Granted Patent B2

US 12,295,678 · App. 17/589,971 · Granted May 13, 2025

Inventors: Jerald L. Redmond (Germantown, TN); Stanley T. Palmatier (Olive Branch, MS); Victor D. Snyder (Erie, CO); Nikita Pandey (Broomfield, CO); Anisha A. Parkar (Thornton, CO)

Assignee: Medtronic Navigation, Inc.

A61B34/30A61B34/20G06T7/337G06T7/74G06V40/103A61B2034/2059

Abstract

Claims (41)

1. A re-registration method comprising:

receiving a first image depicting a reference frame attached to a patient and oriented in a first pose relative to the patient, the first image obtained by an imaging device mounted to a movable support that has been locked in a selected pose;

receiving first input indicating that the reference frame will be adjusted from the first pose relative to the patient to a second pose relative to the patient;

receiving second input indicating that adjustment of the reference frame from the first pose to the second pose is complete;

receiving, subsequent receiving to the second input, a second image depicting the reference frame oriented in the second pose relative to the patient, the second image obtained by the imaging device with the movable support locked in the selected pose; and

updating a registration between the reference frame and the patient to reflect that the reference frame has been moved from the first pose to the second pose.

2. The method of claim 1 , comprising:

receiving an initial registration between the reference frame and the patient, the initial registration based on the reference frame being in the first pose relative to the patient.

3. The method of claim 1 , wherein the reference frame is attached to the patient via an adjustable reference frame mount.

4. The method of claim 3 , wherein when the reference frame is in the first pose, the adjustable reference frame mount is secured to a vertebra of the patient.

5. The method of claim 4 , wherein when the reference frame is in the second pose, the adjustable reference frame mount is still secured to the vertebra of the patient.

6. The method of claim 3 , wherein the first pose and the second pose are part of a limited number of possible poses of the reference frame relative to the adjustable reference frame mount.

7. The method of claim 6 , further comprising:

storing, in memory, information about the limited number of possible poses of the reference frame relative to the adjustable reference frame mount, wherein updating the registration between the reference frame and the patient comprises accessing the stored information.

8. The method of claim 1 , wherein the movable support is a robotic arm.

9. The method of claim 1 , wherein the movable support comprises at least one selectively lockable joint.

10. The method of claim 1 , wherein the second image is obtained by the imaging device within thirty seconds of the reference frame reaching the second pose.

11. The method of claim 1 , wherein the imaging device is a navigation system camera.

12. The method of claim 1 , wherein the imaging device is a structured light camera.

13. The method of claim 1 , wherein the step of updating the registration comprises calculating a transformation between a new reference frame coordinate space and a patient coordinate space based on a previous registration.

14. The method of claim 1 , wherein the first input and the second input are based on user input to a user interface.

15. A system for intraoperative re-registration, comprising:

a robotic arm;

an imaging device mounted to the robotic arm;

a processor; and

a memory storing instructions for execution by the processor that, when executed, cause the processor to:

cause the imaging device to capture a first image at a first time, the first image depicting a reference frame attached to a patient and oriented in a first pose relative to the patient;

receive first input indicating that the reference frame will be adjusted from the first pose relative to the patient to a second pose relative to the patient;

receive second input indicating that adjustment of the reference frame from the first pose to the second pose is complete;

cause, subsequent to receiving the second input, the imaging device to capture a second image at a second time after the first time, the second image depicting the reference frame attached to the patient and oriented in the second pose relative to the patient; and

update a registration between the reference frame and the patient to reflect that the reference frame has been moved from the first pose to the second pose.

16. The system of claim 15 , wherein the memory stores additional instructions for execution by the processor that, when executed, further cause the processor to:

transmit a signal, before the first time and based on a user input, that causes the robotic arm to be locked in a selected pose.

17. The system of claim 16 , wherein the selected pose is a predetermined pose different than a pose of the robotic arm when the signal is transmitted.

18. The system of claim 15 , wherein the memory stores additional instructions for execution by the processor that, when executed, further cause the processor to:

determine a first imaging device pose at the first time;

determine a second imaging device pose at the second time; and

determine, based on the first image, the first imaging device pose, the second image, and the second imaging device pose, a transformation between the second pose and the first pose.

19. The system of claim 18 , wherein the memory stores additional instructions for execution by the processor that, when executed, further cause the processor to:

update the registration between the reference frame and the patient, based on the determined transformation, to reflect that the reference frame has been moved from the first pose to the second pose.

20. The system of claim 15 , wherein causing the imaging device to capture the first image occurs in response to a user input.

Assignments (1)

Continuity (2)

References Cited (34)