US 12,251,169 B2
Method of registering an imaging scan with a coordinate system and associated systems
Alon Mozes, Miami Beach, FL (US); and Alexandra Bellettre, Salt Lake City, UT (US)
Assigned to NEOCIS INC., Miami, FL (US)
Appl. No. 17/430,993
Filed by Neocis Inc., Miami, FL (US)
PCT Filed Feb. 14, 2020, PCT No. PCT/IB2020/051263
§ 371(c)(1), (2) Date Aug. 13, 2021,
PCT Pub. No. WO2020/165856, PCT Pub. Date Aug. 20, 2020.
Claims priority of provisional application 62/806,025, filed on Feb. 15, 2019.
Prior Publication US 2022/0160431 A1, May 26, 2022
Int. Cl. A61B 34/20 (2016.01); A61B 6/03 (2006.01); A61B 6/51 (2024.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 6/032 (2013.01); A61B 6/512 (2024.01); A61B 34/10 (2016.02); A61B 34/30 (2016.02); A61B 90/37 (2016.02); A61B 2034/105 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/2068 (2016.02); A61B 2090/364 (2016.02); A61B 2090/373 (2016.02); A61B 2090/3762 (2016.02)] 21 Claims
OG exemplary drawing
 
1. A method of relating an object to a coordinate system, the object being supported by a support element, the object and the support element being housed within a housing, the method comprising:
engaging a registration element, comprising one or more fiducial markers, with the object or the support element;
conducting an optical surface scan of the object and the registration element, using an optical scanner, to form a three-dimensional surface image of the object, the three-dimensional surface image having the coordinate system associated therewith, such that the registration element is associated with the coordinate system;
determining a distance between the registration element and the optical scanner according to a ranging relationship between the optical scanner and the object to determine a relation between the registration element and the coordinate system;
correlating the object with the registration element in the three-dimensional surface image, using a controller having a processor and being in communication with the optical scanner, to determine a relationship between the object and the registration element, the object thereby being registered with the coordinate system via the determined relationship with the registration element; and
planning a procedure, the procedure being a robotic procedure to be conducted by a robot on the object, using the controller, in relation to the three-dimensional surface image thereof prior to correlating the object with the registration element in the three-dimensional surface image.