Split robotic reference frame for navigation

Patent metadata

Field	Value
Publication number	US-12396809-B2
Application number	US-202217580298-A
Country	US
Kind code	B2
Filing date	Jan 20, 2022
Priority date	Feb 1, 2021
Publication date	Aug 26, 2025
Grant date	Aug 26, 2025

Abstract

A robotic navigation system includes a robot base; a robotic arm with a proximal end secured to the robot base, a distal end movable relative to the proximal end, and one or more arm segments between the proximal end and the distal end; a base set of tracking markers secured to the robot base; and at least one additional set of tracking markers secured to the robotic arm.

First claim

What is claimed is:

1. A robotic navigation system, comprising:
a robot base;
a robotic arm comprising:
a proximal end secured to the robot base;
a distal end movable relative to the proximal end; and

one or more arm segments between the proximal end and the distal end;
a base set of tracking markers secured to the robot base;
at least one additional set of tracking markers secured to at least one arm segment of the one or more arm segments;
a first sensor for detecting an arrangement of the base set of tracking markers and the at least one additional set of tracking markers;
a second sensor configured to provide pose information corresponding to the robotic arm;
at least one processor; and
a memory storing instructions for execution by the at least one processor that, when executed, cause the at least one processor to:
receive the pose information from the second sensor; and
determine, based on the pose information, a predicted arrangement of the base set of tracking markers and the at least one additional set of tracking markers.

2. The robotic navigation system of claim 1 , wherein the at least one additional set of tracking markers comprises a first set of tracking markers secured to a first arm segment of the one or more arm segments and a second set of tracking markers secured to a second arm segment of the one or more arm segments.

3. The robotic navigation system of claim 2 , wherein each of the base set of tracking markers, the first set of tracking markers, and the second set of tracking markers comprises at least two markers.

4. The robotic navigation system of claim 1 , further comprising: a geometric pattern projected onto the robotic arm.

5. The robotic navigation system of claim 1 , wherein the at least one additional set of tracking markers are distinguishable by wavelength.

6. The robotic navigation system of claim 1 , wherein the base set of tracking markers is at least one of removably secured or fixedly secured to the robot base.

7. The robotic navigation system of claim 1 , wherein the instructions, when executed by the at least one processor,
further cause the at least one processor to:
receive information about a detected arrangement of the base set of tracking markers and the at least one additional set of tracking markers from the first sensor;
generate a virtual reference frame spanning the base set of tracking markers and the at least one additional set of tracking markers, based on the detected arrangement information; and
determine a pose in space of the robotic arm using the virtual reference frame.

8. The robotic navigation system of claim 4 , wherein the instructions, when executed by the at least one processor,
further cause the at least one processor to:
receive information about a detected arrangement of the base set of tracking markers and the at least one additional set of tracking markers and information about the geometric pattern projected onto the robotic arm; and
map, based on the detected arrangement and the geometric pattern, the robotic arm.

9. The robotic navigation system of claim 1 , wherein the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: compare the detected arrangement to the predicted arrangement, the detected arrangement received from the first sensor.

10. The robotic navigation system of claim 9 , wherein the memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to: verify the integrity of the pose information based on the comparison.

11. A method of utilizing a robotic reference frame for navigation, comprising:
causing a robotic arm to contact an anatomical element;
receiving information from a first sensor about a detected arrangement of a base set of tracking markers and at least one additional set of tracking markers, the base set of tracking markers positioned on a base of a robot and the at least one additional set of tracking markers positioned on a corresponding at least one robotic arm segment of the robotic arm;
generating a virtual reference frame based on the detected arrangement;
determining a position of the anatomical element based on the virtual reference frame;
receiving pose information from a second sensor;
determining, based on the pose information received from the second sensor, a predicted arrangement of the base set of tracking markers and the at least one additional set of tracking markers; and
comparing the detected arrangement to the predicted arrangement.

12. The method of claim 11 , wherein the determining the position of the anatomical element includes determining a pose of the anatomical element based on the virtual reference frame.

13. The method of claim 11 , wherein the at least one additional set of tracking markers comprises a first set of tracking markers secured to a first arm segment of the at least one arm segment and a second set of tracking markers secured to a second arm segment of the at least one arm segment.

14. The method of claim 11 , wherein each of the base set of tracking markers and the at least one additional set of tracking markers comprises at least two markers.

15. The method of claim 11 , wherein the at least one additional set of tracking markers is distinguishable by wavelength.

16. The method of claim 11 , wherein the base set of tracking markers is at least one of removably secured or fixedly secured to the robot base.

17. A device for surgical navigation utilizing a robotic reference frame, comprising:
at least one processor; and
a memory storing instructions for execution by the at least one processor that, when executed, cause the at least one processor to:
cause a robotic arm to contact an anatomical element;
receive information from a first sensor about a detected arrangement of a base set of tracking markers and a first set of tracking markers, the base set of tracking markers disposed on a base of a robot and the first set of tracking markers disposed on an arm segment of a robotic arm;
generate a virtual reference frame based on the detected arrangement;

determine a pose in space of the anatomical element based on the virtual reference frame;
receive pose information from a second sensor;
determine, based on the pose information received from the second sensor, a predicted arrangement of the base set of tracking markers and the first set of tracking markers; and
compare the detected arrangement to the predicted arrangement.

18. The device of claim 17 , wherein the arm segment is a first arm segment of a plurality of arm segments of the robotic arm, and a second arm segment of the plurality of arm segments comprises a second set of tracking markers.

19. The device of claim 18 , wherein each of the base set of tracking markers, the first set of tracking markers, and the second set of tracking markers comprises at least two markers.

20. The device of claim 18 , further comprising a geometric pattern projected onto the robotic arm.

Assignees

• Mazor Robotics Ltd

Inventors

• Sandelson Adi
• Kopito Dor
• Dori Nimrod
• Eshed Gal
• Ratzabi Elad
• Keret Amir
• Seemann Ziv
• Paitel Yvan
• Rawluk Nicholas J
• Junio Dany

Classifications

• A61B2034/2072

  Reference field transducer attached to an instrument or patient · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title

• A61B2090/3983

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

• A61B2090/3945

  Active visible markers, e.g. light emitting diodes · CPC title

• A61B90/39

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