of an anatomic axis or plane relative to a global reference frame; 
 register, using the first information, an anatomic reference frame; 
 establish a rotational relationship between said global reference frame and the second orientation sensor and the first bone; 
 receive, via the second orientation sensor, second information indicative of an orientation of the second orientation sensor; 
 calculate, using the registered anatomic reference frame, an orientation of the first bone relative to the anatomic reference frame; and 
 calculate, using the orientation of the first bone relative to the anatomic reference frame, an anatomic alignment parameter between the first bone and a second bone. 
   
     
     
         18 . The system of  claim 17 , wherein the first and second orientation sensors are the same sensor. 
     
     
         19 . The system of  claim 17 , wherein the first and second orientation sensors are different sensors. 
     
     
         20 . The system of  claim 17 , wherein the processor is further configured to receive an angle of the second bone. 
     
     
         21 . The system of  claim 17 , further comprising a respective orientation sensor attached to the second bone; the processor being further configured to:
 establish a respective rotational relationship between respective reference frames of the respective orientation sensor attached to the second bone;   receive, via each of the respective orientation sensors attached to the second bone, third information indicative of a respective orientation of each of the respective orientation sensors attached to the second bone; and   calculate, using the registered anatomic reference frame, the third information, and the respective rotational relationships, a respective orientation of each of the second bone relative to the anatomic reference frame; wherein the anatomic alignment parameter between the first bone and the second bone are calculated using respective orientations of the first bone and the second bone relative to the anatomic reference plane.   
     
     
         22 . The system of  claim 17 , further comprising:
 a first pointer coupled to the elongated tool and configured to provide an offset between a first portion and the first end; and   a second pointer coupled to the elongated tool and configured to provide an offset between a second portion and the second end.   
     
     
         23 . The system of  claim 22 , wherein the lengths of the first pointer and the second pointer provide a substantially uniform offset at the first end and the second end. 
     
     
         24 . The system of  claim 22 , wherein at least one of the first or second pointers is slidably coupled to an elongated linear member such that a distance between the first pointer and the second pointer is adjustable. 
     
     
         25 . The system of  claim 17 , further comprising a display device; wherein the processor is further configured to cause display of the anatomic alignment parameter between the first bone and the second bone on the display device. 
     
     
         26 . The system of  claim 17 , wherein the first or second orientation sensor is an inertial measurement unit that includes one or more of a gyroscope, an accelerometer, or a magnetometer. 
     
     
         27 . The system of  claim 17 , wherein the first or second orientation sensor is an inertial measurement unit that includes a gyroscope and an accelerometer. 
     
     
         28 . The system of  claim 17 , wherein the anatomic alignment parameter is a joint angle or a spine alignment angle.