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US 12,758,318 B2Granted
Systems and methods for surgical planning based on bone density
AssigneeMAKO Surgical Corp.
InventorsEmily Hampp, Sally LiArno, Gokce Yildirim, Mark Ellsworth Nadzadi, Gavin Clark
Life of this patent
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Abstract
A method of operating a surgical robot includes identifying, automatically based on image data of a bone, a soft tissue attachment point on a virtual bone model, planning an implant pose relative to a virtual model of the bone by using the soft tissue attachment point and optimizing planned implant pose based on bone density information, and controlling the surgical robot based on the implant pose to facilitate preparation of the bone to receive an implant in the implant pose.
Claims20
A method of operating a surgical robot, comprising:
- identifying, automatically based on image data of a bone, a soft tissue attachment point on a virtual bone model;
- planning an implant pose relative to a virtual model of the bone by using the soft tissue attachment point and optimizing planned implant pose based on bone density information;
- and
- controlling the surgical robot based on the implant pose to facilitate preparation of the bone to receive an implant in the implant pose;
- wherein planning the implant pose comprises optimizing implant rotation based on density of a cut plane associated with the preparation of the bone to receive the implant in the implant pose.
2 more elements
A surgical system, comprising:
- a surgical robot;
- and
- a computer programmed to:
- identify, automatically based on image data of a bone, a soft tissue attachment point on a virtual bone model;
- set the soft tissue attachment point as a landmark around which a virtual implant is rotatable;
- plan an implant pose relative to a virtual model of the bone by rotating the virtual implant around the soft tissue attachment;
- and
- control the surgical robot based on the implant pose to facilitate preparation of the bone to receive an implant in the implant pose.
5 more elements
Dependencies are inferred from the claim text.