US 9,724,165 B2 · System and method for verifying calibration of a surgical device

Abstract

The invention relates to a surgical system and, more particularly, to a surgical system and method for verifying calibration of a surgical device. The surgical system or method can be configured to perform the steps of: identifying an interface on an anatomy of a patient, determining a position of a checkpoint of the interface in a coordinate frame of reference, contacting the interface with a portion of a surgical tool of the surgical device, determining a position of the portion of the surgical tool in the coordinate frame of reference, and determining whether the position of the portion of the surgical tool has an expected correspondence to the position of the checkpoint. The interface may comprise a painted portion of a bone of the patient, a divot made in the bone, or a mechanical interface that includes a portion configured to be affixed to the bone and an interface portion that is configured to be contacted by the portion of the surgical tool.

Claims36

Dependent claims

A method for verifying registration of an anatomy tracker, comprising the steps of:

attaching a mechanical interface to an anatomy of a patient;
establishing an expected correspondence between a checkpoint of the interface and the anatomy tracker;
contacting the interface with a surgical tool of the surgical device, wherein a position of a portion of the surgical tool corresponds to a position of the checkpoint of the interface;
receiving, by a computer, information indicative of the contacting of the interface with the surgical tool of the surgical device;
determining, by the computer, the position of the portion of the surgical tool when the surgical tool is contacting the interface;
determining, by the computer, whether the position of the portion of the surgical tool has the expected correspondence to the anatomy tracker;
and
using at least the determination of whether the position of the portion of the surgical tool has the expected correspondence to the anatomy tracker to determine whether the anatomy tracker has moved relative to the anatomy of the patient since an earlier registration of the anatomy;
wherein the interface is disposed on a bone of the patient.

6 more elements

A system for verifying calibration of a surgical device, comprising:

a mechanical interface, the mechanical interface including a portion configured to be attached to a bone of the patient and a portion configured to be contacted by a portion of a surgical tool of the surgical device;
the surgical tool of the surgical device configured to contact the mechanical interface attached to an anatomy of a patient;
and
a computing system programmed to:
establish an expected correspondence between a checkpoint of the mechanical interface and an anatomy tracker;
determine the position of the portion of the surgical tool when the surgical tool is contacting the mechanical interface and when the portion of the surgical tool corresponds to a position of the checkpoint of the mechanical interface;
determine whether the position of the portion of the surgical tool has the expected correspondence to the anatomy tracker;
and
determine whether the anatomy tracker has moved relative to the anatomy of the patient since an earlier registration of the anatomy, using at least the determination of whether the position of the portion of the surgical tool has the expected correspondence to the anatomy tracker.

6 more elements

Dependencies are inferred from the claim text.

System and method for verifying calibration of a surgical device

Life of this patent

System and method for verifying calibration of a surgical device

Life of this patent

Abstract

Claims36