SURGICAL ROBOTIC SYSTEMS PROVIDING TRANSFER OF REGISTRATION AND RELATED METHODS AND COMPUTER PROGRAM PRODUCTS
A surgical robotic system may include a robotic actuator. A registration may be provided between a tracking coordinate system and an image coordinate system using a first tracking array including at least three tracking markers. A second plurality of at least three tracking markers for a second tracking array may be identified using information from tracking sensors, wherein first and second tracking markers of the second plurality are independent of at least a third tracking marker of the second plurality. The registration between the tracking coordinate system and the image coordinate system may be transferred from the first tracking array to a second tracking array including the first, second, and third tracking markers. The robotic actuator may be controlled to move an end-effector to a target trajectory relative to the patient based on the registration and based on information from the tracking sensors regarding the second tracking array.
1 . A surgical robotic system comprising:
a robotic actuator configured to position a surgical end-effector with respect to an anatomical location of a patient; and
a controller coupled with the robotic actuator, wherein the controller is configured to,
provide a registration between a tracking coordinate system for a physical space monitored by tracking sensors and an image coordinate system for a 3-dimensional (3D) image volume for the patient using a first tracking array including a first plurality of at least three tracking markers monitored by the tracking sensors,
identify a second plurality of at least three tracking markers for a second tracking array using information from the tracking sensors, wherein first and second tracking markers of the second plurality are independent of at least a third tracking marker of the second plurality,
transfer the registration between the tracking coordinate system and the image coordinate system from the first tracking array to a second tracking array including the first, second, and third tracking markers of the second plurality, and
control the robotic actuator to move the end-effector to a target trajectory relative to the patient based on the registration between the tracking coordinate system and the image coordinate system and based on information from the tracking sensors regarding the second tracking array including the second plurality of tracking markers with the first, second, and third tracking markers.
2 . The surgical robotic system of claim 1 , wherein a post including the first and second tracking markers with a fixed spacing therebetween is defined in a tool definition file before identifying the second plurality of at least three tracking markers, wherein the post is defined in the tool definition file without the third tracking marker, and wherein identifying the second plurality of at least three tracking markers comprises identifying the first and second tracking markers as elements of the post based on information from the tracking sensors indicating the fixed spacing between the first and second tracking markers matching the fixed spacing from the tool definition file.
3 . The surgical robotic system of claim 2 , wherein the post is a first post, wherein the fixed spacing is a first fixed spacing, wherein a second post including the third tracking marker and a fourth tracking marker with a second fixed spacing therebetween is defined in the tool definition file before identifying the second plurality of at least three tracking markers, wherein the second post is defined in the tool definition file without the first and second tracking markers, and wherein identifying the second plurality of at least three tracking markers comprises identifying the third and fourth tracking markers as elements of the second post based on information from the tracking sensors indicating the second fixed spacing matching the second fixed spacing from the tool definition file.
4 . The surgical robotic system of claim 2 , wherein identifying the second plurality of at least three tracking markers comprises identifying the third tracking marker based on information from the tracking sensors indicating proximity of the third tracking marker with respect to the first and/or second tracking markers after identifying the first and second tracking markers as elements of the post.
5 . The surgical robotic system of claim 2 , wherein the controller is further configured to,
after identifying the second plurality of at least three tracking markers, store a definition of the second tracking array in the tool definition file, wherein the definition of the second tracking array defines spacings between the first and second tracking markers, between the second and third tracking markers, and between the first and third tracking markers.
6 . The surgical robotic system of claim 5 , wherein the controller is further configured to,
after identifying the second plurality of at least three tracking markers, accept user confirmation of the at least three tracking markers, wherein transferring the registration is responsive to accepting user confirmation, and wherein storing the definition is responsive to accepting user confirmation.
7 . The surgical robotic system of claim 2 , wherein the post is mechanically coupled with an implant, wherein the controller is further configured to,
control the robotic actuator before transferring the registration to move the end-effector for insertion of the implant into the patient based on the registration between the tracking coordinate system and the image coordinate system using the first tracking array, based on information from the tracking sensors regarding the first tracking array, based on information from the tracking sensors regarding the first and second markers of the post, and based on a planned trajectory relative to the 3D image volume;
render a first slice of the 3D image volume for presentation with a virtual representation of the implant on a display during insertion based on the registration between the tracking coordinate system and the image coordinate system using the first tracking array, based on information from the tracking sensors regarding the first tracking array, and based on information from the tracking sensors regarding the first and second markers of the post; and
render a second slice of the 3D image volume for presentation with a virtual representation of the implant on the display after insertion based on the registration between the tracking coordinate system and the image coordinate system using the second tracking array, and based on information from the tracking sensors regarding the second tracking array.
8 . The surgical robotic system of claim 7 , wherein controlling the robotic actuator before transferring the registration comprises, detecting a deviation between the planned trajectory relative to the 3D image volume and an actual trajectory based on information from the tracking sensors regarding the first and second tracking markers of the post, and adjusting the actual trajectory responsive to detecting the deviation.
9 . The surgical robotic system of claim 1 , wherein the controller is further configured to,
control the robotic actuator before transferring the registration to move the end-effector to a first target trajectory relative to the patient based on the registration between the tracking coordinate system and the image coordinate system using the first tracking array, and based on information from the tracking sensors regarding the first tracking array including the first plurality of tracking markers.
10 . The surgical robotic system of claim 9 , wherein the controller is further configured to,
before transferring the registration, render a first slice of the 3D image volume for presentation with a virtual representation of a tool and/or implant on a display based on the registration between the tracking coordinate system and the image coordinate system using the first tracking array; and
after transferring the registration, render a second slice of the 3D image volume for presentation with a virtual representation of the tool and/or implant on the display based on the registration between the tracking coordinate system and the image coordinate system using the second tracking array.
