US 11,839,384 B2
Position correction method of osteotomy guide tool
Feng Sun, Jiangsu (CN); Fangqiu Hu, Jiangsu (CN); Chao He, Jiangsu (CN); Tao Li, Jiangsu (CN); and Pengfei Liu, Jiangsu (CN)
Assigned to SUZHOU MICROPORT ORTHOBOT CO., LTD., Jiangsu (CN)
Filed by Suzhou MicroPort Orthobot Co., Ltd., Jiangsu (CN)
Filed on Nov. 23, 2021, as Appl. No. 17/533,986.
Application 17/533,986 is a division of application No. 16/859,291, filed on Apr. 27, 2020, granted, now 11,224,442.
Claims priority of application No. 201910940234.7 (CN), filed on Sep. 30, 2019.
Prior Publication US 2022/0079603 A1, Mar. 17, 2022
Int. Cl. A61B 17/15 (2006.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01)
CPC A61B 17/151 (2013.01) [A61B 17/154 (2013.01); A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 2034/2055 (2016.02)] 9 Claims
OG exemplary drawing
 
1. A method for correcting a position of an osteotomy guide tool, comprising:
controlling a movement of a robotic arm according to a current position and a desired position of a trackable element, the trackable element mounted on the osteotomy guide tool or on the robotic arm, so that the robotic arm drives the osteotomy guide tool and the trackable element to move, until the trackable element is moved to the desired position; wherein a position information of the trackable element is used to represent a position of the osteotomy guide tool; said osteotomy guide further comprising, before the controlling step, a verificating step for detecting whether the osteotomy guide tool and/or the trackable element is deformed, wherein the verificating step comprises: determining whether an original position of a verification element matches a current position of the verification element based on: 1) the original position of the verification element mounted on the osteotomy guide tool relative to the trackable element before leaving a factory, and 11) the current position of the verification element relative to the trackable element during use of the osteotomy guide tool; determining that the osteotomy guide tool and/or the trackable element is not deformed if the original position of the verification element matches the current position of the verification element, and proceeding to the controlling step of controlling the movement of the robotic arm according to the current position and the desired position of the trackable element mounted on the osteotomy guide tool or on the robotic arm; and determining that the osteotomy guide tool and/or the trackable element 1s deformed if the original position of the verification element does not match the current position of the verification element, and correcting a relative position between the osteotomy guide tool and the trackable element before proceeding to the controlling step of controlling the movement of the robotic arm according to the current position and the desired position of the trackable element mounted on the osteotomy guide tool or on the robotic arm.