System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices

Patent metadata

Field	Value
Publication number	US-12127803-B2
Application number	US-202318150527-A
Country	US
Kind code	B2
Filing date	Jan 5, 2023
Priority date	Mar 22, 2019
Publication date	Oct 29, 2024
Grant date	Oct 29, 2024

Abstract

A surgical robot system includes a surgical robot, a robot arm connected to such surgical robot, and an end-effector connected to the robot arm. A registration fixture is used in conjunction with various registration systems in the surgical robot system. Such registration systems likewise include a detachable base in the form of a detachable dynamic reference base, along with an associated mount, the dynamic reference base and mount having certain features which permit the dynamic reference base to be selectively attached, detached, and reattached at different phases of an operation, whether pre-operative or intra-operative, and such successive attachments are done without the dynamic reference base, and tracking markers associated therewith, losing registration. Related methods allow for the more efficient and effective performance of operations by virtue of the dynamic reference base maintaining its registration during attachments and reattachments.

First claim

What is claimed is:

1. A method for performing a surgery on an anatomical feature of a patient using a surgical robotic system, comprising the steps of:
providing a surgical robot and a robot arm connected to the surgical robot;
providing an end-effector connected to the robot arm;
providing a registration fixture that is configured to be fixed with respect to the patient;
wherein at least one plurality of tracking markers are fixed with respect to the registration fixture;
providing a processor circuit and a memory accessible by the processor circuit, the memory including machine readable instructions;
wherein the machine readable instructions are configured to cause the processor circuit:
to determine, based on a first image volume comprising the anatomical feature of the patient, a first set of tracking marker positions for each tracking marker of the plurality of tracking markers;
to determine, based on the first set of tracking marker positions, a first position and a first orientation of the registration fixture with respect to the robot arm of the surgical robot;
to determine, based on the first position and the first orientation of the registration fixture with respect to the robot arm, a corresponding position and orientation of the anatomical feature with respect to the robot arm;
to control the robot arm based on the corresponding position and orientation of the anatomical feature with respect to the robot arm;
wherein the registration fixture includes a detachable base having the plurality of tracking markers mounted thereto, and a mount to which the detachable base is securable,
wherein the mount is adapted, after determination of the first set of tracking marker positions, to removably receive the detachable base to position the tracking markers of the base in respective positions corresponding to the previously determined first set of tracking marker positions;
positioning the detachable base and the mount in a single orientation by at least one keyed flange and a plurality of mounting members at respective, spaced mounting locations, the mounting members comprising a first contact on one of the mount and the base and at least one receiving pin for engaging the first contact on the other of the mount and the base; and
performing a surgical procedure on the anatomical feature of the patient.

2. The method of claim 1 , wherein the detachable base comprises a dynamic reference base, and wherein the tracking marker positions correspond to registered positions.

3. The method of claim 2 , further comprising a patient stabilization device; and wherein the dynamic reference base is detachably affixed to the patient stabilization device.

4. The method of claim 1 , wherein the mount comprises a kinematic mount operable to urge a plurality of opposing portions of the mount and the base to predetermined mating positions, the predetermined mating positions characterized by respective angular orientations that vary by less than 15% between successive detachments and reattachments of the mount and the base.

5. The method of claim 1 ,
wherein the plurality of tracking markers comprises four of the tracking markers at spaced locations defining corners of a quadrilateral;
wherein the detachable base is removably mountable at a central location relative to the quadrilateral defined by the plurality of tracking markers;
wherein the distances between the mounting locations and the plurality of tracking markers comprise registered verification values; and
wherein programming includes instructions, when executed, to compare first and second sets of the verification values corresponding to pre-operative and intra-operative attachments of a dynamic reference base and to determine substantial identity or non-identity of the two sets of verification values.

6. The method of claim 5 ,
wherein the mount comprises a mounting surface having a center area and portions extending therefrom to terminate in an arcuate perimeter; and
wherein the at least one receiving pin comprises respective sets of receiving pins at radially spaced locations on the mounting surface.

7. The method of claim 6 , wherein the arcuate perimeter comprises a circle and the respective locations of the sets of pins are radially spaced by arcs ranging from about 120° to about 130°.

8. The method of claim 6 , wherein the sets of pins comprise a pair of cylindrical pins and the first contact and a second contact comprise respective, hemispherical surfaces engaging opposing portions on each of the two pins of the respective pair of pins.

9. The method of claim 6 ,
wherein the keyed flange is located relative to the mounting members to restrict connection of the base and the mount to the single orientation relative to the registration fixture; and
wherein the keyed flange comprises mating portions located on respective opposing surfaces of the mount and the base.

10. The method of claim 9 , wherein the mating portions of the keyed flange comprise a post extending from one of the mount and the base and a cut-out formed in the other of the mount and the base, the cut-out adapted to receive the post therein when the base and the mount are connected in the single orientation.

11. The method of claim 1 , wherein the robotic system further includes a navigation system having programming, when executed, to perform navigational functions pre-operatively and in a non-sterile environment, the navigation functions including marking incisions and performing navigation integrity checks;
wherein the navigation functions are executable pre-operatively after the determination of the first set of tracking marker positions and the first position and the first orientation of the registration fixture;
wherein the navigation functions are executable intra-operatively after detachment and reattachment of the base to the mount and after determination of identity of the first set of tracking marker positions with a second set of the tracking marker positions.

Assignees

• Globus Medical Inc

Inventors

• Cameron Hayden
• Mantzavinos Spiros
• Crawford Neil R
• Joshi Sanjay
• Johnson Norbert
• Cascarano James
• Larson Justin

Classifications

• A61B2034/107

  Visualisation of planned trajectories or target regions · CPC title

• A61B2090/3983

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

• A61B2090/103

  Cranial plugs for access to brain · CPC title

• A61B90/14

  Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins · CPC title

• A61B2090/309

  using white LEDs · CPC title