US 12,220,281 B2
Ultrasound bone registration with learning-based segmentation and sound speed calibration
José Luis Moctezuma de la Barrera, Freiburg (DE); Mehrdad Salehi, Munich (DE); Raphael Prevost, Munich (DE); and Wolfgang Wein, Munich (DE)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Jun. 5, 2023, as Appl. No. 18/205,734.
Application 18/205,734 is a continuation of application No. 15/999,152, filed on Aug. 16, 2018, granted, now 11,701,090.
Claims priority of provisional application 62/546,158, filed on Aug. 16, 2017.
Prior Publication US 2023/0301633 A1, Sep. 28, 2023
Int. Cl. A61B 8/08 (2006.01); A61B 6/00 (2024.01); A61B 6/03 (2006.01); A61B 8/00 (2006.01); A61B 34/10 (2016.01); G06T 7/11 (2017.01); G06T 7/33 (2017.01)
CPC A61B 8/5207 (2013.01) [A61B 6/5247 (2013.01); A61B 8/0875 (2013.01); A61B 8/4416 (2013.01); A61B 8/5223 (2013.01); A61B 8/5238 (2013.01); A61B 34/10 (2016.02); G06T 7/33 (2017.01); A61B 6/032 (2013.01); A61B 8/58 (2013.01); A61B 2034/105 (2016.02); G06T 7/11 (2017.01); G06T 2207/10132 (2013.01)] 14 Claims
OG exemplary drawing
 
1. An ultrasound imaging system comprising:
an ultrasound imaging device comprising a transducer configured to generate ultrasound imaging of a bone region by propagation of ultrasound waves to the bone region; and
one or more controllers coupled to the ultrasound imaging device and being configured to:
generate, with the ultrasound imaging device, a first steered frame and a second steered frame, wherein the first steered frame and the second steered frame are directed towards the bone region at different angles from one another and are superimposed with one another, and wherein each of the first steered frame and the second steered frame include pixel intensities of the bone region;
apply the pixel intensities of each of the first steered frame and the second steered frame to a cost function that is configured to: minimize differences in the pixel intensities between the first steered frame and the second steered frame, using propagation speed as an input parameter; and output an estimated propagation speed of ultrasound waves to the bone region that optimizes an appearance of the first steered frame and the second steered frame; and
calibrate the ultrasound imaging device based on the estimated propagation speed.