US 12,029,505 B2
Systems, methods and devices to scan 3D surfaces for intra-operative localization
Andre Novomir Hladio, Waterloo (CA); Richard Tyler Fanson, Stoney Creek (CA); Luke Becker, Kitchener (CA); Arash Abadpour, Toronto (CA); and Joseph Arthur Schipper, Kitchener (CA)
Assigned to Intellijoint Surgical Inc., Kitchener (CA)
Filed by INTELLIJOINT SURGICAL INC., Kitchener (CA)
Filed on Mar. 22, 2023, as Appl. No. 18/124,866.
Application 18/124,866 is a continuation of application No. 17/849,017, filed on Jun. 24, 2022, granted, now 11,612,443.
Application 17/849,017 is a continuation of application No. 16/097,410, granted, now 11,432,878, issued on Sep. 6, 2022, previously published as PCT/CA2017/000104, filed on Apr. 28, 2017.
Claims priority of provisional application 62/395,682, filed on Sep. 16, 2016.
Claims priority of provisional application 62/328,978, filed on Apr. 28, 2016.
Prior Publication US 2023/0285086 A1, Sep. 14, 2023
Int. Cl. A61B 34/20 (2016.01); A61B 18/00 (2006.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01); A61B 90/14 (2016.01); A61B 90/30 (2016.01); A61B 90/50 (2016.01); G06T 7/30 (2017.01); G06T 7/33 (2017.01); G06T 7/73 (2017.01)
CPC A61B 34/20 (2016.02) [A61B 90/14 (2016.02); A61B 90/30 (2016.02); A61B 90/361 (2016.02); G06T 7/30 (2017.01); G06T 7/337 (2017.01); G06T 7/74 (2017.01); A61B 2018/00577 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2048 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2065 (2016.02); A61B 2090/364 (2016.02); A61B 2090/373 (2016.02); A61B 2090/3937 (2016.02); A61B 2090/3983 (2016.02); A61B 2090/502 (2016.02); G06T 2200/04 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/10081 (2013.01); G06T 2207/10088 (2013.01); G06T 2207/30016 (2013.01); G06T 2207/30204 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer program product comprising a non-transient storage device storing instruction that, when executed by one or more processors, cause the one or more processors to perform steps comprising:
receiving sensor data of a surgical site from one or more sensors comprising at least one camera, the surgical site including a patient anatomy, and wherein the patient anatomy is coupled to one or more reference elements, each in a fixed position relative to the patient anatomy, and wherein at least some of the sensor data comprises reference element data for the one or more reference elements and wherein at least some of the sensor data comprises surface profile data and material type data;
determining a spatial surface profile of the surgical site from the sensor data;
determining a type of material at the surgical site and a location of the type of material in the spatial surface profile from the sensor data;
performing a localization registration using the sensor data to register the spatial surface profile and the patient anatomy for surgical localization; and
presenting the spatial surface profile in association with the patient anatomy using the localization registration, including indicating the type of material at the location in the spatial surface profile.