US 12,064,184 B2
System and method for installing bone hardware outside an end-effectors tool path
Meysam Torabi, Fremont, CA (US); and Rose Cipriano, Fremont, CA (US)
Assigned to Think Surgical, Inc., Fremont, CA (US)
Appl. No. 16/763,280
Filed by THINK SURGICAL, INC., Fremont, CA (US)
PCT Filed Nov. 30, 2018, PCT No. PCT/US2018/063296
§ 371(c)(1), (2) Date May 12, 2020,
PCT Pub. No. WO2019/108925, PCT Pub. Date Jun. 6, 2019.
Claims priority of provisional application 62/636,521, filed on Feb. 28, 2018.
Claims priority of provisional application 62/593,020, filed on Nov. 30, 2017.
Prior Publication US 2020/0281656 A1, Sep. 10, 2020
Int. Cl. A61B 34/10 (2016.01); A61B 17/00 (2006.01); A61B 17/88 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/10 (2016.02) [A61B 17/8897 (2013.01); A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 34/37 (2016.02); A61B 90/39 (2016.02); A61B 2017/00115 (2013.01); A61B 2034/104 (2016.02); A61B 2034/105 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2068 (2016.02); A61B 2034/252 (2016.02); A61B 2090/3916 (2016.02); A61B 2090/3945 (2016.02); A61B 2090/3983 (2016.02)] 15 Claims
OG exemplary drawing
 
1. A method for determining if hardware inserted in a bone is located at least partially within a cut volume of bone to be removed, comprising;
registering the cut volume to a position of the bone;
digitizing a first position and orientation (POSE) of a first piece of hardware inserted in the bone with a digitizer probe having a probe tip; and
calculating, with a processor, if any portion of the first piece of hardware is located at least partially within the cut volume using the registered position of the cut volume; and the digitized POSE of the first piece of hardware.