- 专利标题: Bone and tool tracking in robotized computer-assisted surgery
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申请号: US15902420申请日: 2018-02-22
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公开(公告)号: US11129681B2公开(公告)日: 2021-09-28
- 发明人: Louis-Philippe Amiot , Pierre Couture
- 申请人: ORTHOSOFT INC.
- 申请人地址: CA Montreal
- 专利权人: ORTHOSOFT INC.
- 当前专利权人: ORTHOSOFT INC.
- 当前专利权人地址: CA Montreal
- 代理机构: Norton Rose Fulbright Canada LLP
- 主分类号: A61B34/10
- IPC分类号: A61B34/10 ; A61B34/20 ; G16H40/60 ; G01B11/25 ; A61B34/30 ; A61B90/00 ; A61B90/96
摘要:
A system for tracking at least one bone in robotized computer-assisted surgery, comprises a processing unit and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for: obtaining backscatter images of the at least one bone from a tracking device in a coordinate system; generating a three-dimensional geometry of a surface of the at least one bone from the backscatter images, the three-dimensional geometry of the surface being in the coordinate system; determining a position and orientation of the at least one bone in the coordinate system by matching the three-dimensional geometry of the surface of the at least one bone to a three-dimensional model of the bone; controlling an automated robotized variation of at least one of a position and orientation of the tracking device as a function of a processing of the backscatter images; and continuously outputting the position and orientation of the at least one bone in the coordinate system to a robot driver controlling a robot arm supporting a surgical tool in the coordinate system for altering the bone.