# US 9,750,432 B2 · Method for the automated and assisted acquisition of anatomical surfaces

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- Number: US 9,750,432 B2
- Document ID: US9750432B2
- Status: Granted
- Kind: B2
- Application number: 14/949,822
- Filed: 2015-11-23
- Published: 2016-03-17
- Granted: 2017-09-05
- Earliest claimed: 2010-08-04
- Assignees: MedTech S.A.
- Applicants: Medtech S.A.
- Inventors: Bertin Nahum; Fernand Badano; Pierre Maillet; Alexander Habermeier; Patrick Dehour
- Web page: https://patentgrep.com/patent/US9750432B2

## CPC

- G16H 20/40: relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
- A61B 5/0064: {Body surface scanning}
- A61B 5/1077: {Measuring of profiles}
- A61B 5/1176: {Recognition of faces}
- A61B 90/361: {Image-producing devices, e.g. surgical cameras}
- G06V 40/171: {Local features and components; Facial parts (eye characteristics G06V40/18); Occluding parts, e.g. glasses; Geometrical relationships}
- G16H 30/20: for handling medical images, e.g. DICOM, HL7 or PACS
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 2034/2065: {Tracking using image or pattern recognition}
- A61B 2090/373: {using light, e.g. by using optical scanners}
- A61B 2576/02: specially adapted for a particular organ or body part
- G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

The method for the automated and assisted acquisition of anatomical surfaces includes a first acquisition of the surfaces undertaken in order to create a first numerical model and a perioperative second acquisition undertaken by scanning the surfaces in order to create a second numerical model for identifying the coordinates of the surfaces. The surfaces are supported by a robotic arm; and then the models are brought into correspondence by resetting. The scanning in the second acquisition includes making a preliminary identification of the coordinates of noteworthy points on the surfaces manually, assisted by the robotic arm, and the identifying parts a the points, in order to construct a reference frame and to determine a scanning region; creating an intermediate model from the reference frame and at least one of the points; preliminary resetting the first model with the second model; and automatically scanning the determined zone.

## Claims

### Claim 1

A method for peri-operative assisted and automated acquisition of anatomical surfaces, said method comprising the steps of:
peri-operatively manually displacing a robotized arm supporting a coordinate identifying member;
manually identifying a plurality of noteworthy points on anatomical surfaces of a patient using the robotized arm and the coordinate identifying member, and recording coordinates of the plurality of noteworthy points and constructing a reference frame;
creating an intermediate three-dimensional model from the reference frame;
preliminarily bringing into correspondence the intermediate three-dimensional model with a first three-dimensional model of the anatomical surfaces acquired prior to the manually displacing step from patient medical images;
determining a path for an automatic scanning process using the reference frame;
automatically scanning, without manually displacing the robotized arm, a scanning zone along the path using the robotized arm;
creating a second three-dimensional model from the automatic scanning step; and
bringing into correspondence, the second three-dimensional model and the first three-dimensional model.

### Claim 2 (depends on 1)

The method of claim 1, further comprising automatically positioning the robotized arm in a position relative to the patient for a surgical intervention.

### Claim 3 (depends on 1)

The method of claim 1, wherein peri-operatively manually displacing a robotized arm supporting a coordinate identifying member and recording the coordinates of noteworthy points on anatomical surfaces of the patient comprises recording the coordinates of at least three noteworthy points on anatomical surfaces of the patient.

### Claim 4 (depends on 1)

The method of claim 1, wherein the reference frame comprises at least two axes, wherein the two axes each comprise a pair of noteworthy points.

### Claim 5 (depends on 1)

The method of claim 1, further comprising creating the first three dimension model from the medical images.

### Claim 6 (depends on 1)

The method of claim 1, wherein the path comprises at least two of the noteworthy points.

### Claim 7 (depends on 1)

The method of claim 1, wherein the plurality of noteworthy points includes at least one of a center of a forehead, the end of the nose, a point to the left of the forehead, and a point to the right of the forehead.

### Claim 8 (depends on 1)

The method of claim 1, wherein the plurality of noteworthy points includes four points, wherein first and second points are in a first axis, and wherein third and fourth points are in a second axis, wherein the first and second axes intersect.