# US 12,213,743 B2 · Ultra-wideband positioning for wireless ultrasound tracking and communication > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,213,743 B2 - Document ID: US12213743B2 - Status: Granted - Kind: B2 - Application number: 17/022,176 - Filed: 2020-09-16 - Published: 2021-01-21 - Granted: 2025-02-04 - Earliest claimed: 2016-03-14 - Assignees: TechMah Medical LLC - Applicants: TechMah Medical LLC - Inventors: Mohamed R. Mahfouz - Web page: https://patentgrep.com/patent/US12213743B2 ## CPC - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 8/4472: {Wireless probes} - A61B 8/56: {Details of data transmission or power supply} - A61B 17/15: Guides therefor - A61B 17/155: {Cutting femur} - A61B 17/1703: {using imaging means, e.g. by X-rays} - A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations - A61F 2/30942: {for designing or making customized prostheses, e.g. using templates, CT or NMR scans, finite-element analysis or CAD-CAM techniques} - A61F 2/32: for the hip - A61F 2/38: for elbows or knees - A61F 2/3859: {Femoral components} - A61F 2/40: for shoulders - A61F 2/42: for wrists or ankles; for hands, e.g. fingers; for feet, e.g. toes - A61F 2/4202: {for ankles} - A61F 2/4603: {for insertion or extraction of endoprosthetic joints or of accessories thereof} - A61B 2017/00221: {with wireless transmission of data, e.g. by infrared radiation or radiowaves} - A61B 2034/102: {Modelling of surgical devices, implants or prosthesis} - A61B 2034/105: {Modelling of the patient, e.g. for ligaments or bones} - A61B 2034/108: {Computer aided selection or customisation of medical implants or cutting guides} - A61B 2034/2048: {using an accelerometer or inertia sensor} - A61B 2034/2055: {Optical tracking systems} - A61B 2034/2063: {Acoustic tracking systems, e.g. using ultrasound} - A61B 2090/365: {augmented reality, i.e. correlating a live optical image with another image} - A61B 2090/366: {using projection of images directly onto the body} - A61B 2090/368: {changing the image on a display according to the operator's position} - A61B 2090/371: {with simultaneous use of two cameras} - A61B 2090/376: {using X-rays, e.g. fluoroscopy} - A61B 2090/378: {using ultrasound} - A61B 2090/502: {Headgear, e.g. helmet, spectacles} - A61F 2/30756: {Cartilage endoprostheses (A61F2/3603 takes precedence)} - A61F 2002/30943: {using mathematical models} - A61F 2002/30948: {using computerized tomography, i.e. CT scans} - A61F 2002/30952: {using CAD-CAM techniques or NC-techniques} - A61F 2002/4205: {Tibial components} - A61F 2002/4207: {Talar components} - A61F 2002/4625: {with relative movement between parts of the instrument during use} - A61F 2002/4627: {with linear motion along or rotating motion about the instrument axis or the implantation direction, e.g. telescopic, along a guiding rod, screwing inside the instrument} - A61F 2002/4628: {with linear motion along or rotating motion about an axis transverse to the instrument axis or to the implantation direction, e.g. clamping} - A61F 2002/4632: {using computer-controlled surgery, e.g. robotic surgery} - G06F 3/011: {Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00)} - G06F 3/016: {Input arrangements with force or tactile feedback as computer generated output to the user} - G06F 3/0304: {Detection arrangements using opto-electronic means (constructional details of pointing devices not related to the detection arrangement using opto-electronic means G06F3/033; optical digitisers G06F3/042)} - G06F 3/0346: with detection of the device orientation or free movement in a three-dimensional [3D] space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors - G06F 30/00: Computer-aided design [CAD] - G06F 30/17: Mechanical parametric or variational design - G06F 2111/04: Constraint-based CAD - G06T 7/62: of area, perimeter, diameter or volume - G06T 19/006: {Mixed reality (object pose determination, tracking or camera calibration for mixed reality G06T7/00)} - G06T 19/20: Editing of three-dimensional [3D] images, e.g. changing shapes or colours, aligning objects or positioning parts - G06T 2200/24: involving graphical user interfaces [GUIs] - G06T 2207/10121: Fluoroscopy - G06T 2207/30008: Bone - G06T 2210/41: Medical - G06T 2219/2016: Rotation, translation, scaling - G06T 2219/2021: Shape modification - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract A method of designing an orthopedic implant comprising: (a) iteratively evaluating possible shapes of a dynamic orthopedic implant using actual anatomical shape considerations and kinematic shape considerations; and, (b) selecting a dynamic orthopedic implant shape from one of the possible shapes, where the dynamic orthopedic implant shape selected satisfies predetermined kinematic and anatomical constraints. ## Claims ### Claim 1 A method of preparing a joint for a joint replacement implant, the method comprising: fixing a first bone tracker to a first bone, the first bone tracker providing data associated with at least one of a position of the first bone and an orientation of the first bone from a first bone tracker inertial measurement unit; registering the first tracker to the first bone; fixing a second bone tracker to a second bone, the second bone tracker providing data associated with at least one of a position of the second bone and an orientation of the second bone from a second bone tracker inertial measurement unit; registering the second bone tracker to the second bone; attaching a first cutting guide to at least one of the first bone and the second bone; cutting one of the first bone and second bone using the first cutting guide; attaching a second cutting guide to at least one of the first bone and the second bone; and cutting the other of the first bone and the second bone using the second cutting guide; wherein the first bone and the second bone are associated with a joint; wherein attaching the first cutting guide comprises attaching the first cutting guide to the first bone; wherein cutting the one of the first bone and the second bone using the first cutting guide comprises cutting the second bone; wherein