US 11,771,519 B2
Device and method for automatic recalibration for 3D intraoperative images
Sebastien Olive, Montpelier (FR); Bertin Nahum, Baillargues (FR); and Lucien Blondel, Montpellier (FR)
Assigned to MedTech S.A., Montpellier (FR)
Filed by MedTech S.A., Montpellier (FR)
Filed on Dec. 29, 2021, as Appl. No. 17/565,229.
Application 17/565,229 is a continuation of application No. 16/868,139, filed on May 6, 2020, granted, now 11,234,789.
Application 16/868,139 is a continuation of application No. 16/343,743, granted, now 10,675,116, previously published as PCT/EP2017/077003, filed on Oct. 23, 2017.
Claims priority of application No. 1660264 (FR), filed on Oct. 21, 2016.
Prior Publication US 2022/0117694 A1, Apr. 21, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G06K 9/00 (2022.01); A61B 90/00 (2016.01); A61B 34/32 (2016.01); A61B 34/20 (2016.01); A61B 17/00 (2006.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01)
CPC A61B 90/361 (2016.02) [A61B 34/32 (2016.02); A61B 90/39 (2016.02); A61B 34/30 (2016.02); A61B 2017/0092 (2013.01); A61B 2017/00725 (2013.01); A61B 2017/00946 (2013.01); A61B 2017/00991 (2013.01); A61B 2034/105 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2072 (2016.02); A61B 2090/363 (2016.02); A61B 2090/376 (2016.02); A61B 2090/3945 (2016.02); A61B 2090/3958 (2016.02); A61B 2090/3966 (2016.02); A61B 2090/3983 (2016.02); A61B 2090/3991 (2016.02)] 18 Claims
OG exemplary drawing
 
1. A method of controlling a robotic arm in reference to an anatomical area, the method comprising:
accessing medical images of the anatomical area and a recalibration device positioned on a surface of the anatomical area;
generating a three-dimensional digital model from the medical images;
identifying radiopaque fiducial markers integrated into the recalibration device within the medical images, the radiopaque fiducial markers distributed spatially throughout a volume across multiple parallel planes within the recalibration device;
calculating a position and orientation of the recalibration device within a robotic coordinate system, the robotic coordinate system coordinating position and orientation data between the anatomic area and a robotic arm;
adjusting the three-dimensional digital model to the robotic coordinate system based on a position and orientation of the recalibration device within the three-dimensional digital model; and
generating commands to position the robotic arm operating within the robotic coordinate system based on the three-dimensional digital model, wherein the generating commands to position the robotic arm is based at least in part on an implant position within an implant plan.