US 12,403,019 B2
Systems and methods for surgical registration
Zhu Wu, Weston, FL (US); Matthew Thompson, Fort Lauderdale, FL (US); Brent Mittelstadt, Fort Lauderdale, FL (US); and Jamil Elbanna, Fort Lauderdale, FL (US)
Assigned to MAKO Surgical Corp.
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Oct. 16, 2023, as Appl. No. 18/380,488.
Application 18/380,488 is a continuation of application No. 16/810,283, filed on Mar. 5, 2020, granted, now 11,839,551.
Claims priority of provisional application 62/814,057, filed on Mar. 5, 2019.
Prior Publication US 2024/0041613 A1, Feb. 8, 2024
Int. Cl. A61F 2/46 (2006.01); A61B 34/10 (2016.01); A61F 2/32 (2006.01); A61B 34/20 (2016.01); A61F 2/30 (2006.01)
CPC A61F 2/46 (2013.01) [A61B 34/10 (2016.02); A61F 2/32 (2013.01); A61F 2/4607 (2013.01); A61B 2034/102 (2016.02); A61B 2034/105 (2016.02); A61B 2034/2068 (2016.02); A61F 2002/30943 (2013.01); A61F 2002/4633 (2013.01); A61F 2002/4667 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A system for registering patient data gathered intra-operatively of a vertebra with a computer model of the vertebra in a coordinate system, the vertebra comprising a cortical bone shell, the cortical bone shell having an outer surface and an inner surface, and a cancellous bone interior, the system comprising:
a) a surgical navigation system comprising a tracking device and at least one tool configured to be tracked in its movement by the tracking device, the at least one tool comprising an end effector having a cutting element at a distal end thereof, and a load cell configured to sense a load on the cutting element; and
b) at least one computing device in communication with the surgical navigation system, the at least one computing device storing the computer model of the vertebra in the coordinate system, the at least one computing device:
i) receiving load data associated with the load on the cutting element at the distal end of the end effector when the cutting element is within the cancellous bone interior of the cortical bone shell;
ii) identifying, based on the load data, when the cutting element contacts the inner surface of the cortical bone shell;
iii) receiving a point-cloud of data associated with the vertebra, the point-cloud of data comprising coordinate locations on the inner surface of the cortical bone shell, the point-cloud of data being collected via the cutting element at the distal end of the end effector; and
iv) at least one of running or updating a transform to register the point-cloud of data associated with the vertebra to the computer model of the vertebra in a common coordinate system.