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    System, method and apparatus for automatic registration in computer assisted bone milling surgery
    3.
    发明授权
    System, method and apparatus for automatic registration in computer assisted bone milling surgery 有权

    公开(公告)号：US11007013B2

    公开(公告)日：2021-05-18

    申请号：US16401177

    申请日：2019-05-02

    Applicant: INTELLIJOINT SURGICAL INC.

    Inventor： Andre Novomir Hladio ,  Joseph Arthur Schipper

    IPC: A61B34/10 ,  A61B34/30 ,  A61B17/16 ,  A61F2/32

    Abstract: Systems, methods and apparatus register a bone for milling during a procedure. A surgeon mills the bone without first performing an explicit registration of a tool relative to the bone. Tool location measurements in combination with a 3-dimensional (3D) model of the patient's bone, such as a segmented CT scan, are used to automatically construct a registration. The 3D model identifies a border where cancellous bone within the bone ends and the cortical bone begins at an inner cortical bone surface. Responsive to movement of the tool within the bone along an initial trajectory, and, using a localizing system to identify the location of tool when in contact with the inner cortical bone surface, a shape/map of the cortical bone is generated and fit to the 3D model automatically to obtain a registration. An updated trajectory may be output such as from 3D implant plan information to guide further milling.

    Auto-tracker characterization with robotics applications
    5.
    发明授权
    Auto-tracker characterization with robotics applications 有权

    公开(公告)号：US11682122B2

    公开(公告)日：2023-06-20

    申请号：US17122326

    申请日：2020-12-15

    Applicant: INTELLIJOINT SURGICAL INC.

    Inventor： Joseph Arthur Schipper ,  Justin Aaron Michael ,  Andre Novomir Hladio

    IPC: G06T7/73 ,  G06T7/246

    CPC classification number: G06T7/246 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/30004 ,  G06T2207/30244

    Abstract: Computing devices and methods are provided to automatically characterize a localization system tracker for a procedure. A starting tracker definition is refined until convergence using an iterative process and measured features of the tracker in images provided by a localization system camera. In each iteration, poses are determined from the measured features using a current tracker definition. The current definition is then refined using the poses and an optimization function. Tracker images may be captured passively, when performing other procedure steps. In a robotic context, command trajectories move a robot may be to respective poses where images to characterize the tracker are captured. An updated trajectory may be commanded to optimize convergence, additionally using the measured features at the updated pose in the iterative process. A robot kinematic model may be defined, refining a starting model using tracker poses from the localization system and sensor positions from the robot system.

    Tracing platforms and intra-operative systems and methods using same
    6.
    发明授权
    Tracing platforms and intra-operative systems and methods using same 有权

    公开(公告)号：US11432898B2

    公开(公告)日：2022-09-06

    申请号：US15919777

    申请日：2018-03-13

    Applicant: INTELLIJOINT SURGICAL INC.

    Inventor： Joseph Arthur Schipper ,  Andre Novomir Hladio ,  Kevin Morency

    IPC: A61B34/20 ,  A61B90/00 ,  A61B34/00 ,  A61B90/94 ,  A61B5/107 ,  G06V20/64 ,  G06V40/10 ,  G06V10/62

    Abstract: There is provided a tracing platform configured to rigidly attach to an anatomy of a patient that has at least one surface configured to provide a defined path (represented by path definition data) for tracing by a surgical instrument. An intra-operative computing unit receives pose data for the instrument when tracing the path and calculates a location of the defined path using the pose data and the path definition data. A change in location may be determined from pose data of different traces. Tracing the defined path generates a plurality of pose data which may increase accuracy of the location calculations. Redundant trace data may be received to eliminate bias. A geometric feature (e.g. V-groove), shape and/or magnetic properties of the platform may assist with tracing. The platform may rigidly attach to a bone using at least one of spikes, a bone screw, a cerclage wire, and a bone clamp.

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