Interactive CSG Subtraction
AssigneeMAKO Surgical Corp.
InventorMilan Ikits
Life of this patent
Estimating the term…
Abstract
A system and method for surgical visualization transform a cut procedure into a visual representation, e.g., during resection via a cutting tool. The system and method obtain shape data, e.g., bone shape data for the bone to be resected, and generate a CSG object model such as a bone model. Another CSG model is also generated, based, for example, on the cutting tool shape. During resection, tool position data is collected and multiple CSG subtraction models are generated based on the cutting tool model and the position data. The CSG bone model and subtraction models are used to create an image space visual representation by merging the CSG subtraction models into a single merged CSG subtraction model and subtracting the single merged CSG subtraction model from the CSG bone model.
Claims21
A method of transforming a cut procedure into a visual representation of a bone cut during resection via a cutting tool, wherein the cutting tool is attached to an arm of a surgical robot, the method comprising:
- obtaining a bone shape data collection representing a shape of a bone to be resected and generating a bone model from the bone shape data collection;
- generating a cutting tool model of the cutting tool;
- collecting tool position data representing a plurality of positions of the cutting tool relative to the bone during resection of the bone and generating a plurality of subtraction models based on the cutting tool model and the plurality of positions;
- and
- transforming the bone model and the plurality of subtraction models into an image space visual representation of the bone cut by merging the subtraction models into a single subtraction model and subtracting the single subtraction model from the bone model.
A non-transitory computer-readable medium having thereon computer-executable instruction for generating a visual representation of a series of subtractions by a first object from a second object, the instructions comprising:
- instructions for obtaining a shape data collection representing a shape of the second object and generating an object model from the shape data collection;
- instructions for generating a primary subtraction model of the first object;
- instructions for collecting position data representing a plurality of positions of the first object relative to the second object and generating a plurality of subtraction models based on the primary subtraction model and the plurality of positions;
- and
- instructions for transforming the object model and the plurality of subtraction models into an image space visual representation of the second object after the series of subtractions by the first object by merging the plurality of subtraction models into a single merged subtraction model and subtracting the single merged subtraction model from the object model.
A surgical system comprising:
- a surgical robot for holding an operator-directed cutting tool during cutting of a bone;
- and
- a display system for displaying a visualization of the bone during cutting, the display system comprising:
- a display screen;
- and
- a processor configured to generate a visualization of the bone during cutting for display on the display screen by executing instructions including instructions to produce a geometric bone model of the bone and a plurality of geometric cut models representing the cutting tool at a corresponding plurality of positions relative to the bone, to combine the plurality of cut models in image space to produce a merged cut model, and to subtract the merged cut model from the bone model, yielding a resected bone image.
Dependencies are inferred from the claim text.