US 11,865,008 B2
Method and system for determining a relative position of a tool
Richard Tyler Fanson, Stoney Creek (CA); Andre Novomir Hladio, WATERLOO (CA); and Armen Garo Bakirtzian, Kitchener (CA)
Assigned to Intellijoint Surgical Inc., Kitchener (CA)
Filed by INTELLIJOINT SURGICAL INC., Kitchener (CA)
Filed on Feb. 17, 2023, as Appl. No. 18/111,235.
Application 18/111,235 is a continuation of application No. 17/558,151, filed on Dec. 21, 2021.
Application 17/558,151 is a continuation of application No. 16/180,517, filed on Nov. 5, 2018, granted, now 11,229,520, issued on Jan. 25, 2022.
Application 16/180,517 is a continuation of application No. 14/799,909, filed on Jul. 15, 2015, granted, now 10,117,748, issued on Nov. 6, 2018.
Application 14/799,909 is a continuation of application No. 13/328,997, filed on Dec. 16, 2011, granted, now 9,138,319, issued on Sep. 22, 2015.
Claims priority of provisional application 61/424,447, filed on Dec. 17, 2010.
Prior Publication US 2023/0200997 A1, Jun. 29, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 5/00 (2006.01); A61F 2/32 (2006.01); A61F 2/46 (2006.01); A61B 34/20 (2016.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); A61B 17/17 (2006.01); A61B 5/11 (2006.01); A61B 6/03 (2006.01); A61B 34/10 (2016.01)
CPC A61F 2/32 (2013.01) [A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 90/39 (2016.02); A61F 2/46 (2013.01); A61B 5/0077 (2013.01); A61B 5/11 (2013.01); A61B 5/1114 (2013.01); A61B 5/1127 (2013.01); A61B 5/4528 (2013.01); A61B 6/032 (2013.01); A61B 17/17 (2013.01); A61B 17/1703 (2013.01); A61B 17/1746 (2013.01); A61B 17/1764 (2013.01); A61B 34/10 (2016.02); A61B 90/37 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2048 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/2068 (2016.02); A61B 2090/3945 (2016.02); A61B 2090/3983 (2016.02); A61F 2/4609 (2013.01)] 30 Claims
OG exemplary drawing
 
1. A system comprising:
an optical sensor unit comprising an optical sensor, and at least one human interface sensor configured to receive user input, wherein: the optical sensor is configured to detect light within a field of view, the field of view for aligning with a site of a procedure; and the optical sensor unit is configured to generate and communicate sensor information derived from the light received by the optical sensor;
a bone sensor unit configured to attach to a bone for determining a first position, the first position associated with the bone, the bone sensor unit comprising at least one first light reflector configured to provide to the optical sensor unit a reflected light used to determine the first position in six degrees of freedom;
a stylus sensor unit configured to attach to a stylus for determining a second position, the second position associated with the stylus, the stylus sensor unit comprising at least one second light reflector configured to provide to the optical sensor unit a reflected light used to determine the second position in six degrees of freedom;
a tool sensor unit configured to attach to a surgical tool for determining a third position, the third position associated with the surgical tool, the tool sensor unit comprising at least one third light reflector configured to provide to the optical sensor unit a reflected light used to determine the third position in six degrees of freedom;
a non-transitory computer readable storage device storing instructions, which when executed by a processor, cause the processor to perform steps comprising:
receiving from the optical sensor unit an input for invoking a registration of the bone sensor unit to the bone;
performing the registration to register a relative position of the bone sensor unit to the bone in response to receiving the input and first sensor information indicating references for the bone, the first sensor information derived from the reflected light of the bone sensor unit and the stylus sensor unit;
determining a relative position of the bone and the surgical tool in six degrees of freedom in accordance with the registration and second sensor information, the second sensor information derived from the reflected light of the bone sensor unit and the tool sensor unit;
determining display information in accordance with the relative position of the bone and the surgical tool; and
providing the display information for presenting by a display unit.