	US 11,950,852 B2
	Systems and methods for determining intraoperative spinal orientation
Michael K. K. Leung, Markham (CA); Adrian Mariampillai, Toronto (CA); Beau Anthony Standish, Toronto (CA); Peter Siegler, Toronto (CA); and Victor X. D. Yang, North York (CA)
Assigned to 7D SURGICAL ULC, Toronto (CA)
Filed by 7D SURGICAL INC., Toronto (CA)
Filed on Sep. 29, 2020, as Appl. No. 17/036,506.
Application 17/036,506 is a continuation of application No. 16/314,809, granted, now 10,792,110, previously published as PCT/CA2017/050806, filed on Jul. 4, 2017.
Claims priority of provisional application 62/358,124, filed on Jul. 4, 2016.
Prior Publication US 2021/0030485 A1, Feb. 4, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/20 (2016.01); A61B 17/70 (2006.01); A61B 34/10 (2016.01)

CPC A61B 34/20 (2016.02) [A61B 17/70 (2013.01); A61B 17/7074 (2013.01); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/2074 (2016.02)]

35 Claims

1. A method of determining an intraoperative orientation of a spine, the method comprising:

processing volumetric image data pertaining to a spine to generate multi-level surface data characterizing a bone surface of the spine;

processing the multi-level surface data to generate segmented surface data on a per-level basis for each level of a plurality of spinal levels;

for each spinal level of the plurality of spinal levels, performing a surface-to-surface registration between the segmented surface data associated with said each spinal level and intraoperative surface data characterizing surface regions associated with each spinal level of the plurality of spinal levels, thereby obtaining a registration transform associated with said each spinal level; and

employing the registration transforms associated with the plurality of spinal levels to generate and display one or more parameters numerically quantifying a relative intraoperative orientation and/or relative intraoperative position of at least one of the spinal levels.