US 11,813,052 B2
Systems and methods for intra-operative pelvic registration
Sunil Gupta, Fort Lauderdale, FL (US); Ta-Cheng Chang, Weston, FL (US); Zenan Zhang, Fort Lauderdale, FL (US); Kevin Bechtold, Fort Lauderdale, FL (US); Matthew Thompson, Fort Lauderdale, FL (US); Eric Branch, Weston, FL (US); Varun Chandra, Fort Lauderdale, FL (US); and Zhu Wu, Fort Lauderdale, FL (US)
Assigned to MAKO SURGICAL CORP., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Jan. 11, 2022, as Appl. No. 17/573,264.
Application 17/573,264 is a continuation of application No. 16/653,207, filed on Oct. 15, 2019, granted, now 11,246,508.
Application 16/653,207 is a continuation of application No. 16/329,157, granted, now 10,485,450, issued on Nov. 26, 2019, previously published as PCT/US2017/049466, filed on Aug. 30, 2017.
Claims priority of provisional application 62/381,214, filed on Aug. 30, 2016.
Prior Publication US 2022/0125334 A1, Apr. 28, 2022
Int. Cl. A61B 5/107 (2006.01); A61B 5/06 (2006.01); A61B 5/00 (2006.01); G06T 7/73 (2017.01); G06T 7/33 (2017.01); A61B 5/11 (2006.01); A61B 5/055 (2006.01); A61B 34/30 (2016.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01)
CPC A61B 5/107 (2013.01) [A61B 5/055 (2013.01); A61B 5/06 (2013.01); A61B 5/1071 (2013.01); A61B 5/1127 (2013.01); A61B 5/743 (2013.01); A61B 5/7435 (2013.01); A61B 34/20 (2016.02); A61B 34/30 (2016.02); G06T 7/33 (2017.01); G06T 7/73 (2017.01); A61B 2034/2055 (2016.02); A61B 2034/2068 (2016.02); A61B 2090/364 (2016.02); G06T 2207/10024 (2013.01); G06T 2207/10081 (2013.01); G06T 2207/30008 (2013.01); G06T 2207/30052 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A system for registering patient data gathered intra-operatively of a first bone with a computer model of the first bone in a coordinate system, the first bone comprising a concave portion and forming a joint with a second bone comprising a convex portion, the system comprising:
a) a surgical navigation system comprising a tracking device and at least one tool configured to be tracked in its movement by the tracking device;
b) at least one computing device in communication the surgical navigation system, the computer model of the first bone accessible to the at least one computing device, the at least one computing device:
i) computing an intra-operative center of rotation from first data points of patient data captured on an articular surface of the concave portion of the first bone, the first data points corresponding in location to a first articular region on the computer model;
ii) identifying a registration zone for capturing one or more second data points of patient data on the first bone based on a selected surgical approach of a direct anterior approach, an antero-lateral approach, or a postero-lateral approach, the registration zone being located at a surgically accessible region on the first bone for the selected surgical approach, the registration zone for the selected surgical approach defining a permissible area for capturing of the one or more second data points, the registration zone for the selected surgical approach corresponding in location to a virtual registration zone on the computer model;
iii) receiving the one or more second data points of patient data captured within the registration zone on the first bone based on the selected surgical approach; and
iv) running a transformation with the patient data and the computer model so as to have them correspond with respect to position and orientation.