US 11,744,651 B2
Systems and methods for navigation and visualization
Peter M. Bonutti, Manalapan, FL (US); and Justin E. Beyers, Effingham, IL (US)
Assigned to P Tech, LLC, Effingham, IL (US)
Filed by P Tech, LLC, Effingham, IL (US)
Filed on Apr. 6, 2022, as Appl. No. 17/714,191.
Application 17/714,191 is a continuation of application No. 16/986,467, filed on Aug. 6, 2020, granted, now 11,317,974, issued on May 3, 2022.
Application 16/986,467 is a continuation of application No. 16/113,666, filed on Aug. 27, 2018, granted, now 10,765,484, issued on Sep. 8, 2020.
Application 16/113,666 is a continuation of application No. 15/299,981, filed on Oct. 21, 2016, granted, now 10,058,393, issued on Aug. 28, 2018.
Claims priority of provisional application 62/369,821, filed on Aug. 2, 2016.
Claims priority of provisional application 62/244,460, filed on Oct. 21, 2015.
Prior Publication US 2022/0296311 A1, Sep. 22, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/20 (2016.01); G06T 7/20 (2017.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); G06T 19/00 (2011.01); G06T 7/11 (2017.01); G06T 7/194 (2017.01); A61B 90/98 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 34/30 (2016.02); A61B 90/361 (2016.02); A61B 90/37 (2016.02); G06T 7/11 (2017.01); G06T 7/194 (2017.01); G06T 7/20 (2013.01); G06T 19/006 (2013.01); A61B 90/98 (2016.02); A61B 2034/2048 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2065 (2016.02); A61B 2090/365 (2016.02); A61B 2090/376 (2016.02); A61B 2090/378 (2016.02); A61B 2090/392 (2016.02); A61B 2090/3941 (2016.02); G06T 2207/30008 (2013.01); G06T 2207/30012 (2013.01); G06T 2207/30016 (2013.01); G06T 2210/41 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A surgical system comprising:
a robotic system comprising a moveable arm that is configured to support an end effector relative to a surgical site, wherein the end effector is configured to remove material from a bone;
a scanner being configured to scan the surgical site and detect a vessel on the bone; and
one or more controllers coupled to the robotic system and the scanner and being configured to:
obtain image data of the bone;
receive, from the scanner, positional information of the vessel on the bone;
input the positional information of the vessel to the image data of the bone;
generate a boundary for the vessel;
register the boundary to the bone for navigation;
control the robotic system to remove material from the bone with the end effector; and
control the robotic system based on the boundary to prevent interaction between the end effector and the vessel.