System and method for performing image directed robotic orthopaedic procedures without a fiducial reference system
AssigneeIntegrated Surgical Systems, Inc.
InventorsBrent D. Mittelstadt, Steven M. Cohan, Steve Schreiner
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Abstract
A method for transforming a bone image data set representing at least a partial image of a long bone to a robotic coordinate system, comprising: generating the bone image data set from a bone image; registering a bone digitizer arm to the robotic coordinate system; generating a digitized bone data set by taking bone surface position measurements with the digitizer arm; and transforming the bone image data set into the robotic coordinate system by performing a best-fit calculation between coordinates of the bone image data set and corresponding coordinates of the digitized bone data set.
Claims26
A method for transforming a bone image data set representing at least a partial image of a long bone to a robotic coordinate system, comprising:
- providing a bone image data set comprising coordinates corresponding to a bone image;
- registering a bone digitizer arm to the robotic coordinate system, said digitizer arm having a plurality of position sensors;
- positioning the digitizer arm relative to points on the surface of the bone to generate a digitized bone data set comprising coordinates corresponding to the points;
- and
- performing a best-fit calculation between coordinates of the bone image data set and corresponding coordinates of the digitized bone data set to transform the bone image data set into the robotic coordinate system.
A method for transforming a bone image data set representing at least a partial image of a long bone to a robotic coordinate system, comprising:
- providing a bone image data set comprising coordinates corresponding to a bone image;
- positioning a surgical robotic arm relative to points on the surface of the bone said arm having a plurality of position sensors for generating a digitized bone data set comprising coordinates corresponding to the points;
- and
- performing a best-fit calculation between coordinates of the bone image data set and corresponding coordinates of the digitized bone data set to transform the bone image data set into the robotic coordinate system.
A method for transforming a bone image data set representing at least a partial image of a long bone to a robotic coordinate system, comprising:
- providing a bone image data set comprising coordinates corresponding to a bone image;
- operating a non-contact digitizing apparatus to generate a digitized bone data set representing points on the surface of the bone;
- and
- performing a best-fit calculation between coordinates of the bone image data set and corresponding coordinates of the digitized bone data set to transform the bone image data set into the robotic coordinate system.
A controller program for a robotic system having a surgical robotic arm operating in a robotic coordinate system and a bone digitizer arm, wherein the program transforms a bone image data set into the robotic coordinate system based upon surface location measurements generated by a plurality of position sensors in the bone digitizer arm, wherein the bone is immobilized in the robotic coordinate system.
Dependencies are inferred from the claim text.