11 . The surgical robotic system of claim 5 , wherein the controller is further configured to,
detect a change is spacing between at least two of the second plurality of tracking markers of the second tracking array based on comparing information from the tracking sensors and information from the tool definition file; and
responsive to detecting the change, generate a notification for output through a speaker and/or a display, and/or moving the end-effector away from the patient.
12 . A method of operating a surgical robotic system including a robotic actuator configured to position a surgical end-effector with respect to an anatomical location of a patient, the method comprising:
providing a registration between a tracking coordinate system for a physical space monitored by tracking sensors and an image coordinate system for a 3-dimensional (3D) image volume for the patient using a first tracking array including a first plurality of at least three tracking markers monitored by the tracking sensors;
identifying a second plurality of at least three tracking markers for a second tracking array using information from the tracking sensors, wherein first and second tracking markers of the second plurality are independent of at least a third tracking marker of the second plurality;
transferring the registration between the tracking coordinate system and the image coordinate system from the first tracking array to a second tracking array including the first, second, and third tracking markers of the second plurality; and
controlling the robotic actuator to move the end-effector to a target trajectory relative to the patient based on the registration between the tracking coordinate system and the image coordinate system and based on information from the tracking sensors regarding the second tracking array including the second plurality of tracking markers with the first, second, and third tracking markers.
13 . The method of claim 12 , wherein a post including the first and second tracking markers with a fixed spacing therebetween is defined in a tool definition file before identifying the second plurality of at least three tracking markers, wherein the post is defined in the tool definition file without the third tracking marker, and wherein identifying the second plurality of at least three tracking markers comprises identifying the first and second tracking markers as elements of the post based on information from the tracking sensors indicating the fixed spacing between the first and second tracking markers matching the fixed spacing from the tool definition file.
14 . The method of claim 13 , wherein the post is a first post, wherein the fixed spacing is a first fixed spacing, wherein a second post including the third tracking marker and a fourth tracking marker with a second fixed spacing therebetween is defined in the tool definition file before identifying the second plurality of at least three tracking markers, wherein the second post is defined in the tool definition file without the first and second tracking markers, and wherein identifying the second plurality of at least three tracking markers comprises identifying the third and fourth tracking markers as elements of the second post based on information from the tracking sensors indicating the second fixed spacing matching the second fixed spacing from the tool definition file.
15 . The method of claim 13 , wherein identifying the second plurality of at least three tracking markers comprises identifying the third tracking marker based on information from the tracking sensors indicating proximity of the third tracking marker with respect to the first and/or second tracking markers after identifying the first and second tracking markers as elements of the post.
16 . The method of claim 13 further comprising:
after identifying the second plurality of at least three tracking markers, storing a definition of the second tracking array in the tool definition file, wherein the definition of the second tracking array defines spacings between the first and second tracking markers, between the second and third tracking markers, and between the first and third tracking markers.
17 . The method of claim 16 further comprising:
after identifying the second plurality of at least three tracking markers, accepting user confirmation of the at least three tracking markers, wherein transferring the registration is responsive to accepting user confirmation, and wherein storing the definition is responsive to accepting user confirmation.
18 . The method of claim 13 , wherein the post is mechanically coupled with an implant, the method further comprising:
controlling the robotic actuator before transferring the registration to move the end-effector for insertion of the implant into the patient based on the registration between the tracking coordinate system and the image coordinate system using the first tracking array, based on information from the tracking sensors regarding the first tracking array, based on information from the tracking sensors regarding the first and second markers of the post, and based on a planned trajectory relative to the 3D image volume;
rendering a first slice of the 3D image volume for presentation with a virtual representation of the implant on a display during insertion based on the registration between the tracking coordinate system and the image coordinate system using the first tracking array, based on information from the tracking sensors regarding the first tracking array, and based on information from the tracking sensors regarding the first and second markers of the post; and
rendering a second slice of the 3D image volume for presentation with a virtual representation of the implant on the display after insertion based on the registration between the tracking coordinate system and the image coordinate system using the second tracking array, and based on information from the tracking sensors regarding the second tracking array.
19 . The method of claim 18 , wherein controlling the robotic actuator before transferring the registration comprises, detecting a deviation between the planned trajectory relative to the 3D image volume and an actual trajectory based on information from the tracking sensors regarding the first and second tracking markers of the post, and adjusting the actual trajectory responsive to detecting the deviation.
20 . A computer program product, comprising:
a non-transitory computer readable storage medium comprising computer readable program code embodied in the medium that when executed by a processor of a surgical robotic system causes the processor to perform operations comprising:
providing a registration between a tracking coordinate system for a physical space monitored by tracking sensors and an image coordinate system for a 3-dimensional (3D) image volume for the patient using a first tracking array including a first plurality of at least three tracking markers monitored by the tracking sensors;
identifying a second plurality of at least three tracking markers for a second tracking array using information from the tracking sensors, wherein first and second tracking markers of the second plurality are independent of at least a third tracking marker of the second plurality;
transferring the registration between the tracking coordinate system and the image coordinate system from the first tracking array to a second tracking array including the first, second, and third tracking markers of the second plurality; and
controlling a robotic actuator to move an end-effector to a target trajectory relative to the patient based on the registration between the tracking coordinate system and the image coordinate system and based on information from the tracking sensors regarding the second tracking array including the second plurality of tracking markers with the first, second, and third tracking markers.