Granted Patent B2

US 12,433,683 · App. 17/689,617 · Granted Oct 7, 2025

Inventors: Yizhaq Shmayahu (Ramat HaSharon, IL); Jeetendra S. Bharadwaj (Erie, CO)

Assignee: Mazor Robotics Ltd.

A61B34/20A61B34/30A61B2034/2055

Abstract

Claims (60)

1. A method, comprising:

attaching a flexible material, which comprises one or more tracking markers, to soft tissue internal to a patient, wherein the flexible material and the one or more tracking markers conform to a shape of the soft tissue and deform consistent with movement of the soft tissue;

obtaining a preoperative image of the soft tissue, wherein the preoperative image comprises the one or more tracking markers in an initial position;

obtaining a first intraoperative ultrasound image of the soft tissue, wherein the first intraoperative ultrasound image comprises the one or more tracking markers in a first position;

obtaining a second intraoperative ultrasound image of the soft tissue, wherein the second intraoperative ultrasound image comprises the one or more tracking markers in a second position;

determining a motion of the soft tissue based on a comparison of the one or more tracking markers in the first position in the first intraoperative ultrasound image with the one or more tracking markers in the second position in the second intraoperative ultrasound image;

determining that the motion of the soft tissue causes the soft tissue to move more than a threshold distance;

in response to determining that the soft tissue moves more than the threshold distance, issuing an alert;

registering the one or more tracking markers in the preoperative image with the one or more tracking markers in at least one of the first intraoperative ultrasound image and the second intraoperative ultrasound image;

updating the preoperative image based on the registration to reflect the motion in the preoperative image; and

adjusting a navigation plan for a surgical robot based on the updated preoperative image to avoid damaging the soft tissue.

2. The method of claim 1 , wherein the preoperative image is a preoperative magnetic resonance imaging MRI image.

3. The method of claim 1 , wherein the preoperative image is a preoperative computed tomography (CT) image.

4. The method of claim 1 , further comprising:

determining a size of the soft tissue and/or the shape of the soft tissue; and

selecting the flexible material for the soft tissue based on determining the size of the soft tissue and/or the shape of the soft tissue.

5. The method of claim 4 , wherein selecting the flexible material comprises selecting a pre-formed sheet of flexible material that comprises a size and/or shape that substantially accommodates the size of the soft tissue and/or the shape of the soft tissue.

6. The method of claim 4 , wherein selecting the flexible material comprises cutting a sheet of flexible material to a size and/or shape that substantially accommodates the size of the soft tissue and/or the shape of the soft tissue.

7. The method of claim 1 , wherein attaching the flexible material comprises connecting the flexible material to the soft tissue with one or more nano-hooks.

8. The method of claim 1 , wherein attaching the flexible material comprises using at least one of a staple, suture, and glue to attach the flexible material to the soft tissue.

9. The method of claim 1 , further comprising:

obtaining at least one postoperative image of the soft tissue, wherein the at least one postoperative image of the soft tissue comprises the one or more tracking markers in a third position; and

determining a postoperative motion of the soft tissue based on a comparison of the one or more tracking markers in the third position with the one or more tracking markers in the first position and/or the second position.

10. The method of claim 1 , wherein the one or more tracking markers comprise a first type of tracking marker and a second type of tracking marker.

11. The method of claim 1 , wherein the one or more tracking markers comprise a plurality of tracking markers distributed on the flexible material in an array.

12. The method of claim 11 , wherein the array comprises a subset of the plurality of tracking markers having a distribution or density that is different from other ones of the plurality of tracking markers in the array.

13. The method of claim 1 , wherein the flexible material comprises a transparent or semitransparent material.

14. The method of claim 1 , wherein the flexible material comprises a bioabsorbable mesh.

15. The method of claim 1 , wherein the flexible material comprises a membrane.

16. The method of claim 1 , wherein the preoperative image is a fluoroscopic image, an infrared image, a visible light image, a radiation image, a nuclear medicine image, or a positron-emission tomography image.

17. A system, comprising:

a computing device, wherein the computing device comprises:

a processor; and

computer memory coupled with the processor and having data stored therein that, when executed by the processor, enables the processor to:

obtain a preoperative image of a soft tissue element internal to a patient, wherein the preoperative image comprises one or more tracking markers in an initial position, wherein the one or more tracking markers are attached to the soft tissue element via a flexible material, wherein the flexible material and the one or more tracking markers conform to a shape of the soft tissue element and deform consistent with movement of the soft tissue element;

obtain a first intraoperative ultrasound image of the soft tissue element, wherein the first intraoperative ultrasound image comprises the one or more tracking markers in a first position;

obtain a second intraoperative ultrasound image of the soft tissue element, wherein the second intraoperative ultrasound image comprises the one or more tracking markers in a second position;

determine a motion of the soft tissue element based on a comparison of the one or more tracking markers in the first position with the one or more tracking markers in the second position;

determine that the motion of the soft tissue element causes the soft tissue element to move more than a threshold distance;

in response to determining that the soft tissue element moves more than the threshold distance, issue an alert;

register the one or more tracking markers in the preoperative image with the one or more tracking markers in at least one of the first intraoperative ultrasound image and in the second intraoperative ultrasound image;

update the preoperative image based on the registration to reflect the motion in the preoperative image; and

adjust a navigation plan for a surgical robot based on the updated preoperative image to avoid damaging the soft tissue element.

18. The system of claim 17 , wherein the one or more tracking markers comprise at least one of an active fiducial and a passive fiducial.

19. The system of claim 17 , wherein the data stored in the computer memory comprises at least one of an instruction set and a neural network.

20. The system of claim 17 , wherein the preoperative image is a magnetic resonance imaging (MRI) image or a computed tomography (CT) image.

21. A surgical system, comprising:

a robot configured to execute a robotic surgical plan; and

a computing device comprising:

a processor; and

computer memory coupled with the processor and having data stored therein that, when executed by the processor, enables the processor to:

obtain a preoperative image of soft tissue internal to a patient, wherein the preoperative image comprises one or more tracking markers in an initial position, wherein the one or more tracking markers are attached to the soft tissue via a flexible material, wherein the flexible material and the one or more tracking markers conform to a shape of the soft tissue and deform consistent with movement of the soft tissue;

obtain an intraoperative ultrasound image of the patient during a surgical procedure, wherein the intraoperative ultrasound image comprises the one or more tracking markers;

analyze the intraoperative ultrasound image and determine a position of the one or more tracking markers;

determine, based on the position of the one or more tracking markers, a motion of the soft tissue during the surgical procedure;

determine that the motion of the soft tissue causes the soft tissue to move more than a threshold distance;

in response to determining that the soft tissue of the patient has moved more than the threshold distance, issue an alert;

register the one or more tracking markers in the preoperative image with the one or more tracking markers in the intraoperative ultrasound image;

update the preoperative image based on the registration to reflect the motion in the preoperative image; and

adjust a navigation plan for the robot based on the updated preoperative image to avoid damaging the soft tissue.

Assignments (1)

Continuity (2)

References Cited (20)