Method for confirming registration of tracked bones

{
  "publication_number": "US11717353B2",
  "country": "US",
  "kind": "B2",
  "title": "Method for confirming registration of tracked bones",
  "abstract": "A process for confirming registration of bones involved in a joint replacement procedure is provided that includes a three dimensional (3-D) models of the bones being generated. The bones are tracked with a tracking device attached to each of the bones to allow 6-degrees of freedom (DOF) tracking during the joint replacement procedure. The 3-D models to the bones are registered and the bones having the tracking device are moved. A corresponding motion in the 3-D models with the moving of the bones is then observed. The registration of the 3-D models to the bone when the observations of the 3-D models move in correspondence with the actual bones is then confirmed or an alarm when an algorithm detects the 3-D bone models move unexpectedly during the movement of the bones. A system for confirming registration of bones involved in the joint replacement procedure is also provided.",
  "claims": [
    "1. A system for confirming registration of first and second bones, comprising: a three-dimensional (3-D) model of a first bone registered to a first bone location and a three-dimensional (3-D) model of a second bone registered to a second bone location; a tracking system for tracking movement of the first and second bones; a display for displaying the 3-D model of the first bone and the 3-D model of the second bone and motion of the 3-D model of the first bone and 3-D model of the second bone corresponding to the tracked movement of the first and second bones; and a computer input for receiving confirmation of correct registration of the first and second bones when each 3-D model of the first bone and of the second bone moves in correspondence with actual movement of the first and second bones.",
    "2. The system of claim 1 further comprising a plurality of fiducial markers, wherein a first set of fiducial markers are configured to be attached to the first bone and a second set of fiducial markers are configured to be attached to the second bone.",
    "3. The system of claim 2 wherein the first set of fiducial markers are arranged on a first tracking array configured to be attached to the first bone, and the second set of fiducial markers are arranged on a second tracking array configured to be attached to the second bone.",
    "4. The system of claim 1 wherein the computer input comprises at least one of: a mouse; a keyboard; a joystick; a pendant; a touchscreen display; or a microphone.",
    "5. The system of claim 1 wherein the display further displays a prompt to: a) confirm or not confirm correct registration of the bones.",
    "6. The system of claim 1 wherein the tracking system is an optical tracking system.",
    "7. The system of claim 1 wherein the first and second bones comprise: a) a femur and a tibia; or b) a femur and a pelvis.",
    "8. The system of claim 1 further comprising a computer-assisted surgical device for performing a surgical procedure on at least one of the first and second bones, wherein each of the first and second bones is registered within a workspace of the computer-assisted surgical device.",
    "9. A system for confirming registration of bones, comprising: a three-dimensional (3-D) model of each bone registered to a location of each bone; a tracking system for tracking movement of the bones; and an algorithm for detecting if motion of each 3-D model, corresponding to the tracked movement of the bones, move out of correspondence with actual movement of the bones.",
    "10. The system of claim 9 further comprising a display for displaying the 3-D model of each bone and motion of the 3-D models corresponding to the tracked movement of the bones.",
    "11. The system of claim 9 further comprising a plurality of fiducial markers, wherein a first set of fiducial markers are configured to be attached to a first bone and a second set of fiducial markers are configured to be attached to a second bone.",
    "12. The system of claim 11 wherein the first set of fiducial markers are arranged on a first tracking array configured to be attached to the first bone, and the second set of fiducial markers are arranged on a second tracking array configured to be attached to the second bone.",
    "13. The system of claim 9 wherein the bones comprise a first bone and a second bone, and-the algorithm detects out of correspondence movement if: a) at least a portion of a first 3-D bone model of the first bone collides with at least a portion of a second 3-D bone model of the second bone; b) a first 3-D bone model of the first bone moves beyond a threshold distance from a second 3-D bone model of the second bone; or c) a first 3-D bone model of the first bone unexpectedly rotates relative to a second 3-D bone model of the second bone.",
    "14. The system of claim 9 wherein the algorithm is executed by a computer.",
    "15. The system of claim 9 wherein the display further displays an alarm when the algorithm detects the 3-D bone models moving out of correspondence with actual movement of the bones.",
    "16. The system of claim 9 wherein the tracking system is an optical tracking system.",
    "17. The system of claim 9 wherein the bones comprise: a) a femur and a tibia; or b) a femur and a pelvis.",
    "18. The system of claim 9 further comprising a computer-assisted surgical device for performing a surgical procedure on at least one of the bones, wherein each bone is registered within a workspace of the computer-assisted surgical device.",
    "19. A method for confirming registration of bones, comprising: registering a three-dimensional (3-D) bone model of each bone to a location of each bone; tracking each bone with a tracking system; displaying the 3-D bone model of each bone and motion of each 3-D bone model corresponding to the tracked movement of the bones; and at least one of: a) receiving input to confirm correct registration of each 3-D bone model when each 3-D bone model moves in correspondence with actual movement of the bones; or b) detecting if each 3-D bone model moves out of correspondence with actual movement of the bones.",
    "20. The method of claim 19 wherein the out of correspondence movement is detected if: at least a portion of a first 3-D bone model of a first bone of the bones collides with at least a portion of a second 3-D bone model of a second bone of the bones; b) the first 3-D bone model of the first bone of the bones moves beyond a threshold distance from the second 3-D bone model of the second bone of the bones; or c) the first 3-D bone model of the first bone of the bones unexpectedly rotates relative to the second 3-D bone model of the second bone of the bones."
  ],
  "cpc": [
    "A61B 34/20",
    "A61B 2017/00119",
    "A61B 2017/00734",
    "A61B 2034/105",
    "A61B 2034/2055",
    "A61B 2090/309",
    "A61B 2090/364",
    "A61B 2090/3945",
    "A61B 2090/3983",
    "A61B 90/361",
    "G06T 2207/10028",
    "G06T 2207/30008"
  ],
  "assignees": [
    "THINK SURGICAL INC"
  ],
  "filing_date": "2021-01-14",
  "publication_date": "2023-08-08",
  "grant_date": "2023-08-08",
  "priority_date": "2015-11-16",
  "application_number": "US-202117148612-A",
  "family_id": "58719306",
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