# US 2025/0152247 A1 · System and method for surgical planning > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0152247 A1 - Document ID: US20250152247A1 - Status: Published application - Kind: A1 - Application number: 19/021,828 - Filed: 2025-01-15 - Published: 2025-05-15 - Earliest claimed: 2011-02-14 - Assignees: MAKO Surgical Corp. - Applicants: MAKO Surgical Corp. - Inventors: Hyosig Kang; Daniel Odermatt; Alon Mozes; Chunyan Wu; Miranda Jamieson - Web page: https://patentgrep.com/patent/US20250152247A1 ## CPC - A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations - A61B 2034/107: {Visualisation of planned trajectories or target regions} - G06V 2201/033: of skeletal patterns - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A system includes a medical imaging device configured to collect an image of a bone and a computer programmed to present the image of the bone, enable locating of a plurality of landmarks of the bone via the image, and determine a version and inclination of an acetabular cup based on the plurality of landmarks of the bone. ## Claims ### Claim 1 A system, comprising: a medical imaging device configured to collect an image of a bone; a computer programmed to: present the image of the bone; enable locating of a plurality of landmarks of the bone via the image; and determine a version and inclination of an acetabular cup based on the plurality of landmarks of the bone. ### Claim 2 (depends on 1) The system of claim 1, further comprising an impactor tool, wherein the computer is programmed to cause haptic feedback to be provided to a user manipulating the impactor tool based on the version and the inclination of the acetabular cup. ### Claim 3 (depends on 1) The system of claim 1, further comprising a reamer, wherein the computer is programmed to cause haptic feedback to be provided to a user manipulating the reamer based on the version and the inclination of the acetabular cup. ### Claim 4 (depends on 1) The system of claim 1, wherein: the version and the inclination of the acetabular cup are planned values for the acetabular cup; the system comprises a robot; and the computer is programmed to control the robot based on the planned values for the acetabular cup. ### Claim 5 (depends on 1) The system of claim 1, wherein the computer is programmed to determine the version and the inclination of the acetabular cup based on the plurality of landmarks of the bone by defining a coordinate system using the plurality of landmarks. ### Claim 6 (depends on 1) The system of claim 1, wherein the plurality of landmarks comprise pairs of landmarks, the computer programmed to use lines extending between the pairs of landmarks to determine the version and the inclination of the acetabular cup. ### Claim 7 (depends on 1) The system of claim 1, wherein the medical imaging device is an x-ray device or fluoroscopic imaging device. ### Claim 8 (depends on 1) The system of claim 1, wherein the computer is programmed to automatically locate the plurality of landmarks of the bone on the image. ### Claim 9 (depends on 1) The system of claim 1, wherein: the computer comprises a camera and a touch screen; the camera is configured to receive input relating to the image of the bone; and the touch screen configured to display the image of the bone and receive user input selecting locations for the plurality of landmarks. ### Claim 10 (depends on 9) The system of claim 9, wherein the computer is programmed to cause the touch screen to display lines between pairs of the plurality of landmarks. ### Claim 11 (depends on 10) The system of claim 10, wherein the computer is programmed to enable a user to identify an intersection between a bony feature and at least one of the lines via the touch screen. ### Claim 12 (depends on 1) The system of claim 1, wherein the computer is programmed to determine the version and the inclination of the acetabular cup based on the plurality of landmarks of the bone by: generating lines intersecting pairs of the plurality of landmarks; and determining, using the lines, a coordinate system for determining the version and the inclination of the acetabular cup. ### Claim 13 A computer comprising non-transitory computer-readable memory storing instructions that, when executed by one or more processors, cause the one more processors to perform operations comprising: obtaining an image of a bone from a medial imaging device; causing a screen to display the image of the bone; obtaining user selection of a plurality of landmarks of the bone via the image; and determining a version and inclination of an acetabular cup based on the plurality of landmarks of the bone. ### Claim 14 (depends on 13) The computer of claim 13, comprising a camera, the computer receiving input relating to the image of the bone via the camera. ### Claim 15 (depends on 14) The computer of claim 14, further comprising a touch screen, wherein causing the screen to display the image of the bone comprises displaying the image of the bone on the touch screen and wherein the user selection of the plurality of landmarks is received via the touch screen. ### Claim 16 (depends on 15) The computer of claim 15, wherein obtaining the user selection of the plurality of landmarks of the bone via the image comprises displaying lines between pairs of the plurality of landmarks. ### Claim 17 (depends on 13) The computer of claim 13, wherein determining the version and the inclination of the acetabular cup comprises: generating lines intersecting pairs of the plurality of landmarks; and determining, using the lines, a coordinate system for determining the version and the inclination of the acetabular cup. ### Claim 18 (depends on 13) The computer of claim 13, the operations further comprising controlling a haptic device to provide haptic feedback to a reamer or impactor based on the version and the inclination of the acetabular cup. ### Claim 19 A method, comprising: obtaining an image of a bone from a medial imaging device; selecting, via the image, lines between a plurality landmarks of the bone; determining a version and inclination of an acetabular cup based on the lines; and providing haptic feedback to an impactor or reamer based on the version and the inclination of the acetabular cup. ### Claim 20 (depends on 19) The method of claim 19, comprising: guiding, via the haptic feedback, impaction of the acetabular cup; and determining, by determining a coordinate system using the lines, a post-impaction pose of the acetabular cup.