	US 12,260,561 B2
	Tracking system for robotized computer-assisted surgery
Pierre Couture, Montreal (CA); Louis-Philippe Amiot, Montreal (CA); Alain Richard, Lachine (CA); Karine Duval, Montreal (CA); Bruno Andre, Montreal (CA); Delphine Cirette, Montreal (CA); Yann Zimmermann, Montreal (CA); and Ronan Lacour, Montreal (CA)
Assigned to ORTHOSOFT ULC, Montreal (CA)
Filed by ORTHOSOFT ULC, Montreal (CA)
Filed on Jun. 15, 2022, as Appl. No. 17/841,069.
Claims priority of provisional application 63/210,688, filed on Jun. 15, 2021.
Prior Publication US 2022/0398744 A1, Dec. 15, 2022
Int. Cl. G06T 7/20 (2017.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); B25J 13/08 (2006.01); G06T 7/00 (2017.01); G06T 7/30 (2017.01); G06T 7/70 (2017.01)

CPC G06T 7/20 (2013.01) [A61B 34/20 (2016.02); A61B 34/30 (2016.02); B25J 13/088 (2013.01); G06T 7/0012 (2013.01); G06T 7/30 (2017.01); G06T 7/70 (2017.01); A61B 2034/2063 (2016.02); G06T 2207/10132 (2013.01); G06T 2207/30008 (2013.01)]

20 Claims

1. A system for tracking at least one object in 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 orientation data from at least one inertial sensor unit on at least one object;

concurrently obtaining position and orientation data for a robot arm relative to a frame of reference;

registering the at least one object with the robot arm to determine a position of the at least one object in the frame of reference; and

continuously tracking and outputting the position and orientation of the at least one object in the frame of reference, using the orientation data from the at least one inertial sensor unit on the at least one object and the position and orientation data for the robot arm.