US 11,864,846 B2
Bone and tool tracking in robotized computer-assisted surgery
Louis-Philippe Amiot, Montreal (CA); and Pierre Couture, Montreal (CA)
Assigned to ORTHOSOFT ULC, Montreal (CA)
Filed by ORTHOSOFT ULC, Montreal (CA)
Filed on Aug. 30, 2021, as Appl. No. 17/461,081.
Application 17/461,081 is a continuation of application No. 15/902,420, filed on Feb. 22, 2018, granted, now 11,129,681.
Claims priority of provisional application 62/529,745, filed on Jul. 7, 2017.
Claims priority of provisional application 62/461,995, filed on Feb. 22, 2017.
Prior Publication US 2021/0386488 A1, Dec. 16, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/20 (2016.01); A61B 34/10 (2016.01); G16H 40/60 (2018.01); G01B 11/25 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61B 90/96 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 34/10 (2016.02); G01B 11/25 (2013.01); G16H 40/60 (2018.01); A61B 34/30 (2016.02); A61B 90/96 (2016.02); A61B 2034/105 (2016.02); A61B 2034/2048 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2063 (2016.02); A61B 2034/2065 (2016.02); A61B 2090/371 (2016.02); A61B 2090/373 (2016.02)] 14 Claims
OG exemplary drawing
 
1. A system for tracking at least one bone in computer-assisted surgery, comprising:
a processing unit; and
a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for:
obtaining backscatter images of the at least one bone from a tracking device in a coordinate system, as positioned on a tool interfacing with an anatomical part surrounding the bone or with the bone;
generating a three-dimensional geometry of a surface of the at least one bone from the backscatter images, the three-dimensional geometry of the surface being in the coordinate system;
determining a position and orientation of the at least one bone in the coordinate system by matching the three-dimensional geometry of the surface of the at least one bone to a three-dimensional model of the bone; and
continuously outputting the position and orientation of the at least one bone in the coordinate system to an interface for providing guidance in altering the bone.