Granted Patent B2

US 12,186,032 · App. 18/359,018 · Granted Jan 7, 2025

Inventors: Szymon Kostrzewski (Lausanne, CH); Jean-Marc Wismer (Lausanne, CH); Daniel Gehriger (Lausanne, CH); Roderik Berthelin (Lausanne, CH)

Assignee: Globus Medical Inc.

A61B34/20A61B34/25A61B34/30A61B34/76A61B46/10A61B90/37G02C7/049G06T7/33G06T7/344G06T7/75A61B2017/00694A61B2017/00902A61B17/1615A61B17/1671A61B2034/104A61B2034/105A61B2034/107A61B2034/2046A61B2034/2051A61B2034/2055A61B2034/2059A61B2034/2065A61B2034/2068A61B2034/207A61B2034/252A61B2090/064A61B2090/065A61B2090/363A61B2090/364A61B2090/374A61B2090/376A61B2090/3762A61B2090/378A61B2090/3983G02B1/043G02C2202/16G06T2207/10016G06T2207/30012G06T2207/30196G06T2207/30204G06T2210/41

Abstract

Claims (42)

1. A robot-based navigation system for real-time, dynamic re-registration of a patient anatomy during a procedure, the system comprising:

a robotic arm including an end effector having an instrument configured to be attached thereto;

a position sensor; and

a tracking system for dynamically tracking a position of the end effector based on tracking of the position sensor;

a display; and

a processor operationally coupled to the display, the robotic arm and the tracking system, the processor programmed to perform:

continuously detect a contact of the instrument with tissue of the patient anatomy as a user manipulates the end effector and the attached instrument over the patient anatomy;

upon detection of the contact, determine a position corresponding to a point on the surface of the patient anatomy in a robot coordinate system based on the position sensor tracked by the tracking system;

determine a corresponding point in a medical image data in an imaging coordinate system;

generate a coordinate mapping between the robot coordinate system and the imaging coordinate system based on the correspondence between the determined position in the robot coordinate system and the determined position in the imaging coordinate system, thereby dynamically updating the registration of the patient anatomy,

wherein the processor, after determining a corresponding point in a medical image data in an imaging coordinate system, is further programmed to modify a set of medical image data coordinates that define a surface of the patient anatomy with a set of interior medical image data coordinates such that a first volume defined by the set of medical image data coordinates is larger than a second volume defined by the modified set of medical image data coordinates.

2. The system of claim 1 , further comprising a tracking marker having at least one indent and adapted to be attached to the patient anatomy, the indent sized to be contacted by the instrument attached to the end effector.

3. The system of claim 2 , wherein the processor generates the coordinate mapping based on a spatial relationship between the tracking marker and the patient anatomy.

4. The system of claim 3 , wherein the at least one indent of the tracking marker includes a plurality of spaced apart indents at different orientations sized to be contacted by the instrument.

5. The system of claim 1 , further comprising a force sensor attached directly or indirectly to the robotic arm and configured to sense a haptic force applied to the instrument attached to the end effector.

6. The system of claim 1 , wherein:

the tracking system includes an optical tracking system; and

the position sensor includes an array of optical markers for tracking by the optical tracking system.

7. The system of claim 1 , wherein the instrument includes a force sensor for detecting contact of the instrument with the tissue of the patient anatomy.

8. The system of claim 7 , wherein the instrument includes a strain gauge as the force sensor for detecting contact.

9. The system of claim 7 , wherein the force sensor is integrated into the shaft of the instrument attached to the end effector.

10. A robot-based navigation system for real-time, dynamic re-registration of a patient anatomy during a procedure, the system comprising:

a robotic arm including an end effector having an instrument configured to be attached thereto;

a force feedback subsystem configured to continuously detect a resistive force caused by the instrument contacting a tissue of the patient anatomy as a user manipulates the end effector and the attached instrument over the patient anatomy;

a position sensor; and

a tracking system for dynamically tracking a position of the end effector based on tracking of the position sensor;

a display; and

a processor coupled to the display, the robotic arm, the force feedback subsystem and the tracking system, the processor programmed to perform:

upon detection of contact of the instrument with tissue of the patient anatomy by the force feedback subsystem, determine a position corresponding to a point on the surface of the patient anatomy in a robot coordinate system based on the position sensor tracked by the tracking system;

determine a corresponding point in a medical image data in an imaging coordinate system;

generate a coordinate mapping between the robot coordinate system and the imaging coordinate system based on the correspondence between the determined position in the robot coordinate system and the determined position in the imaging coordinate system, thereby dynamically updating the registration of the patient anatomy,

wherein the processor, after determining a corresponding point in a medical image data in an imaging coordinate system, is further programmed to modify a set of medical image data coordinates that define a surface of the patient anatomy with a set of interior medical image data coordinates such that a first volume defined by the set of medical image data coordinates is larger than a second volume defined by the modified set of medical image data coordinates.

11. The system of claim 10 , further comprising a tracking marker having at least one indent and adapted to be attached to the patient anatomy, the indent sized to be contacted by the instrument attached to the end effector.

12. The system of claim 11 , wherein the processor generates the coordinate mapping based on a spatial relationship between the tracking marker and the patient anatomy.

13. The system of claim 12 , wherein the at least one indent of the tracking marker includes a plurality of spaced apart indents at different orientations sized to be contacted by the instrument.

14. The system of claim 10 , further comprising a force sensor attached directly or indirectly to the robotic arm and configured to sense a haptic force applied to the instrument attached to the end effector.

15. The system of claim 10 , wherein:

the tracking system includes an optical tracking system; and

the position sensor includes an array of optical markers for tracking by the optical tracking system.

16. The system of claim 10 , wherein the instrument includes a force sensor for detecting contact of the instrument with the tissue of the patient anatomy.

17. The system of claim 16 , wherein the instrument includes a strain gauge as the force sensor for detecting contact.

18. The system of claim 16 , wherein the force sensor is integrated into the shaft of the instrument attached to the end effector.

Assignments (1)

Continuity (5)

References Cited (400)