# US 11,432,898 B2 · Tracing platforms and intra-operative systems and methods using same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,432,898 B2 - Document ID: US11432898B2 - Status: Granted - Kind: B2 - Application number: 15/919,777 - Filed: 2018-03-13 - Published: 2018-09-20 - Granted: 2022-09-06 - Earliest claimed: 2017-03-14 - Assignees: Intellijoint Surgical Inc. - Applicants: Intellijoint Surgical Inc. - Inventors: Joseph Arthur Schipper; Andre Novomir Hladio; Kevin Morency - Web page: https://patentgrep.com/patent/US11432898B2 ## CPC - A61B 90/06: {Measuring instruments not otherwise provided for} - A61B 5/107: Measuring physical dimensions, e.g. size of the entire body or parts thereof - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 34/25: {User interfaces for surgical systems} - A61B 90/94: coded with symbols, e.g. text - G06V 20/64: Three-dimensional [3D] objects - G06V 40/10: Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands - A61B 2034/2048: {using an accelerometer or inertia sensor} - A61B 2034/2051: {Electromagnetic tracking systems} - A61B 2034/2055: {Optical tracking systems} - A61B 2034/207: {Divots for calibration} - A61B 2034/256: {having a database of accessory information, e.g. including context sensitive help or scientific articles} - A61B 2090/061: {for measuring dimensions, e.g. length} - A61B 2090/3962: {palpable} - A61B 2090/3983: {Reference marker arrangements for use with image guided surgery} - A61B 2505/05: Surgical care - G06V 10/62: relating to a temporal dimension, e.g. time-based feature extraction; Pattern tracking - G06V 2201/033: of skeletal patterns - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## 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. ## Claims ### Claim 1 A system for intra-operative use during a surgical procedure, comprising: a tracing platform configured to rigidly attach to an anatomy of a patient and having at least one surface configured to provide a defined path for tracing by a surgical instrument; and an intra-operative computing unit configured to: obtain path definition data related to the defined path; receive first pose data at a first instance of time from a tracking system related to the surgical instrument tracing the defined path and first landmark pose data corresponding to a landmark of the anatomy; calculate a first location of the defined path using the first pose data, the first landmark pose data and the path definition data; receive second pose data at a second instance of time from a tracking system related to the surgical instrument tracing the defined path and second landmark pose data corresponding to the landmark of the anatomy; calculate a second location of the defined path using the second pose data, the second landmark pose data and the path definition data; receive additional pose data corresponding to a joint of the anatomy; calculate a parameter using a change in the first location of the defined path and the second location of the defined path, and additional pose data; provide the parameter for display to a display unit; and present workflow via a display to guide a user to generate the first pose data at the first instance of time and to generate the second pose data at the second instance of time in association with steps of the surgical procedure. ### Claim 2 (depends on 1) The system of claim 1, wherein the defined path is provided by a groove in the at least one surface, the groove having a pair of sides closed along a bottom thereof by a bottom surface of the tracing platform, to receive and constrain a tip of the surgical instrument so that the tip has a consistent position throughout a trace of the bottom of the groove. ### Claim 3 (depends on 1) The system of claim 1, wherein the defined path is provided by a groove in the at least one surface, wherein the groove comprises a V-groove having a pair of sides joined together at respective ends thereof to form a bottom. ### Claim 4 A system, for intra-operative use during a surgical procedure, comprising: a tracing platform configured to rigidly attach to an anatomy of a patient and having at least one surface configured to provide a defined path for tracing by a surgical instrument; and an intra-operative computing unit configured to: obtain path definition data related to the defined path; receive first pose data at a first instance of time from a tracking system related to the surgical instrument tracing the defined path and first landmark pose data corresponding to a landmark of the anatomy; calculate a first location of the defined path using the first pose data, the first landmark pose data and the path definition data; receive second pose data at a second instance of time from a tracking system related to the surgical instrument tracing the defined path and second landmark pose data corresponding to the landmark of the anatomy; calculate a second location of the defined path using the second pose data, the second landmark pose data and the path definition data; receive additional pose data corresponding to a joint of the anatomy; calculate a parameter using a change in the first location of the defined path and the second location of the defined path, and additional pose data; and provide the parameter for display to a display unit; wherein the anatomy is a femur, the first instance of time is prior to a positioning of an implant, the second instance of time is after the positioning of the implant and the parameter is a change in leg