US 12,336,768 B2
Method of fluoroscopic surgical registration
Evan Ruff, Atlanta, GA (US); Paul Bennett, Chamblee, GA (US); Dhruv Vishwakarma, Suwanee, GA (US); Gregory Kolovich, Savannah, GA (US); and Jacqueline Kim, Atlanta, GA (US)
Assigned to OXOS Medical, Inc., Atlanta, GA (US)
Filed by OXOS Medical, Inc., Atlanta, GA (US)
Filed on Mar. 13, 2020, as Appl. No. 16/818,561.
Application 16/818,561 is a continuation of application No. 16/817,337, filed on Mar. 12, 2020.
Claims priority of provisional application 62/817,539, filed on Mar. 12, 2019.
Prior Publication US 2020/0289208 A1, Sep. 17, 2020
Int. Cl. A61B 34/20 (2016.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61B 90/50 (2016.01); A61B 90/98 (2016.01); A61G 13/12 (2006.01)
CPC A61B 34/20 (2016.02) [A61B 34/30 (2016.02); A61B 90/361 (2016.02); A61B 90/50 (2016.02); A61B 90/98 (2016.02); A61B 2034/105 (2016.02); A61B 2034/2072 (2016.02); A61B 2090/061 (2016.02); A61B 2090/376 (2016.02); A61B 2090/392 (2016.02); A61G 13/124 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method of preparing a surgical robot for navigating an end effector relative to an anatomic structure positioned on an operating surface using a virtual model of the anatomic structure and a plurality of fiducial markers secured relative to the anatomic structure, the method comprising:
positioning a handheld emitting apparatus at a first location relative to the anatomic structure;
obtaining, using the handheld emitting apparatus, a first positioning information, the first positioning information comprising a distance and an orientation of the handheld emitting apparatus relative to each of the plurality of fiducial markers;
obtaining a distance measurement between the handheld emitting apparatus and the anatomic structure;
emitting energy from the handheld emitting apparatus onto the anatomic structure such that the energy is received by an imaging sensor which produces an image signal sufficient to produce a fluoroscopic image of the anatomic structure, wherein the handheld emitting apparatus produces a second positioning information data associated with the fluoroscopic image, the second positioning information data including the distance measurement; and
mapping the fluoroscopic image of the anatomic structure to the virtual model of the anatomic structure using the first positioning information and the second positioning information data such that the surgical robot is capable of navigating the end effector relative to the anatomic structure using the virtual model.