US 11,896,317 B2
Triangulation of item in patient body
Nir Ofer, Tel Aviv-Jaffa (IL); Ziv Seemann, Beit Ytzhack (IL); Dor Kopito, Kibbutz Parod (IL); Yair Schwartz, Raanana (IL); Ofir Dahan, Haifa (IL); Gal Eshed, Atlit (IL); Dvir Kadshai, Ramat Gan (IL); Amir Keret, Atlit (IL); Maor Sviri, Haifa (IL); Adi Talmor, Giva't Ada (IL); Ron Visbrot, Hadera (IL); Arie Shneiderman, Beit Rimon (IL); Aviv Ellman, Kfar Sava (IL); and Gal Barazani, Haifa (IL)
Assigned to MAZOR ROBOTICS LTD., Caesarea (IL)
Filed by MAZOR ROBOTICS LTD., Caesarea (IL)
Filed on Aug. 4, 2020, as Appl. No. 16/984,514.
Prior Publication US 2022/0039871 A1, Feb. 10, 2022
Int. Cl. A61B 34/20 (2016.01); A61B 34/10 (2016.01); G01S 5/00 (2006.01); G01S 5/30 (2006.01)
CPC A61B 34/20 (2016.02) [A61B 34/10 (2016.02); G01S 5/01 (2020.05); G01S 5/30 (2013.01); A61B 2034/105 (2016.02); A61B 2034/2063 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical positioning system, comprising:
an emitter secured to a medical implant, comprising:
a speaker; and
a power source;
at least three microphones;
at least one processor; and
a memory storing instructions for execution by the processor that, when executed, cause the processor to:
receive, from each of the at least three microphones, information about a detected sound;
receive a model of a portion of a patient's anatomy, the model being generated from one or more preoperative images that include the portion of the patient's anatomy;
calculate, based on the model, a predicted speed of sound through at least a segment of the portion of the patient's anatomy by:
determining, using the model, which materials lie along the segment;
measuring, within the model, a thickness of each material that lies along the segment;
determining a speed of sound through each material that lies along the segment; and
calculating the predicted speed of sound based on the thickness of each material and the speed of sound of each material that lies along the segment; and
calculate, based on position information corresponding to each of the at least three microphones, the predicted speed of sound, and the received information, a position of the implant.