attaching the second cutting guide comprises attaching the second cutting guide to the first bone; and wherein cutting the other of the first bone and the second bone using the second cutting guide comprises cutting the first bone. ### Claim 2 (depends on 1) The method of claim 1, wherein registering the first bone tracker to the first bone comprises palpating a surface of the first bone with a surface tracker, the surface tracker being configured to provide data associated with at least one of a position of the surface of the first bone and an orientation of the surface of the first bone, the surface tracker comprising a surface tracker inertial measurement unit. ### Claim 3 (depends on 1) The method of claim 1, wherein registering the first bone tracker to the first bone comprises registering a plurality of first bone surface points to a first bone virtual surface model. ### Claim 4 (depends on 3) The method of claim 3, further comprising creating the first bone virtual surface model using pre-operative imaging. ### Claim 5 (depends on 1) The method of claim 1, wherein registering the first tracker to the first bone comprises placing a first bone mapper at a predetermined location relative to the first bone; and providing data associated with at least one of a position of the first bone mapper and an orientation of the first bone mapper from a first bone mapper tracker, the first bone mapper tracker comprising a first bone mapper inertial measurement unit. ### Claim 6 (depends on 5) The method of claim 5, wherein the first bone mapper comprises a first bone mapper surface configured to match a portion of the first bone so that a position and an orientation of the first bone mapper tracker relative to the first bone is known. ### Claim 7 (depends on 1) The method of claim 1, wherein the first bone tracker inertial measurement unit comprises at least one of an accelerometer, a gyroscope, and a magnetometer; and wherein providing data associated with the at least one of the position of the first bone and the orientation of the first bone from the first bone tracker inertial measurement unit comprises providing data associated with the at least one of the position of the first bone and the orientation of the first bone from the at least one of the accelerometer, the gyroscope, and the magnetometer. ### Claim 8 (depends on 1) The method of claim 1, further comprising imaging the joint including at least a portion of the first bone and at least a portion of the second bone. ### Claim 9 (depends on 1) The method of claim 1, further comprising tracking at least one of a position and an orientation of the first cutting guide using a first cutting guide tracker, the first cutting guide tracker comprising an inertial measurement unit. ### Claim 10 (depends on 9) The method of claim 9, further comprising comparing the at least one of the position and the orientation of the first cutting guide to a patient-specific pre-operative surgical plan developed from pre-operative patient imaging. ### Claim 11 (depends on 1) The method of claim 1, further comprising, before cutting the one of the first bone and the second bone, manipulating at least one of the first bone and the second bone into a desired position. ### Claim 12 (depends on 11) The method of claim 11, further comprising, after manipulating the at least one of the first bone and the second bone into the desired position, locking the joint by installing at least one bone pin. ### Claim 13 (depends on 1) The method of claim 1, further comprising tracking at least one of a position and an orientation of the second cutting guide using a second cutting guide tracker, the second cutting guide tracker comprising an inertial measurement unit. ### Claim 14 (depends on 13) The method of claim 13, further comprising comparing the at least one of the position and the orientation of the second cutting guide to a patient-specific pre-operative surgical plan developed from pre-operative patient imaging. ### Claim 15 (depends on 1) The method of claim 1, further comprising, before attaching the second cutting guide, removing the first cutting guide. ### Claim 16 (depends on 1) The method of claim 1, wherein the first bone comprises a tibia; wherein the second bone comprises a talus; and wherein the joint comprises an ankle. ### Claim 17 (depends on 16) The method of claim 16, further comprising securing a talus cutting guide on the tibia; locking the ankle by installing at least one locking bone pin into the talus through the talus cutting guide; resecting the talus using the talus cutting guide; securing a tibia cutting guide to the tibia; and resecting the tibia using the tibia cutting guide. ### Claim 18 (depends on 17) The method of claim 17, wherein securing the talus cutting guide to the tibia comprises securing the talus cutting guide to the tibia using at least one mounting bone pin; and wherein securing the tibia cutting guide to the tibia comprises securing the tibia cutting guide to the tibia using the at least one mounting bone pin. ### Claim 19 A kit for preparing an ankle joint for a joint replacement implant, the kit comprising: a first tibia inertial measurement unit (IMU) adapter for mounting to a tibia; a second talus IMU adapter for mounting to a talus; a first tibia cutting guide, that includes an IMU, for mounting to the tibia; and a first talus cutting guide, that includes an IMU, for mounting to the tibia and the talus. ### Claim 20 (depends on 19) The kit of claim 19, wherein the first talus cutting guide includes a slot configured to guide a bone cutting blade during talus resection. ### Claim 21 (depends on 19) The kit of claim 19, wherein the first tibia cutting guide includes a slot configured to guide a bone cutting blade during tibia resection. ### Claim 22 (depends on 19) The kit of claim 19, wherein the first talus cutting guide is configured to receive at least one bone pin for securing the first talus cutting guide to the tibia; and wherein the first talus cutting guide is configured to receive at least one bone pin for securing the first talus cutting guide to the talus.