Robot integrated segmental tracking

Patent metadata

Field	Value
Publication number	US-12094128-B2
Application number	US-202217591769-A
Country	US
Kind code	B2
Filing date	Feb 3, 2022
Priority date	Feb 3, 2022
Publication date	Sep 17, 2024
Grant date	Sep 17, 2024

Abstract

Methods, systems, and devices for robot integrated segmental tracking are described. A system determines first positional information of one or more objects based on three-dimensional first image data captured by an imaging device, tracking information associated with the one or more objects, or both. The first positional information includes a real-time location of the one or more objects. The system generates an image including a graphical representation of the one or more objects. Generating the image includes positioning the graphical representation of the one or more objects based on a comparison result indicative of a deviation between the first positional information and reference positional information of the one or more objects. The reference positional information includes a registered location of the one or more objects. The system outputs an indication of the deviation between the first positional information and the reference positional information.

First claim

What is claimed is:

1. A system comprising:
a processor; and
a memory storing instructions thereon that, when executed by the processor, cause the processor to:
determine first positional information of one or more objects based at least in part on three-dimensional first image data captured by an imaging device, tracking information associated with the one or more objects, or both, wherein the first positional information comprises a real-time location of the one or more objects;
generate an image comprising a graphical representation of the one or more objects, wherein generating the image comprises positioning the graphical representation of the one or more objects based at least in part on a comparison result indicative of a deviation between the first positional information and reference positional information of the one or more objects, wherein the reference positional information comprises a registered location of the one or more objects; and
output an indication of the deviation between the first positional information and the reference positional information.

2. The system of claim 1 , wherein:
the tracking information is associated with a tracking device coupled to the one or more objects; and
the tracking information comprises at least one of movement information, positional information, and orientation information associated with the tracking device.

3. The system of claim 2 , wherein the tracking device comprises at least one of a spherical shaped element, a polygonal shaped element, a squircular shaped element, and a graphical marking.

4. The system of claim 2 , wherein the tracking device comprises at least one substantially non-reflective surface.

5. The system of claim 1 , wherein:
the tracking information corresponds to a tracked area associated with the one or more objects; and
the tracking information comprises at least one of movement information, positional information, and orientation information associated with the tracked area.

6. The system of claim 5 , wherein the instructions are further executable by the processor to:
track at least one of the movement information, the positional information, and the orientation information associated with the tracked area based at least in part on at least one of:
a tracking device coupled to the one or more objects; and
a graphical marking associated with the tracking device, the tracked area, or both,
wherein the graphical marking is included in the tracking device, included in the tracked area, within a threshold distance of the tracked area, or any combination thereof.

7. The system of claim 1 , wherein:
the one or more objects comprises a first object and a second object; and
the tracking information is associated with at least one of:
a first tracking device coupled to the first object;
a second tracking device coupled to the second object;
a first tracked area associated with the first object; and
a second tracked area associated with the second object.

8. The system of claim 1 , wherein the one or more objects comprise at least one anatomical element.

9. The system of claim 1 , wherein the deviation between the first positional information and the reference positional information comprises at least one of:
a distance value;
an orientation value; and
a movement value.

10. The system of claim 1 , wherein the first positional information and the reference positional information are associated with at least one of:
a first coordinate system associated with a robot device included in the system; and
a second coordinate system associated with the one or more objects.

11. The system of claim 1 , wherein the instructions are further executable by the processor to:
maneuver a robotic arm of the system based at least in part on at least one of:
a first value associated with the deviation; and
a second value associated with compensating for the deviation.

12. The system of claim 1 , wherein the instructions are further executable by the processor to:
control at least one surgical tool based at least in part on at least one of:
a first value associated with the deviation; and
a second value associated with compensating for the deviation.

13. The system of claim 1 , wherein the instructions are further executable by the processor to:
update a surgical plan based at least in part on at least one of:
a first value associated with the deviation; and
a second value associated with compensating for the deviation.

14. A method comprising:
determining first positional information of one or more objects based at least in part on three-dimensional first image data captured by an imaging device, tracking information associated with the one or more objects, or both, wherein the first positional information comprises a real-time location of the one or more objects;
generating an image comprising a graphical representation of the one or more objects, wherein generating the image comprises positioning the graphical representation of the one or more objects based at least in part on a comparison result indicative of a deviation between the first positional information and reference positional information of the one or more objects, wherein the reference positional information comprises a registered location of the one or more objects; and
outputting an indication of the deviation between the first positional information and the reference positional information.

15. The method of claim 14 , wherein:
the tracking information is associated with a tracking device coupled to the one or more objects; and
the tracking information comprises at least one of movement information, positional information, and orientation information associated with the tracking device.

16. The method of claim 15 , wherein the tracking device comprises at least one of a spherical shaped element, a polygonal shaped element, a squircular shaped element, and a graphical marking.

17. The method of claim 15 , wherein the tracking device comprises at least one substantially non-reflective surface.

18. A system comprising:
an imaging device;
a tracking device coupled to one or more objects;
a processor; and
a memory storing data thereon that, when processed by the processor, cause the processor to:
determine first positional information of the one or more objects based at least in part on three-dimensional first image data captured by the imaging device, tracking information associated with the one or more objects, or both, wherein the first positional information comprises a real-time location of the one or more objects;
generate an image comprising a graphical representation of the one or more objects, wherein generating the image comprises positioning the graphical representation of the one or more objects based at least in part on a comparison result indicative of a deviation between the first positional information and reference positional information of the one or more objects, wherein the reference positional information comprises a registered location of the one or more objects; and
output an indication of the deviation between the first positional information and the reference positional information.

19. The system of claim 18 , wherein:
the tracking information is associated with the tracking device coupled to the one or more objects; and
the tracking information comprises at least one of movement information, positional information, and orientation information associated with the tracking device.

20. The system of

Assignees

• Mazor Robotics Ltd

Inventors

• Eshel Itamar
• Seemann Ziv
• Sandelson Adi
• Barazani Gal
• Ofer Nir

Classifications

• G06T2207/30204

  Marker · CPC title

• G06T2207/10028

  Range image; Depth image; 3D point clouds · CPC title

• G06T11/00

  Two-dimensional [2D] image generation · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B2034/105

  Modelling of the patient, e.g. for ligaments or bones · CPC title