System and method for a surveillance marker in robotic-assisted surgery

Patent metadata

Field	Value
Publication number	US-2023263581-A1
Application number	US-202318308762-A
Country	US
Kind code	A1
Filing date	Apr 28, 2023
Priority date	Jun 21, 2012
Publication date	Aug 24, 2023
Grant date	—

Abstract

Devices, systems, and methods for providing a surveillance marker configured to detecting movement of a dynamic reference base attached to a patient a robot-assisted surgical procedure are provided. The surveillance marker and the dynamic reference base are connected to a bony structure independent of each other.

First claim

What is claimed is:

1 . A method of re-establishing registration without re-imaging a patient with an imaging device comprising:
establishing registration of an image of a patient captured from the imaging device in an imaging space to a patient in a camera space based on a pose of the imaging device at the time of the image capture and a dynamic reference base (DRB) as seen by cameras of a tracking device, the DRB including a plurality of markers and adapted to be attached to the patient; continuously updating a last known location of markers attached to a robot as seen by the cameras of the tracking device; detecting a loss of registration when a distance of a surveillance marker disposed at a selected distance away from the DRB has changed; when the loss of registration is detected, re-establishing the registration based on the last known location of markers attached to the robot and a location of the surveillance marker as seen by the cameras of the tracking device without re-scanning the patient with the imaging device.

2 . The method of claim 1 , where establishing registration includes determining a transform of a pose of the image of the patient captured from the imaging device relative to the DRB as seen by the cameras (T DRB-Image ).

3 . The method of claim 1 , wherein re-establishing the registration includes determining a transform of a pose of the image of the patient captured from the imaging device relative to the last known DRB (T LastKnownDRB-Image ) prior to the loss of registration.

4 . The method of claim 1 , wherein the markers attached to the robot are attached to an end effector of the robot, and re-establishing the registration includes determining a transform between a pose of the end effector of the robot relative to the cameras of the tracking device (T Camera-RobotEE ).

5 . The method of claim 1 , wherein the markers attached to the robot are attached to an end effector of the robot, and re-establishing the registration includes:
determining a transform of a pose of the image of the patient captured from the imaging device relative to the last known DRB (T LastknownDRB-Image ) prior to the loss of registration; and determining a transform between a pose of the end effector of the robot relative to the cameras of the tracking device (T Camera-RobotEE ).

6 . The method of claim 5 , wherein re-establishing the registration includes determining a transform between a pose of the cameras of the tracking device relative to the DRB (T DRB- Camera) after the loss of registration.

7 . The method of claim 1 , wherein re-establishing the registration includes determining a transform between a pose of the cameras of the tracking device relative to the DRB (T DRB- Camera ) after the loss of registration.

8 . The method of claim 1 , wherein:
the markers attached to the robot are attached to an end effector of the robot; and re-establishing the registration includes determining:
a transform between a pose of a base of the robot relative to the end effector; and
a transform between a pose of the last known DRB relative to the base of the robot.

9 . The method of claim 1 , further comprising registering the surveillance marker to the DRB.

10 . The method of claim 1 , wherein establishing registration includes establishing registration of a 3D image from a CT imaging device.

11 . A method of re-establishing registration without re-imaging a patient with an imaging device comprising:
establishing registration of an image of a patient captured from the imaging device in an imaging space to a patient in a camera space based on a pose of the imaging device at the time of the image capture and a dynamic reference base (DRB) as seen by cameras of a tracking device, the DRB including a plurality of markers and adapted to be attached to the patient; continuously updating in a memory a last known location of markers attached to a robot as seen by the cameras of the tracking device; detecting a loss of registration when a distance of a surveillance marker attached to the patient at a known distance away from the DRB has changed based on the DRB and the surveillance marker as seen by the cameras of the tracking device; when the loss of registration is detected,
retrieving the last known location of markers attached to the robot from the memory; and
re-establishing the registration based on the retrieved location and a pose of the surveillance marker as seen by the cameras of the tracking device without re-scanning the patient with the imaging device.

12 . The method of claim 11 , where establishing registration includes determining a transform of a pose of the image of the patient captured from the imaging device relative to the DRB as seen by the cameras (T DRB-Image ).

13 . The method of claim 11 , wherein re-establishing the registration includes determining a transform of a pose of the image of the patient captured from the imaging device relative to the last known DRB (T LastKnownDRB-Image ) prior to the loss of registration.

14 . The method of claim 11 , wherein the markers attached to the robot are attached to an end effector of the robot, and re-establishing the registration includes determining a transform between a pose of the end effector of the robot relative to the cameras of the tracking device (T Camera-RobotEE ).

15 . The method of claim 11 , wherein the markers attached to the robot are attached to an end effector of the robot, and re-establishing the registration includes:
determining a transform of a pose of the image of the patient captured from the imaging device relative to the last known DRB (T LastKnownDRB-Image ) prior to the loss of registration; and determining a transform between a pose of the end effector of the robot relative to the cameras of the tracking device (T Camera-RobotEE ).

16 . The method of claim 15 , wherein re-establishing the registration includes determining a transform between a pose of the cameras of the tracking device relative to the DRB (T DRB- Camera) after the loss of registration.

17 . The method of claim 11 , wherein re-establishing the registration includes determining a transform between a pose of the cameras of the tracking device relative to the DRB (T DRB- Camera) after the loss of registration.

18 . The method of claim 11 , wherein:
the markers attached to the robot are attached to an end effector of the robot; and re-establishing the registration includes determining:
a transform between a pose of a base of the robot relative to the end effector; and
a transform between a pose of the last known DRB relative to the base of the robot.

19 . The method of claim 11 , further comprising registering the surveillance marker to the DRB.

20 . The method of claim 11 , wherein establishing registration includes establishing registration of a 3D image from a CT imaging device.

Assignees

• Globus Medical Inc

Inventors

• Forsyth Jeffrey
• Joshi Sanjay M
• Crawford Neil R

Classifications

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B34/20 Primary

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title

• A61B2090/376

  using X-rays, e.g. fluoroscopy · CPC title

• A61B2090/3762

  using computed tomography systems [CT] · CPC title