# US 11,304,758 B2 · System and method for surgical planning > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,304,758 B2 - Document ID: US11304758B2 - Status: Granted - Kind: B2 - Application number: 16/705,423 - Filed: 2019-12-06 - Published: 2020-04-16 - Granted: 2022-04-19 - Earliest claimed: 2011-02-14 - Assignees: MAKO Surgical Corp. - Applicants: MAKO Surgical Corp. - Inventors: Hyosig Kang; Daniel Odermatt; Alon Mozes; Chunyan Wu; Miranda Jamieson - Web page: https://patentgrep.com/patent/US11304758B2 ## CPC - A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations - A61B 2034/107: {Visualisation of planned trajectories or target regions} - G06V 2201/033: of skeletal patterns - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A memory device stores instructions, which, when executed by a controller, cause the controller to perform tasks. The tasks include obtaining a three-dimensional (3D) model of a patient's pelvis, identifying two landmarks of the 3D model of the patient's pelvis, defining a coronal radiographic plane of the patient, and determining a mediolateral axis of the 3D axis based on the two landmarks. The tasks also include planning the surgical placement of the acetabular cup into the acetabulum by positioning a virtual model of the acetabular cup relative to the 3D model and determining a planned version and a planned inclination based on the virtual model of the acetabular cup, the mediolateral axis and the coronal radiographic plane. ## Claims ### Claim 1 A system for facilitating surgical placement of an acetabular cup at an acetabulum of a patient's pelvis, the system comprising: a memory device storing instructions, which, when executed by a controller, cause the controller to perform tasks comprising: obtaining a model of the patient's pelvis; identifying two landmarks of the model of the patient's pelvis; defining a coronal radiographic plane of the patient; determining a longitudinal axis based on the two landmarks and the coronal radiographic plane; and planning the surgical placement of the acetabular cup into the acetabulum by: positioning a model of the acetabular cup relative to the model of the patient's pelvis, and determining a planned version and a planned inclination based on a relationship between the model of the acetabular cup, the longitudinal axis, and the coronal radiographic plane. ### Claim 2 (depends on 1) The system of claim 1, wherein identifying the two landmarks comprises defining the two landmarks based on a line drawn relative to the model of the patient's pelvis. ### Claim 3 (depends on 1) The system of claim 1, wherein determining the planned version and the planned inclination comprises receiving user input and determining the planned version and the planned inclination based on the user input. ### Claim 4 (depends on 1) The system of claim 1, wherein positioning the model of the acetabular cup comprises receiving user input and positioning the model of the acetabular cup based on the user input. ### Claim 5 (depends on 1) The system of claim 1, wherein defining the coronal radiographic plane of the patient comprises defining the coronal radiographic plane based on the model of the patient's pelvis. ### Claim 6 (depends on 1) The system of claim 1, comprising a robotic device; wherein the tasks further comprise controlling the robotic device to facilitate implantation of the acetabular cup in accordance with the planned version and the planned inclination. ### Claim 7 (depends on 1) The system of claim 1, wherein the tasks further comprise: determining a mediolateral axis within the model of the patient's pelvis based on positions of the two landmarks; and determining the longitudinal axis within the model of the patient's pelvis based on the mediolateral axis and the coronal radiographic plane. ### Claim 8 (depends on 7) The system of claim 7, wherein determining the longitudinal axis comprises determining the longitudinal axis as a line substantially transverse to the mediolateral axis and substantially parallel with the coronal radiographic plane. ### Claim 9 A method, comprising: obtaining a three-dimensional (3D) model of a patient's pelvis; identifying two landmarks of the 3D model of the patient's pelvis; defining a coronal radiographic plane of the patient; determining a longitudinal axis based on the two landmarks and the coronal radiographic plane; and planning surgical placement of an acetabular cup into an acetabulum by: positioning a virtual model of the acetabular cup relative to the 3D model, and determining a planned version and a planned inclination based on a relationship between the virtual model of the acetabular cup, the longitudinal axis, and the coronal radiographic plane. ### Claim 10 (depends on 9) The method of claim 9, wherein identifying the two landmarks comprises defining the two landmarks based on a line drawn relative to the 3D model. ### Claim 11 (depends on 9) The method of claim 9, wherein determining the planned version and the planned inclination comprises receiving user input and determining the planned version and the planned inclination based on the user input. ### Claim 12 (depends on 9) The method of claim 9, wherein positioning the virtual model of the acetabular cup comprises receiving user input and positioning the virtual model of the acetabular cup based on the user input. ### Claim 13 (depends on 9) The method of claim 9, wherein defining the coronal radiographic plane of the patient comprises defining the coronal radiographic plane based on the 3D model of the patient's pelvis. ### Claim 14 (depends on 9) The method of claim 9, further comprising controlling a robotic device to facilitate implantation of the acetabular cup in accordance with the planned version and the planned inclination. ### Claim 15 (depends on 9) The method of claim 9, comprising determining a mediolateral axis within the 3D model based on positions of the two landmarks; and determining the longitudinal axis within the 3D model based on the mediolateral axis and the coronal radiographic plane. ### Claim 16 (depends on 9) The method of claim 9, wherein determining the longitudinal axis comprises determining the longitudinal axis as a line substantially transverse to the mediolateral axis and substantially parallel with the coronal radiographic plane. ### Claim 17 A memory device storing instructions, which, when executed by a controller, cause the controller to perform tasks comprising: obtaining a three-dimensional (3D) model of a patient's pelvis; identifying two landmarks of the 3D model of the patient's pelvis; defining a coronal radiographic plane of the patient; determining a mediolateral axis of the 3D model based on the two landmarks; and planning surgical placement of an acetabular cup into an acetabulum by: positioning a virtual model of the acetabular cup relative to the 3D model, and determining a planned version and a planned inclination based on the virtual model of the acetabular cup, the mediolateral axis and the coronal radiographic plane. ### Claim 18 (depends on 17) The memory device of claim 17, wherein the tasks further include determining a longitudinal axis within the 3D model based on the mediolateral axis and the coronal radiographic plane. ### Claim 19 (depends on 18) The memory device of claim 18, wherein determining the planned version and the planned inclination comprises calculating an angle between the longitudinal axis and a projection of an acetabular axis onto the coronal radiographic plane. ### Claim 20 (depends on 18) The memory device of claim 18, wherein the tasks further comprise controlling a robotic device to facilitate implantation of the acetabular cup in accordance with the planned version and the planned inclination.