length. ### Claim 5 (depends on 4) The system of claim 4, wherein the defined path is provided by a groove in the at least one surface, the groove having a pair of sides closed along a bottom thereof by a bottom surface of the tracing platform, to receive and constrain a tip of the surgical instrument so that the tip has a consistent position throughout a trace of the bottom of the groove. ### Claim 6 (depends on 4) The system of claim 4, wherein the defined path is provided by a groove in the at least one surface, wherein the groove comprises a V-groove having a pair of sides joined together at respective ends thereof to form a bottom. ### Claim 7 A system, for intra-operative use during a surgical procedure, comprising: a tracing platform configured to rigidly attach to an anatomy of a patient and having at least one surface configured to provide a defined path for tracing by a surgical instrument; and an intra-operative computing unit configured to: obtain path definition data related to the defined path; receive first pose data at a first instance of time from a tracking system related to the surgical instrument tracing the defined path and first landmark pose data corresponding to a landmark of the anatomy; calculate a first location of the defined path using the first pose data, the first landmark pose data and the path definition data; receive second pose data at a second instance of time from a tracking system related to the surgical instrument tracing the defined path and second landmark pose data corresponding to the landmark of the anatomy; calculate a second location of the defined path using the second pose data, the second landmark pose data and the path definition data; receive additional pose data corresponding to a joint of the anatomy; calculate a parameter using a change in the first location of the defined path and the second location of the defined path, and additional pose data; and provide the parameter for display to a display unit; wherein the anatomy is a femur, the first instance of time is prior to a positioning of an implant, the second instance of time is after the positioning of the implant and the parameter is a change in leg offset. ### Claim 8 (depends on 7) The system of claim 7, wherein the defined path is provided by a groove in the at least one surface, the groove having a pair of sides closed along a bottom thereof by a bottom surface of the tracing platform, to receive and constrain a tip of the surgical instrument so that the tip has a consistent position throughout a trace of the bottom of the groove. ### Claim 9 (depends on 7) The system of claim 7, wherein the defined path is provided by a groove in the at least one surface, wherein the groove comprises a V-groove having a pair of sides joined together at respective ends thereof to form a bottom. ### Claim 10 A computer-implemented method for intra-operative use during a surgical procedure by an intra-operative computing unit comprising at least one processing unit, the method comprising the steps of: obtaining, by the at least one processing unit, path definition data related to a trace of a defined path on at least one surface of a tracing platform, the tracing platform configured to rigidly attach to an anatomy of a patient; receiving, by the at least one processing unit, first pose data at a first instance of time from a tracking system related to a surgical instrument tracing the defined path and first landmark pose data corresponding to a landmark of the anatomy; calculating, by the at least one processing unit, a first location of the defined path using the first pose data, first landmark pose data corresponding to a landmark of the anatomy and the path definition data; receiving, by the at least one processing unit, second pose data at a second instance of time from a tracking system related to the surgical instrument tracing the defined path and second landmark pose data corresponding to the landmark of the anatomy; calculating, by the at least one processing unit, a second location of the defined path using the second pose data, the second landmark pose data and the path definition data; receiving, by the at least one processing unit, additional pose data comprising pose data corresponding to a center of rotation of a joint of the anatomy; calculating, by the at least one processing unit, a parameter using a change in the first location of the defined path and the second location of the defined path, and the additional pose data; providing, by the at least one processing unit, the parameter for display to a display unit; and presenting workflow, by the at least one processing unit, via a display to guide a user to generate the first pose data at the first instance of time and to generate the second pose data at the second instance of time in association with steps of the surgical procedure. ### Claim 11 (depends on 10) The method of claim 10, wherein the defined path is provided by a groove in the at least one surface, the groove having a pair of sides closed along a bottom thereof by a bottom surface of the tracing platform, to receive and constrain a tip of the surgical instrument so that the tip has a consistent position throughout a trace of the bottom of the groove. ### Claim 12 (depends on 10) The method of claim 10, wherein the defined path is provided by a groove in the at least one surface, wherein the groove comprises a V-groove having a pair of sides joined together at respective ends thereof to form a bottom.