Patent Document ID: 10039476
Application ID: 15680768
Patent Status: 1

Claim One:
1. A method for aligning a pre-operative three-dimensional model to a perioperative coordinate system associated with a surgical robot, the method comprising: manually identifying a plurality of noteworthy points on an anatomical surface of a patient using a scanning device coupled to an end effector of the surgical robot; constructing a reference frame based on the plurality of noteworthy points; computing an intermediate three-dimensional model from the plurality of noteworthy points and the reference frame; resetting the reference frame based at least in part on bringing the preoperative three-dimensional model into correspondence with the intermediate three-dimensional model; automatically scanning, using the scanning device, a scanning zone determined based on the reset reference frame; computing a reference three-dimensional model from data collected from the scanning zone with the scanning device; and aligning the perioperative coordinate system with the patient based on bringing the reference three-dimensional model into correspondence with the pre-operative three-dimensional model.