US 12,245,826 B2
Robotic surgical systems with multi-modality imaging for performing surgical steps
Jeffrey Roh, Seattle, WA (US); Justin Esterberg, Mesa, AZ (US); John Cronin, Jericho, VT (US); Seth Cronin, Essex Junction, VT (US); and Michael John Baker, Georgia, VT (US)
Assigned to IX Innovation LLC, Seattle, WA (US)
Filed by IX Innovation LLC, Seattle, WA (US)
Filed on May 1, 2023, as Appl. No. 18/310,514.
Application 18/310,514 is a continuation of application No. 17/747,284, filed on May 18, 2022, granted, now 11,672,614.
Prior Publication US 2023/0404682 A1, Dec. 21, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 5/00 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); G16H 30/20 (2018.01); G16H 50/20 (2018.01)
CPC A61B 34/20 (2016.02) [A61B 5/0035 (2013.01); A61B 5/0036 (2018.08); A61B 34/00 (2016.02); A61B 34/30 (2016.02); G16H 30/20 (2018.01); G16H 50/20 (2018.01); A61B 2034/2074 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A robotic surgical system, comprising:
a surgical robot; and
a non-transitory computer-readable storage medium storing computer instructions, which when executed by one or more computer processors cause the robotic surgical system to:
place a fiducial marker in a region of interest of a patient's anatomy;
determine a first set of data points by a first imaging device of a first imaging modality and a second set of data points by a second imaging device of a second imaging modality,
wherein the first set of data points and the second set of data points describe a tissue structure in the patient's anatomy by referencing the fiducial marker;
detect a medical condition of the patient by performing steps to:
determine a first modality value based on the first set of data points;
determine a second modality value based on the second set of data points;
generating a fused data set based on the first set of data points and the second set of data points; and
provide the medical condition using an output from a correlation routine, the correlation routine including:
selecting stored patient data based on a relationship with at least one of the first modality value of the second modality value, and
comparing the fused data set to the stored patient data to generate the output, wherein the output is indicative of a presence of the medical condition; and
transmit at least a portion of the fused data set to the surgical robot to update the surgical robot for treating the medical condition.