Systems and methods for monitoring patient movement

Patent metadata

Field	Value
Publication number	US-12318191-B2
Application number	US-202117225382-A
Country	US
Kind code	B2
Filing date	Apr 8, 2021
Priority date	Apr 8, 2021
Publication date	Jun 3, 2025
Grant date	Jun 3, 2025

Abstract

Systems and methods for monitoring patient movement are provided. A first dataset containing information about a first tracking device and a second tracking device may be received. A second dataset containing information about the first tracking device and the second tracking device may be received. The first dataset and the second dataset may be compared to determine if a relative pose of the first tracking device and the second tracking device has changed. A notification may be generated when the relative pose of the first tracking device and the second tracking device has changed.

First claim

What is claimed is:

1. A system for monitoring patient movement comprising:
a first tracking device affixed to a table;
a second tracking device configured to be affixed to an anatomical element, the anatomical element having a pose relative to the table;
a robotic arm positionable in any pose and configured to support an object;
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:
register a patient to a pre-operative image to yield a correlation between a coordinate system associated with the patient and a coordinate system associated with a navigation system, wherein the correlation is used to track the robotic arm relative to the anatomical element,
receive a first dataset, the first dataset containing a first image depicting the first tracking device and the second tracking device,
receive a second dataset, the second dataset containing a second image depicting the first tracking device and the second tracking device,
process each of the first image and the second image to identify the first tracking device and the second tracking device,
determine a first relative pose of the first tracking device relative to the second tracking device from the processed first image and a second relative pose of the first tracking device relative to the second tracking device from the processed second image,
compare the first relative pose and the second relative pose to determine if a relative pose of the first tracking device and the second tracking device has changed,
generate a notification when the relative pose of the first tracking device and the second tracking device has changed,
reregister the patient to the pre-operative image based on the notification indicating that the relative pose of the first tracking device and the second tracking device has changed, wherein reregistering the patient to the pre-operative image yields an updated correlation between the coordinate system associated with the patient and the coordinate system associated with the navigation system, and
use the updated correlation to automatically position the robotic arm relative to the anatomical element.

2. The system of claim 1 , further comprising:
a user interface, and wherein the at least one memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to:
cause the notification to be displayed on the user interface.

3. The system of claim 1 , wherein the notification includes instructions for performing one or more verification steps.

4. The system of claim 3 , wherein the at least one memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to:
determine a spatial relationship between a patient and the second tracking device.

5. The system of claim 1 , wherein the anatomical element is a vertebra.

6. The system of claim 1 , wherein the navigation system comprises
an optical imaging device, the optical imaging device configured to obtain the first dataset and the second dataset.

7. The system of claim 1 , wherein the second tracking device comprises a plurality of tracking devices.

8. A system for monitoring patient movement comprising:
a robotic arm positionable in any pose and configured to support an object;
a first tracking device affixed to a table;
a second tracking device affixed to the robotic arm, the robotic arm having a pose relative to the table;
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:
register a patient to a pre-operative image to yield a correlation between a coordinate system associated with the patient and a coordinate system associated with a navigation system, wherein the correlation is used to track the robotic arm,
receive a first dataset, the first dataset containing a first image depicting the first tracking device and the second tracking device,
receive a second dataset, the second dataset containing a second image depicting the first tracking device and the second tracking device,
process each of the first image and the second image to identify the first tracking device and the second tracking device,
determine a first relative pose of the first tracking device relative to the second tracking device from the processed first image and a second relative pose of the first tracking device relative to the second tracking device from the processed second image,
compare the first relative pose and the second relative pose to determine if a relative pose of the first tracking device and the second tracking device has changed,
generate a notification when the relative pose of the first tracking device and the second tracking device has changed,
reregister the patient to the pre-operative image based on the notification indicating that the relative pose of the first tracking device and the second tracking device has changed, wherein reregistering the patient to the pre-operative image yields an updated correlation between the coordinate system associated with the patient and the coordinate system associated with the navigation system, and
use the updated correlation to automatically position the robotic arm.

9. The system of claim 8 , wherein the second tracking device is integrated with the robotic arm.

10. The system of claim 8 , further comprising:
a user interface, and wherein the at least one memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to:
cause the notification to be displayed on the user interface.

11. The system of claim 8 , wherein the notification includes instructions for performing one or more verification steps.

12. The system of claim 11 , wherein the robotic arm is affixed to the table.

13. The system of claim 11 , wherein the one or more verification steps includes verifying a pose of one or more anatomical elements using a navigation probe.

14. The system of claim 9 , wherein the navigation system comprises
an optical imaging device, the optical imaging device configured to obtain the first dataset and the second dataset.

15. The system of claim 8 , wherein the first dataset and the second dataset comprises image data.

16. The system of claim 8 , wherein the first dataset and the second dataset comprises sensor data.

17. A system for monitoring patient movement comprising:
a first tracking device affixed to a table;
a second tracking device configured to be affixed to an anatomical element, the anatomical element having a pose relative to the table;
a robotic arm positionable in any pose and configured to support an object;
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:
register a patient to a pre-operative image to yield a correlation between a coordinate system associated with the patient and a coordinate system associated with a navigation system, wherein the correlation is used to track the robotic arm relative to the anatomical element,
receive a first dataset, the first dataset containing first sensor data corresponding to the first tracking device and the second tracking device,
receive a second dataset, the second dataset containing second sensor data corresponding to t

Assignees

• Mazor Robotics Ltd

Inventors

• Seemann Ziv
• Barazani Gal
• Kagan Bat-El
• Keret Amir
• Sandelson Adi

Classifications

• A61B5/0022

  Monitoring a patient using a global network, e.g. telephone networks, internet · CPC title

• A61B5/0017

  transmitting optical signals · CPC title

• A61B34/32

  operating autonomously · CPC title

• A61B2034/2051

  Electromagnetic tracking systems · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title