US 12,201,383 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 Dec. 1, 2023, as Appl. No. 18/525,948.
Application 18/525,948 is a continuation of application No. 17/461,081, filed on Aug. 30, 2021, granted, now 11,864,846.
Application 17/461,081 is a continuation of application No. 15/902,420, filed on Feb. 22, 2018, granted, now 11,129,681, issued on Sep. 28, 2021.
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 2024/0090956 A1, Mar. 21, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/20 (2016.01); A61B 34/10 (2016.01); G01B 11/25 (2006.01); G16H 40/60 (2018.01); 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 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 34/30 (2016.02); A61B 2090/371 (2016.02); A61B 2090/373 (2016.02); A61B 90/96 (2016.02)] 17 Claims
OG exemplary drawing
 
1. A system for tracking at least one bone in robotized 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,
generating a three-dimensional geometry of a surface of the at least one bone from the backscatter images,
positioning the three-dimensional geometry of the surface of the at least one bone in the coordinate system,
adding at least one axis of the bone to the surface of the at least one bone to generate a model of the at least one bone, and
continuously outputting the position and orientation of the at least one bone in the coordinate system by tracking the at least one bone and by using the model of the at least one bone.