US 12,408,998 B2
Obstacle avoidance techniques for surgical navigation
Donald W. Malackowski, Schoolcraft, MI (US); Joseph Bos, Kalamazoo, MI (US); and Richard Thomas DeLuca, Kalamazoo, MI (US)
Assigned to Stryker Corporation, Portage, MI (US)
Filed by Stryker Corporation, Kalamazoo, MI (US)
Filed on Dec. 29, 2021, as Appl. No. 17/564,717.
Application 17/564,717 is a continuation of application No. PCT/US2020/040717, filed on Jul. 2, 2020.
Claims priority of provisional application 62/870,284, filed on Jul. 3, 2019.
Prior Publication US 2022/0117682 A1, Apr. 21, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 34/20 (2016.02); A61B 34/70 (2016.02); A61B 2034/2055 (2016.02)] 24 Claims
OG exemplary drawing
 
1. A navigation system comprising:
a localizer configured to operate in a first spectral band to detect a position of a first object;
a vision device configured to operate in a second spectral band to generate an actual depth map of surfaces near the first object, the second spectral band differing from the first spectral band; and
a controller coupled to the localizer and the vision device, the controller configured to:
access a virtual model corresponding to the first object;
identify a positional relationship between the localizer and the vision device in a common coordinate system;
generate an expected depth map of the vision device based on the detected position of the first object, the virtual model, and the positional relationship;
identify a portion of the actual depth map that fails to match the expected depth map; and
recognize a second object based on the identified portion.