# US 11,298,193 B2 · Automatic registration method and device for surgical robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,298,193 B2 - Document ID: US11298193B2 - Status: Granted - Kind: B2 - Application number: 16/087,011 - Filed: 2017-03-21 - Published: 2019-04-04 - Granted: 2022-04-12 - Earliest claimed: 2016-03-21 - Assignees: MedTech S.A. - Applicants: MedTech S.A. - Inventors: Bertin Nahum; Lucien Blondel; Pierre Maillet - Web page: https://patentgrep.com/patent/US11298193B2 ## CPC - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - G16H 40/60: for the operation of medical equipment or devices - A61B 34/30: Surgical robots - A61B 2017/00057: {Light} - A61B 2034/2055: {Optical tracking systems} - A61B 2034/2057: {Details of tracking cameras} - A61B 2090/061: {for measuring dimensions, e.g. length} - A61B 2090/364: {Correlation of different images or relation of image positions in respect to the body} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA ## Abstract This invention concerns an automated registration method and device for a surgical robot enabling registration between a first three-dimensional location system comprising an optical distance sensor and a second three-dimensional location system comprising optical acquisition means. The method comprises:—a first step of intraoperative registration between the first location system and data recorded on an anatomical surface of a patient and;—a second step of intraoperative registration of two three-dimensional location systems. The second registration step is performed at the same time as the first registration step by detection, by the optical acquisition means, of at least one point of a point cloud acquired by the optical sensor during the first intraoperative registration. ## Claims ### Claim 1 Automated registration method between two three-dimensional location systems used in robotic surgery in order to match up location data from separate frames of reference belonging to each system, a first three-dimensional location system comprising an optical distance sensor and a second three-dimensional location system comprising an optical acquisition means, said method comprising: a first step of intraoperative registration between the first location system and data recorded on an anatomical surface of a patient by matching at least one point of a first point cloud acquired during a first intraoperative acquisition phase on said surface by means of the optical distance sensor and one point of a collection of points of said data, and; a second step of intraoperative registration of the first three-dimensional location system with the second three-dimensional location system, wherein said second step of intraoperative registration includes a second interoperative acquisition phase that is performed at the same time as the first, intraoperative acquisition phase, by the optical acquisition means, the second step of intraoperative registration includes using at least one point of a second point cloud acquired during the second interoperative acquisition phase by the optical acquisition means, wherein the second point cloud records positions on the anatomical surface that are identical to positions recorded in the first point cloud. ### Claim 2 (depends on 1) The automated registration method between two three-dimensional location systems according to claim 1, wherein the second registration step involves calculating a transfer matrix between the separate frames of reference of the first three-dimensional location system and the second three-dimensional location system. ### Claim 3 (depends on 1) The automated registration method between two three-dimensional location systems according to claim 1, wherein the optical distance sensor of the first three-dimensional location system is a laser telemeter projecting a laser beam onto the anatomical surface of the patient. ### Claim 4 (depends on 1) The automated registration method between two three-dimensional location systems according to claim 1, wherein the optical acquisition means of the second three-dimensional location system includes at least one camera for the acquisition of optical signals in the form of light points projected onto a surface. ### Claim 5 (depends on 1) The automated registration method between two three-dimensional location systems according to claim 1, wherein the optical distance sensor and the optical acquisition means are tuned on the same wavelengths. ### Claim 6 (depends on 5) The automated registration method between two three-dimensional location systems according to claim 5, wherein the wavelengths are in the infrared range. ### Claim 7 (depends on 1) A surgical-assistance robotic medical device implementing the registration method according to claim 1, wherein the first three-dimensional location system is a surgical-assistance robot and the second three-dimensional location system is an optical navigator. ### Claim 8 (depends on 7) The surgical-assistance robotic medical device according to claim 7, wherein the surgical-assistance robot is equipped with a robotic arm a free end of which is equipped with the optical distance sensor. ### Claim 9 (depends on 8) The surgical-assistance robotic medical device according to claim 8, wherein the surgical-assistance robot has six degrees of freedom. ### Claim 10 (depends on 7) The surgical-assistance robotic medical device according to claim 7, wherein the optical navigator is equipped with optical acquisition means of an infrared camera type. ### Claim 11 An automated registration system for concurrently coordinating between two three-dimensional location systems used in robotic surgery in order to match up location data from separate frames of reference belonging to each three-dimensional location system, the system comprising: a first three-dimensional location system including an optical distance sensor, the first three-dimensional location system configured to record a first point cloud representing a plurality of locations an anatomical surface of a patient, the first point cloud acquired during an intraoperative phase on the anatomical surface using the optical distance sensor; and a second three-dimensional location system including an optical sensor configured to acquire a second point cloud concurrently to acquisition of the first point cloud acquired during the intraoperative phase using the optical sensor, wherein the second point cloud represents the plurality of locations on the anatomical surface; calculating a transfer matrix based on at least a portion of the first point cloud and the second point cloud. ### Claim 12 (depends on 11) The automated registration system of claim 11, further comprising a surgical assistance robot operable to calculate a transfer matrix between separate frames of reference of the first three-dimensional location system and the second three-dimensional location system. ### Claim 13 (depends on 11) The automated registration system of claim 11, wherein the optical distance sensor of the first three-dimensional location system is a laser telemeter projecting a laser beam onto the anatomical surface of the patient. ### Claim 14 (depends on 11) The automated registration system of claim 11, wherein the optical sensor of the second three-dimensional location system includes at least one camera for the acquisition of optical signals in the form of light points projected onto a surface. ### Claim 15 (depends on 11) The automated registration system of claim 11, wherein the optical distance sensor and the optical sensor are tuned on the same wavelengths. ### Claim 16 (depends on 15) The automated registration system of claim 15, wherein the wavelengths are in the infrared range. ### Claim 17 (depends on 11) The automated registration system of claim 11, wherein the first three-dimensional location system is a surgical-assistance robot and the second three-dimensional location system is an optical navigator. ### Claim 18 (depends on 17) The automated registration system of claim 17, wherein the surgical-assistance robot is equipped with a robotic arm a free end of which is equipped with the optical distance sensor. ### Claim 19 (depends on 18) The automated registration system of claim 18, wherein the surgical-assistance robot has six degrees of freedom. ### Claim 20 (depends on 17) The automated registration system of claim 17, wherein the optical navigator is equipped with optical sensor in the form of an infrared camera.