US 12,446,964 B2
Methods and systems for determining alignment parameters of a surgical target, such as a spine
Robert Bruce Grupp, Jr., Edgewood, WA (US); David Lee Fiorella, Seattle, WA (US); Thomas A. Carls, Memphis, TN (US); Samuel R. Browd, Mercer Island, WA (US); Adam Gabriel Jones, Seattle, WA (US); James Andrew Youngquist, Seattle, WA (US); and Richard Earl Simpkinson, Issaquah, WA (US)
Assigned to PROPRIO, INC., , WA (US)
Filed by Proprio, Inc., Seattle, WA (US)
Filed on May 14, 2024, as Appl. No. 18/664,051.
Application 18/664,051 is a continuation of application No. 17/735,945, filed on May 3, 2022, granted, now 12,011,227.
Prior Publication US 2024/0293184 A1, Sep. 5, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G06K 9/00 (2022.01); A61B 17/88 (2006.01); A61B 34/10 (2016.01); G16H 50/50 (2018.01); A61B 34/20 (2016.01)
CPC A61B 34/10 (2016.02) [A61B 17/8863 (2013.01); G16H 50/50 (2018.01); A61B 2034/2055 (2016.02); G06T 2207/30012 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of intraoperatively determining an alignment parameter of a spine during a surgical procedure on the spine, the method comprising:
receiving initial image data of the spine including multiple vertebrae;
identifying a geometric feature associated with each of the vertebrae in the initial image data, wherein the geometric features each have a pose in the initial image data; and
continuously, in substantially real-time—
receiving intraoperative data of the spine, wherein the intraoperative data includes depth data of the spine from a depth sensor and image data of the spine from multiple cameras;
registering the initial image data to the intraoperative data;
updating the pose of each geometric feature based on the registration and the intraoperative data; and
determining the alignment parameter of the spine based on the updated poses of the geometric features associated with two or more of the vertebrae.