System and method for preliminary registration

Patent metadata

Field	Value
Publication number	US-11980426-B2
Application number	US-202016983835-A
Country	US
Kind code	B2
Filing date	Aug 3, 2020
Priority date	Aug 3, 2020
Publication date	May 14, 2024
Grant date	May 14, 2024

Abstract

Methods and systems for performing a preliminary registration is provided. Image data corresponding to an image depicting a tracking device and an anatomical element may be received. Robot positional data corresponding to a position of a robot may also be received. The robot and the anatomical element may be located in a common three-dimensional coordinate system based on the image data and the positional data to yield a preliminary registration. A suggested robot position may be determined based on the preliminary registration and a dimensional reach of a robot arm of the robot.

First claim

What is claimed is:

1. A system for preliminary registration, comprising:
a tracking device configured to be positioned on a non-sterile surface of a patient's skin;
at least one processor; and
at least one memory storing instructions for execution by the at least one processor that, when executed, cause the at least one processor to:
receive a surgical plan corresponding to a planned surgical procedure;
receive image data corresponding to an image depicting the tracking device configured to be positioned on the non-sterile surface of the patient's skin and an anatomical element of the patient;
receive robot positional data corresponding to a position of a robot;
locate the robot and the anatomical element in a common three-dimensional (3D) coordinate system based on the image data and the positional data to yield a preliminary registration;
determine a suggested robot position based on the location of the robot in the 3D coordinate system, a dimensional reach of the robot, and the surgical plan; and
position the robot based on the suggested robot position.

2. The system of claim 1 , wherein the image data is fluoroscopic image data and the image is two-dimensional.

3. The system of claim 1 , wherein the tracking device comprises a fluoroscopy marker and a fiducial marker.

4. The system of claim 1 , wherein the memory stores further data for processing by the processor that, when processed, causes the processor to:
identify a patient position based on the preliminary registration.

5. The system of claim 1 , wherein the surgical plan includes a planned trajectory of one or more medical devices, the planned trajectory comprising a suggested depth of insertion and a suggested angle of insertion for each of the one or more medical devices, and wherein the determining is further based on the surgical plan.

6. The system of claim 5 , wherein the memory stores further data for processing by the processor that, when processed, causes the processor to:
determine a suggested incision start point and a suggested incision end point based on the planned trajectory and the suggested incision size.

7. The system of claim 1 , wherein the image data corresponds to a single image.

8. The system of claim 1 , wherein the memory stores further data for processing by the processor that, when processed, causes the processor to:
determine a suggested location for attachment of the robot to the patient based on the preliminary registration and the surgical plan.

9. The system of claim 1 , wherein the memory stores further data for processing by the processor that, when processed, causes the processor to:
determine a suggested incision size and suggested incision position based on the preliminary registration and the surgical plan.

10. The system of claim 1 , further comprising:
a robot, wherein the robot comprises the robotic arm and a second robotic arm.

11. The system of claim 10 , wherein the memory stores further data for processing by the processor that, when processed, causes the processor to:
cause the robotic arm to indicate a suggested incision start point and the second robotic arm to indicate a suggested incision end point.

12. A system for preliminary registration, comprising:
a tracking device configured to be positioned on a non-sterile surface of a patient's skin;
at least one processor; and
at least one memory storing instructions for execution by the at least one processor that, when executed, cause the at least one processor to:
receive image data corresponding to an image depicting the tracking device configured to be positioned on the non-sterile surface of the patient's skin and an anatomical element of the patient;
receive robot positional data corresponding to a position of a robot;
locate the robot and the anatomical element in a common three-dimensional (3D) coordinate system based on the image data and the positional data to yield a preliminary registration;
determine a suggested robot position based on the location of the robot in the 3D coordinate system and a dimensional reach of the robot; and
positioned the robot based on the suggested robot position.

13. The system of claim 12 , wherein the tracking device comprises a fluoroscopy marker and a fiducial marker.

14. The system of claim 12 , wherein the image data corresponds to a single image.

15. The system of claim 12 , wherein the memory stores further data for processing by the processor that, when processed, causes the processor to:
identify a patient position based on the preliminary registration.

16. The system of claim 12 , wherein the memory stores further data for processing by the processor that, when processed, causes the processor to:
receive a surgical plan having a planned trajectory of one or more medical devices, the planned trajectory comprising a suggested depth of insertion and a suggested angle of insertion for each of the one or more medical devices, and determining the suggested robot position is further based on the surgical plan.

17. The system of claim 16 , wherein the memory stores further data for processing by the processor that, when processed, causes the processor to:
determine a suggested location for attachment of the robot to the patient based on the preliminary registration and the surgical plan.

18. The system of claim 16 , wherein the memory stores further data for processing by the processor that, when processed, causes the processor to:
determine a suggested incision size and suggested incision position based on the preliminary registration and the surgical plan.

19. The system of claim 18 , wherein the memory stores further data for processing by the processor that, when processed, causes the processor to:
determine a suggested incision start point and a suggested incision end point based on the planned trajectory and the suggested incision size.

Assignees

• Warsaw Orthopedic Inc

Inventors

• Dace Mark C
• Gum Jeffrey Lynn

Classifications

• A61B34/20 Primary

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• A61B6/487

  involving fluoroscopy · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B90/39

  Markers, e.g. radio-opaque or breast lesions markers · CPC title

• G06T1/0014

  Image feed-back for automatic industrial control, e.g. robot with camera (robots B25J19/023) · CPC title