US 11,864,957 B2
System, method and software program for aiding in positioning of objects in a surgical environment
Jason Karl Otto, Sioux Falls, SD (US); Matthew Thompson, Woodbridge, CT (US); Mark Ellsworth Nadzadi, Batavia, OH (US); Roberto Montane, Lake Worth, FL (US); Jonathan Morgan, Biscayne Park, FL (US); and Bojan Gospavic, Boca Raton, FL (US)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Oct. 7, 2021, as Appl. No. 17/496,191.
Application 17/496,191 is a continuation of application No. 16/390,730, filed on Apr. 22, 2019, granted, now 11,166,781.
Claims priority of provisional application 62/661,354, filed on Apr. 23, 2018.
Prior Publication US 2022/0022994 A1, Jan. 27, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G09G 5/00 (2006.01); A61B 90/00 (2016.01); A61B 34/20 (2016.01); A61B 34/00 (2016.01)
CPC A61B 90/361 (2016.02) [A61B 34/20 (2016.02); A61B 90/37 (2016.02); A61B 34/70 (2016.02); A61B 2034/2057 (2016.02)] 21 Claims
OG exemplary drawing
 
1. A system comprising:
a tracker being rigidly affixed to a surgical object;
a camera having a field of view and being configured to sense positions and orientations of the tracker in the field of view;
a display device; and
one or more controllers coupled to the camera and the display device and being configured to:
obtain an acceptable position range for the tracker relative to a position of the camera;
obtain an acceptable orientation range for the tracker relative to an orientation of the camera, the acceptable orientation range defined as an angle difference between the tracker and camera being less than or equal to 20 degrees;
acquire positions and orientations of the tracker as the surgical object is moved within the field of view; and
execute a graphical user interface to aid in setting up of one or more of: the camera, the tracker, or the surgical object, and wherein the graphical user interface is configured to display, on the display device:
graphical representations of: the field of view, a zone positioned within the field of view, and a current position of the tracker relative to the zone as the surgical object is moved within the field of view; and wherein the zone is positioned at a location that is static relative to the field of view such that the zone is located independent of the current position of the tracker, and wherein the zone is indicative of the acceptable position range for the tracker; and
a current angle difference between the tracker and the camera, a first visual feedback in response to the current angle difference being within the acceptable orientation range, and a second visual feedback in response to the current angle difference being outside of the acceptable orientation range.