Method for a surveillance marker in robotic-assisted surgery
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.
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 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.
6. 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.
7. The method of claim 1 , further comprising registering the surveillance marker to the DRB.
8. The method of claim 1 , wherein establishing registration includes establishing registration of a 3D image from a CT imaging device.
9. 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 ).
10. The method of claim 9 , 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.
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 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.
16. 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.
17. The method of claim 11 , further comprising registering the surveillance marker to the DRB.
18. The method of claim 11 , wherein establishing registration includes establishing registration of a 3D image from a CT imaging device.
19. 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 ).
20. The method of claim 19 , 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.