Method for confirming registration of tracked bones

Patent metadata

Field	Value
Publication number	US-12527633-B2
Application number	US-202318221913-A
Country	US
Kind code	B2
Filing date	Jul 14, 2023
Priority date	Nov 16, 2015
Publication date	Jan 20, 2026
Grant date	Jan 20, 2026

Abstract

A system for confirming registration of a bone involved in a joint replacement procedure is provided. The system includes a three-dimensional (3-D) bone model of the bone registered to a bone location, a visible light camera, and a display. The visible light camera captures images of the bone in the camera's field-of-view (FOV). The display is configured to display the captured images of the FOV and an image of the 3-D bone model, where the displayed location of the image of the 3-D bone model corresponds to the location of the 3-D bone model registered to the bone location. The registration may be confirmed if the displayed location of the image of the bone as captured by the visible light camera corresponds to the displayed location of the 3-D bone model.

First claim

The invention claimed is:

1 . A system for confirming registration of a bone, comprising:
a three-dimensional (3-D) bone model registered to a bone location; a camera for capturing video of the bone; and a display for displaying the captured video of the bone and an image of the 3-D bone model, or an outline of the 3-D bone model, wherein a displayed location of the image of the 3-D bone model, or the outline of the 3-D bone model, corresponds to a location of the 3-D bone model as registered to the bone location, and wherein the display updates the displayed location of the image of the 3-D bone model, or the outline of the 3-D bone model, according to tracked movements of the bone.

2 . The system of claim 1 further comprising a computer input for receiving confirmation of correct registration of the 3-D bone model to the bone location when the displayed location of the image of the 3-D bone model, or the outline of the 3-D bone model, corresponds to the location of the bone in the captured video of the bone.

3 . The system of claim 2 wherein the computer input comprises at least one of: a mouse; a keyboard; a joystick; a pendant; a touchscreen display; or a microphone.

4 . The system of claim 1 wherein the display further displays a prompt to: a) confirm or not confirm correct registration of the 3-D bone model to the bone location.

5 . The system of claim 1 further comprising a tracking system for tracking movement of the bone.

6 . The system of claim 5 further comprising a computer comprising a processor configured to determine a calibration between a coordinate frame of the tracking system and a coordinate frame of the camera.

7 . The system of claim 6 wherein the location of the 3-D bone model registered to the bone location is determined in the coordinate frame of the tracking system.

8 . The system of claim 7 wherein the location of the 3-D bone model registered to the bone location is determined in the coordinate frame of the camera using: i) the calibration; and ii) the determined location of the 3-D bone model registered to the bone location in the coordinate frame of the tracking system.

9 . The system of claim 1 wherein the camera is a video camera.

10 . A system, comprising:
a three-dimensional (3-D) bone model registered to a bone location; a digitizer; a tracking system for tracking movement of the digitizer; a camera for capturing video of the bone; a computer comprising a processor configured to:
record positions of the digitizer as the digitizer is moved about the bone; and
project the recorded positions onto the 3-D bone model registered at the bone location; and
a display for displaying the captured video, and a video of the recorded positions projected onto the 3-D bone model.

11 . The system of claim 10 wherein the recorded positions form a three-dimensional (3-D) contour and the display displays an image of the 3-D contour.

12 . The system of claim 11 wherein the 3-D contour represents edges of a soft tissue to bone interface.

13 . The system of claim 10 wherein the computer is further configured to segment, in the captured video of the bone, a soft tissue covering or surrounding the bone.

14 . The system of claim 13 wherein the computer is further configured to remove the segmented soft tissue from the captured video.

15 . The system of claim 13 wherein the computer is configured to segment the soft tissue using the recorded positions of the digitizer tip.

16 . The system of claim 10 wherein the camera is a video camera.

17 . The system of claim 10 wherein the display is further configured to display an image of the 3-D bone model, or an outline of the 3-D bone model, wherein the displayed location of the image of the 3-D bone model, or an outline of the 3-D bone model, corresponds to the location of the 3-D bone model registered to the bone location.

18 . The system of claim 10 further comprising a computer input for receiving confirmation of correct registration of the 3-D bone model to the bone location when the displayed location of the video of the recorded positions projected onto the 3-D bone model corresponds to the displayed location of the image of the recorded positions.

Assignees

• Think Surgical Inc

Inventors

• Zuhars Joel
• Bonny Daniel P
• Tabandeh Saleh

Classifications

• A61B2034/2055

  Optical tracking systems · CPC title

• A61B90/361

  Image-producing devices, e.g. surgical cameras · CPC title

• A61B90/30

  Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure · CPC title

• A61B2090/3983

  Reference marker arrangements for use with image guided surgery · CPC title

• A61B2034/2068

  using pointers, e.g. pointers having reference marks for determining coordinates of body points · CPC title