Dynamic reference arrays and methods of use

Patent metadata

Field	Value
Publication number	US-11116576-B2
Application number	US-201514602723-A
Country	US
Kind code	B2
Filing date	Jan 22, 2015
Priority date	Jun 21, 2012
Publication date	Sep 14, 2021
Grant date	Sep 14, 2021

Abstract

Dynamic reference arrays use markers and trackers to register a patient's anatomy to computer system. Wherein the dynamic reference array may be screwed into a patient's spinous process, clamped on to a spinous process, or attached to the spinous process using posts. In embodiments, a dynamic reference array may comprise a single structure comprising and attachment member and a scaffold. In alternate embodiments, the dynamic reference array may comprise distinct structures that allow the dynamic reference array to swivel and collapse in order to facilitate registration, while not interfering with a surgical procedure.

First claim

What is claimed is:

1. A dynamic reference array, comprising:
a scaffold;
a plurality of tracking markers trackable by a camera;
a plurality of fiducial markers, separate from the plurality of tracking markers, coupled to the scaffold, wherein the plurality of fiducial markers are detected in a medical image associated with a patient; and
an attachment structure coupled to the scaffold with a swivel feature, wherein the attachment structure is configured to secure the scaffold to the patient while allowing movement of the scaffold with respect to the attachment structure,
wherein in a first position, the attachment structure is configured to position the plurality of fiducial markers near a surface of the patient and in a second position, the attachment structure is configured to position the plurality of fiducial markers away from the surface of the patient, and
wherein at least one of the plurality of tracking markers is disposed on a post of the attachment structure and remains stationary with respect to the swivel mechanism, and
an image guidance software configured to automatically determine whether the tracking or fiducial markers are in the first or second position for purposes of preventing inadvertent tracking and navigation by comparing the position of one of the at least one of the stationary tracking markers with the position of one of the at least one of the plurality of fiducial markers positioned on the attachment structure when the attachment structure is in the first position and comparing the position of the one of the at least one of the stationary tracking markers with the position of the one of the at least one of the plurality of fiducial markers positioned on the attachment structure when the attachment structure is in the second position.

2. The dynamic reference array of claim 1 , wherein the plurality of tracking markers are infrared markers and the plurality of fiducial markers are radio-opaque markers.

3. The dynamic reference array of claim 1 , wherein the attachment structure is a ball joint, a hinge pin, or a slide mechanism.

4. The dynamic reference array of claim 1 , wherein the attachment structure comprises a clamp with a hinge pin.

5. The dynamic reference array of claim 1 , wherein the attachment structure comprises a clamp.

6. A dynamic reference array, comprising:
a scaffold;
a plurality of first markers coupled to the scaffold, wherein the plurality of first markers are trackable by a camera and configured to be detected in a medical image associated with a patient,
an attachment structure coupled to the scaffold with a swivel feature, wherein the attachment structure is configured to secure the scaffold to the patient while allowing movement of the scaffold with respect to the attachment structure,
wherein the plurality of first markers contain a metallic or ceramic core that is radio-opaque,
wherein in a first position, the attachment structure is configured to position the plurality of first markers near a surface of the patient and in a second position, the attachment structure is configured to position the plurality of first markers away from the surface of the patient, and
wherein a second marker trackable by the camera is disposed on a post of the attachment mechanism and remains stationary with respect to the swivel feature,
an image guidance software configured to automatically determine whether the tracking or fiducial markers are in the first or second position for purposes of preventing inadvertent tracking and navigation by comparing the position of one of the at least one of the stationary tracking markers with the position of one of the at least one of the plurality of fiducial markers positioned on the attachment structure when the attachment structure is in the first position and comparing the position of the one of the at least one of the stationary tracking markers with the position of the one of the at least one of the plurality of fiducial markers positioned on the attachment structure when the attachment structure is in the second position.

Assignees

• Globus Medical Inc

Inventors

• Theodore Nicholas
• Crawford Neil R
• Foster Mitchell A

Classifications

• A61B2090/378

  using ultrasound · CPC title

• A61B2090/3991

  having specific anchoring means to fixate the marker to the tissue, e.g. hooks · CPC title

• A61B2090/3995

  Multi-modality markers · CPC title

• A61B2090/3983

  Reference marker arrangements for use with image guided surgery · CPC title

• A61B34/30

  Surgical robots · CPC title