US 12,376,912 B2
Methods for locating and tracking a tool axis
Daniel Patrick Bonny, Fremont, CA (US); Joel Zuhars, Fremont, CA (US); and Nathan A. Netravali, Fremont, CA (US)
Assigned to Think Surgical, Inc., Fremont, CA (US)
Filed by Think Surgical, Inc., Fremont, CA (US)
Filed on Apr. 10, 2023, as Appl. No. 18/132,557.
Application 16/998,326 is a division of application No. 15/548,138, granted, now 10,792,109, issued on Oct. 6, 2020, previously published as PCT/US2016/021205, filed on Mar. 7, 2016.
Application 18/132,557 is a continuation in part of application No. 16/998,326, filed on Aug. 20, 2020, granted, now 11,653,983.
Claims priority of provisional application 62/128,857, filed on Mar. 5, 2015.
Prior Publication US 2023/0240761 A1, Aug. 3, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/20 (2016.01); A61B 17/00 (2006.01); A61B 17/15 (2006.01); A61B 17/17 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 2017/00725 (2013.01); A61B 17/15 (2013.01); A61B 17/17 (2013.01); A61B 2034/2055 (2016.02); A61B 2034/207 (2016.02); A61B 34/30 (2016.02); A61B 2090/3983 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A system for determining an orientation of a tool axis with respect to a coordinate frame of a robot, comprising:
a robot comprising a tool holder and a plurality of first fiducial markers for defining a first coordinate frame of the robot;
a calibration device comprising a second fiducial marker for a tracking system to track positions of the calibration device, wherein the calibration device is configured to: (i) couple to the tool holder; and (ii) rotate relative to the tool holder when coupled to the tool holder; and
a computer comprising a processor configured to:
fit a circle or arc to recorded positions of the calibration device, wherein the recorded positions are recorded as the calibration device, when coupled to the tool holder, is rotated relative to the tool holder; and
calculate a vector normal to the fitted circle or arc to determine an orientation of the tool holder axis with respect to the coordinate frame.