US 12,446,969 B2
Robot mounted camera registration and tracking system for orthopedic and neurological surgery
Benjamin Sexson, Laguna Hills, CA (US); Douglas B. Unis, Brooklyn, NY (US); Matthew Dicicco, Brooklyn, NY (US); and Brian Jin, New York, NY (US)
Assigned to ICAHN SCHOOL OF MEDICINE AT MOUNT SINAI, New York, NY (US); and MONOGRAM ORTHOPAEDICS, INC., Austin, TX (US)
Filed by ICAHN SCHOOL OF MEDICINE AT MOUNT SINAI, New York, NY (US); and MONOGRAM ORTHOPAEDICS INC., Austin, TX (US)
Filed on Nov. 30, 2021, as Appl. No. 17/456,989.
Application 17/456,989 is a continuation of application No. PCT/US2020/035408, filed on May 29, 2020.
Application 17/456,989 is a continuation of application No. PCT/US2020/033810, filed on May 20, 2020.
Claims priority of provisional application 62/854,648, filed on May 30, 2019.
Claims priority of provisional application 62/850,050, filed on May 20, 2019.
Prior Publication US 2022/0079687 A1, Mar. 17, 2022
Int. Cl. A61B 34/20 (2016.01); A61B 34/30 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 34/30 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2068 (2016.02)] 35 Claims
OG exemplary drawing
 
1. A surgical method comprising:
tracking, via at least one camera attached to a robotic arm of a surgical robot, a surgical site of a patient, the robotic arm having a plurality of joints and a plurality of body parts;
controlling the robotic arm to perform a surgical procedure at the surgical site of the patient based on the camera tracked surgical site;
wherein the tracking comprises controlling movement of the plurality of joints and body parts of the robotic arm to maintain a line of sight of the at least one camera directed towards the surgical site of the patient;
the at least one camera is mounted with a movable actuator to a portion of the robotic arm of the surgical robot; and
the tracking comprises controlling the movement of the plurality of joints and body parts and controlling the movement of the movable actuator to maintain the line of sight of the at least one camera directed towards the surgical site of the patient with the at least one camera and movable actuator spaced from the patient and surgical site during the surgical procedure.