US 11,806,089 B2
Merging localization and vision data for robotic control
Donald W. Malackowski, Schoolcraft, MI (US)
Assigned to Stryker Corporation, Kalamazoo, MI (US)
Filed by Stryker Corporation, Kalamazoo, MI (US)
Filed on Jul. 15, 2021, as Appl. No. 17/376,594.
Application 17/376,594 is a continuation of application No. 16/880,335, filed on May 21, 2020, granted, now 11,103,315.
Application 16/880,335 is a continuation of application No. 15/393,876, filed on Dec. 29, 2016, granted, now 10,667,868, issued on Jun. 2, 2020.
Claims priority of provisional application 62/273,543, filed on Dec. 31, 2015.
Prior Publication US 2021/0338341 A1, Nov. 4, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61B 5/06 (2006.01); A61B 17/00 (2006.01)
CPC A61B 34/20 (2016.02) [A61B 5/065 (2013.01); A61B 34/30 (2016.02); A61B 90/361 (2016.02); A61B 2017/00734 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2068 (2016.02); A61B 2034/2072 (2016.02); A61B 2090/364 (2016.02); A61B 2090/3937 (2016.02); A61B 2090/3945 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical system, comprising:
a localizer configured to generate localizer data associated with a bone;
a vision device configured to generate, in a coordinate system of the vision device, image data associated with the bone and an environment of the bone within a field-of-view of the vision device;
a robotic manipulator configured to support and move a surgical instrument; and
one or more controllers being configured to:
associate a virtual object with the bone;
determine a position and orientation of the virtual object based on the localizer data;
merge the image data and the localizer data associated with the bone into a common coordinate system; and
control the robotic manipulator based on an output of merging the image data and the localizer data.