Robotic arm navigation using virtual bone mount

Patent metadata

Field	Value
Publication number	US-12419692-B2
Application number	US-202217735878-A
Country	US
Kind code	B2
Filing date	May 3, 2022
Priority date	May 3, 2022
Publication date	Sep 23, 2025
Grant date	Sep 23, 2025

Abstract

A system according to at least one embodiment of the present disclosure includes a processor; and a memory storing data thereon that, when processed by the processor, cause the processor to: determine, based on a navigation element of a first type and a navigation element of a second type both disposed on a navigation tracker, a first registration between the navigation tracker and an anatomical element; determine, based on a navigation element of a third type disposed on the navigation tracker, a second registration between a robotic arm and the navigation tracker; and navigate, based on the first registration and the second registration, the robotic arm relative to the anatomical element.

First claim

What is claimed is:

1. A system, comprising:
a processor; and
a memory storing data thereon that, when processed by the processor, cause the processor to:
determine, based on a navigation element of a first type and a navigation element of a second type both disposed on a navigation tracker, a registration between the navigation tracker and an anatomical element;
determine, based on a navigation element of a third type disposed on the navigation tracker, another registration between a robotic arm and the navigation tracker; and
navigate, based on the registration and the another registration, the robotic arm relative to the anatomical element.

2. The system of claim 1 , wherein the navigation element of the first type, the navigation element of the second type, and the navigation element of the third type are disposed on the navigation tracker in a predetermined configuration.

3. The system of claim 2 , wherein the navigation element of the third type comprises a first optical tracking marker tracked by a third imaging device, and wherein determining the another registration comprises the processor:
receiving, from the third imaging device, information about a first location of the first optical tracking marker and a first pose of the robotic arm; and
determining, based on the information about the first location of the first optical tracking marker and the first pose of the robotic arm, a position of the robotic arm relative to the first optical tracking marker.

4. The system of claim 3 , wherein the navigation element of the first type includes a plurality of fluoroscopic markers capable of being detected by a first imaging device, and wherein determining the registration comprises the processor:
receiving, from the first imaging device, a plurality of images depicting the plurality of fluoroscopic markers and the anatomical element; and
determining, based on the plurality of images, a position of each fluoroscopic marker of the plurality of fluoroscopic markers relative to the anatomical element.

5. The system of claim 4 , wherein the navigation element of the second type includes a plurality of navigation markers capable of being detected by a second imaging device, and wherein determining the registration further comprises the processor:
receiving, from the second imaging device, information about a position of each navigation marker of the plurality of navigation markers; and
determining, based on the information about the position of each navigation marker and the predetermined configuration, a position of each navigation marker relative to the anatomical element.

6. The system of claim 5 , wherein the robotic arm includes a second optical tracking marker, and wherein the third imaging device tracks the second optical tracking marker.

7. The system of claim 6 , wherein the first imaging device comprises a fluoroscopic imaging device, wherein the second imaging device comprises a navigation camera, and wherein the third imaging device comprises a laser tracker.

8. The system of claim 5 , wherein the navigation tracker is disposed on a patient table, wherein the robotic arm is disposed on a second table a first distance from the patient table, and wherein the third imaging device is disposed a second distance from the robotic arm.

9. The system of claim 8 , wherein the first imaging device comprises an O-arm, wherein the second imaging device comprises a navigation camera, and wherein the third imaging device comprises a three-dimensional (3D) camera.

10. A system, comprising:
a robotic arm disposed a first distance from a patient bed;
a processor; and
a memory storing data thereon that, when processed by the processor, cause the processor to:
determine, based on a navigation element of a first type and a navigation element of a second type both disposed on a navigation tracker, a first registration between the navigation tracker and an anatomical element;
determine, based on a navigation element of a third type disposed on the navigation tracker, another registration between the robotic arm and the navigation tracker; and
determine, based on the registration and the another registration, a first pose of the robotic arm relative to the anatomical element.

11. The system of claim 10 , wherein the navigation element of the first type, the navigation element of the second type, and the navigation element of the third type are disposed on the navigation tracker in a predetermined configuration.

12. The system of claim 11 , wherein the navigation element of the third type comprises an optical tracking target tracked by a third imaging device, and wherein determining the another registration comprises the processor:
receiving, from the third imaging device, first information about a first pose of the optical tracking target; and
determining, based on the first information about the first pose of the optical tracking target and the predetermined configuration, a first position of the robotic arm relative to the navigation tracker.

13. The system of claim 12 , wherein the navigation element of the first type includes a plurality of fluoroscopic markers capable of being detected by a fluoroscopic imaging device, and wherein the registration comprises the processor:
receiving, from the fluoroscopic imaging device, a plurality of images depicting the plurality of fluoroscopic markers and the anatomical element; and
determining, based on the plurality of images, a position of each fluoroscopic marker of the plurality of fluoroscopic markers relative to the anatomical element.

14. The system of claim 13 , wherein the navigation element of the second type includes a plurality of navigation markers capable of being detected by a second imaging device, and wherein the registration further comprises the processor:
receiving, from the second imaging device, information about a position of each navigation marker of the plurality of navigation markers; and
determining, based on the information about the position of each navigation marker and the predetermined configuration, a position of each navigation marker relative to the anatomical element.

15. The system of claim 14 , wherein the third imaging device is disposed proximate an end effector of the robotic arm.

16. The system of claim 15 , wherein the robotic arm is disposed on a second table, the second table capable of moving relative to the patient bed.

17. The system of claim 15 , wherein the second imaging device comprises a navigation camera, and wherein the third imaging device comprises a laser tracker.

18. A method, comprising:
determining, based on a first plurality of images captured by a first imaging device, a first registration between a plurality of fluoroscopic markers disposed on a navigation tracker and an anatomical element;
determining, based on a second plurality of image captured by a second imaging device, a second registration between a plurality of navigation markers disposed on the navigation tracker and the anatomical element;
determining, based on an optical sensor tracker target disposed on the navigation tracker, a third registration between the navigation tracker and a robotic arm; and
moving, based on the second registration and the third registration, the robotic arm relative to the anatomical element.

19. The method of claim 18 , wherein the plurality of fluoroscopic markers, the plurality of navigation markers, and the optical sensor tracker target are disposed in a fixed orientation on the navigation tracker.

Assignees

• Mazor Robotics Ltd

Inventors

• Keret Amir
• Seemann Ziv
• Ben Zeev Ori
• Sandelson Adi
• Barazani Gal
• Dori Nimrod

Classifications

• A61B2034/2065

  Tracking using image or pattern recognition · CPC title

• A61B34/25

  User interfaces for surgical systems · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B2034/2057

  Details of tracking cameras · CPC title