US 11,986,246 B2
Method to determine bone placement in a robot workspace
Jay Roldan, Fremont, CA (US); Min Yang Jung, Fremont, CA (US); Feimo Shen, Fremont, CA (US); Muhammad Afnan, Fremont, CA (US); Barry Voorhees, Fremont, CA (US); Micah Forstein, Fremont, CA (US); CJ Geering, Fremont, CA (US); Koteswara Ruvva, Fremont, CA (US); and Joel Zuhars, Fremont, CA (US)
Assigned to Think Surgical, Inc., Fremont, CA (US)
Filed by THINK SURGICAL, INC., Fremont, CA (US)
Filed on Jun. 25, 2020, as Appl. No. 16/911,709.
Claims priority of provisional application 62/866,348, filed on Jun. 25, 2019.
Prior Publication US 2020/0405394 A1, Dec. 31, 2020
Int. Cl. A61B 34/10 (2016.01); A61B 17/16 (2006.01); A61B 34/00 (2016.01); G16H 20/40 (2018.01); G16H 40/63 (2018.01); G16H 50/50 (2018.01)
CPC A61B 34/10 (2016.02) [A61B 17/1626 (2013.01); A61B 17/1675 (2013.01); A61B 34/25 (2016.02); A61B 34/74 (2016.02); A61B 34/76 (2016.02); G16H 20/40 (2018.01); G16H 40/63 (2018.01); G16H 50/50 (2018.01); A61B 2017/1602 (2013.01); A61B 2034/104 (2016.02); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/741 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A method for determining a location for one or more bones in a workspace of a robot comprising an end-effector, the method executed on a computing system comprising one or more processors and executing software comprising a kinematic model of the robot and a cut-file, the method comprising:
simulating robotic movements of a virtual end-effector during robot execution of the cut-file at a first virtual bone location within a virtual workspace of the robot;
simulating robotic movements of the virtual end-effector during robot execution of the cut-file for at least a second virtual bone location within the virtual workspace of the robot,
simulating robotic movements of the virtual end-effector during robot execution of a second cut-file for a third virtual bone location within the workspace of the robot;
simulating robotic movements of the virtual end-effector during robot execution of the second cut-file for at least a fourth virtual bone location within the workspace of the robot, wherein the movements are simulated with simulation software using the kinematic model of the robot;
determining, for each virtual bone location, if the simulated robotic movements of the virtual end-effector during robot execution of the cut-file or the second cut-file meets predetermined criteria;
identifying at least one optimal virtual bone location based on a comparison of the predetermined criteria that was met for one virtual bone location compared to at least one other virtual bone location; and
providing feedback in the operating room for positioning the one or more bones in the workspace of the robot at a location corresponding to at least one optimal virtual bone location.