# US 12,599,442 B2 · Assistive surgical robot for distal hole localization in intramedullary nail > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,599,442 B2 - Document ID: US12599442B2 - Status: Granted - Kind: B2 - Application number: 17/582,629 - Filed: 2022-01-24 - Published: 2022-07-28 - Granted: 2026-04-14 - Earliest claimed: 2021-01-25 - Assignees: Qatar University - Applicants: Qatar University - Inventors: Mohammad Noorizadeh; Nader Meskin; Masoud Noorizadeh - Web page: https://patentgrep.com/patent/US12599442B2 ## CPC - A61B 34/30: Surgical robots - A61B 6/12: Arrangements for detecting or locating foreign bodies - A61B 17/164: {intramedullary} - A61B 17/1703: {using imaging means, e.g. by X-rays} - A61B 17/1725: {for applying transverse screws or pins through intramedullary nails or pins} - A61B 17/846: {Nails or pins, i.e. anchors without movable parts, holding by friction only, with or without structured surface (A61B17/72, A61B17/86 take precedence)} - A61B 6/505: {for diagnosis of bone} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A system for robot assisted surgery can include an imaging device configured to capture an image of an implanted device and a probe. The implanted device can define a hole and the probe can define a hole. The system can also include a robot configured to align a fastener to the hole defined by the implanted device. The system can further include at least one memory that includes computer program instructions and at least one processor. The at least one memory and the computer program instructions can be configured to, with the at least one processor, perform obtaining a position and orientation of the hole defined by the implanted device. The at least one memory and the computer program instructions can also be configured to, with the at least one processor, perform aligning the fastener to the hole using the obtained position and orientation. ## Claims ### Claim 1 A system for robot assisted surgery, comprising: an imaging device configured to capture an image of an implanted device and a probe, wherein the implanted device defines a hole and wherein the probe defines a hole; and a robot comprising at least one memory comprising computer program instructions, and at least one processor, wherein the at least one memory and the computer program instructions are configured to, with the at least one processor, perform obtaining a position and orientation of the hole defined by the implanted device, and aligning a fastener to the hole defined by the implanted device using the obtained position and orientation wherein the obtaining the position and orientation of the hole defined by the implanted device comprises determining a three-dimensional position of the hole defined by the implanted device in a frame of the robot. ### Claim 2 (depends on 1) The system of claim 1, wherein the imaging device comprises an X-ray machine and the image comprises an X-ray image. ### Claim 3 (depends on 2) The system of claim 2, wherein the obtaining the position and orientation comprises obtaining the position and orientation from the image alone. ### Claim 4 (depends on 1) The system of claim 1, wherein the robot comprises a five degrees of freedom robot. ### Claim 5 (depends on 4) The system of claim 4, wherein the robot comprises four stepper motors along with a ball-screw configuration and servo motor to provide the five degrees of freedom. ### Claim 6 (depends on 1) The system of claim 1, wherein the at least one memory and the computer program instructions are configured to, with the at least one processor, perform starting or stopping the robot based on a command from a human operator. ### Claim 7 (depends on 1) The system of claim 1, wherein the obtaining the position and orientation the hole defined by the implanted device comprises comparing a portion of the image showing the hole defined by the implanted device to a portion of the image showing the hole defined by the probe. ### Claim 8 (depends on 1) The system of claim 1, wherein the obtaining the orientation of the hole defined by the implanted device comprises determining an angle of the hole along an axis defined by a bore of the hole in a frame of the robot. ### Claim 9 (depends on 1) The system of claim 1, wherein the at least one memory and the computer program instructions are configured to, with the at least one processor, perform drilling to insert the fastener into the hole based on the determined position and orientation. ### Claim 10 (depends on 1) The system of claim 1, wherein the at least one memory and the computer program instructions are configured to, with the at least one processor, perform guiding drilling to insert the fastener into the hole based on the determined position and orientation. ### Claim 11 (depends on 1) The system of claim 1, wherein the implanted device comprises an intramedullary nail. ### Claim 12 A method for robot assisted surgery, comprising: capturing, with an imaging device, an image of an implanted device and a probe, wherein the implanted device defines a hole and wherein the probe defines a hole; obtaining, by a robot, a position and orientation of the hole defined by the implanted device; and aligning, by the robot, a fastener to the hole using the obtained position and orientation, wherein the obtaining the position and orientation of the hole defined by the implanted device comprises determining a three-dimensional position of the hole defined by the implanted device in a frame of the robot. ### Claim 13 (depends on 12) The method of claim 12, wherein the imaging device comprises an X-ray machine and the image comprises an X-ray image. ### Claim 14 (depends on 13) The method of claim 13, wherein the obtaining the position and orientation comprises obtaining the position and orientation from the image alone. ### Claim 15 (depends on 12) The method of claim 12, further comprising: starting or stopping the robot based on a command from a human operator. ### Claim 16 (depends on 12) The method of claim 12, wherein the obtaining the position and orientation the hole defined by the implanted device comprises comparing a portion of the image showing the hole defined by the implanted device to a portion of the image showing the hole defined by the probe. ### Claim 17 (depends on 12) The method of claim 12, wherein the obtaining the orientation of the hole defined by the implanted device comprises determining an angle of the hole along an axis defined by a bore of the hole in a frame of the robot. ### Claim 18 (depends on 12) The method of claim 12, further comprising: guiding drilling to insert the fastener into the hole based on the determined position and orientation.