Granted Patent B2

US 12,426,964 · App. 18/003,147 · Granted Sep 30, 2025

Inventors: Aviv Ellman (Caesarea, IL); Dany Junio (Caesarea, IL); Katherine M. Puckett (Louisville, CO)

Assignee: Mazor Robotics Ltd.

A61B34/30A61B34/20A61B2034/2059A61B2034/305

Abstract

Claims (54)

1. A surgical robotic navigation system comprising:

a robot base;

a robotic arm comprising:

a proximal portion secured to the robot base;

a distal portion movable relative to the proximal portion; and

a tracking marker secured to the robotic arm proximate the distal portion;

at least one processor;

a navigation system including a tracking marker sensor configured to identify positions of the tracking marker in a first coordinate space; and

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

cause the robotic arm to move to a plurality of different poses;

receive information relating to a position of the tracking marker in a second coordinate space when the robotic arm is in each of the plurality of different poses, wherein the navigation system is configured to detect a first position of the tracking marker at a first time during a surgical procedure when the robotic arm is in a first pose of the plurality of different poses, and to detect a second position of the tracking marker at a second time during the surgical procedure when the robotic arm is in a second pose of the plurality of different poses, and wherein at least one of the first pose and the second pose correspond to a pose in which the robotic arm is in contact with a designated location; and

compare the positions of the tracking marker in the first coordinate space to the positions of the tracking marker in the second coordinate space.

2. The surgical robotic navigation system of claim 1 , wherein the plurality of different poses creates a time-spaced robotic reference frame.

3. The surgical robotic navigation system of claim 1 , wherein at least one of the plurality of different poses corresponds to a maximum extension of the robotic arm.

4. The surgical robotic navigation system of claim 1 , wherein the robotic arm comprises a plurality of tracking markers secured thereto, wherein each tracking marker in the plurality of tracking markers is configured to emit or reflect light that is detectable by the tracking marker sensor.

5. The surgical robotic navigation system of claim 1 , wherein the tracking marker is a first tracking marker configured to emit or reflect light with a first wavelength, and wherein the robotic arm comprises a second tracking marker configured to emit or reflect light with a second wavelength that is different than the first wavelength.

6. The surgical robotic navigation system of claim 1 , wherein the tracking marker is a first tracking marker configured to emit light in pulses at a first frequency, and wherein the robotic arm comprises a second tracking member configured to emit light in pulses at a second frequency that is different than the first frequency.

7. The surgical robotic navigation system of claim 1 , wherein the robotic arm is a first robotic arm, wherein the tracking marker is a first tracking marker, and wherein:

the surgical robotic navigation system further comprises a second robotic arm that includes a second tracking marker;

the navigation system is configured to identify positions of the second tracking marker in the first coordinate space; and

the memory includes instructions for execution by the at least one processor that, when executed, cause the at least one processor to compare the positions of the second tracking marker in the first coordinate space to positions of the second tracking marker in the second coordinate space.

8. The surgical robotic navigation system of claim 1 , wherein the robotic arm is a first robotic arm, wherein the tracking marker is a first tracking marker, and wherein:

the surgical robotic navigation system further comprises a second robotic arm that includes a second tracking marker;

the navigation system is configured to identify positions of the second tracking marker in a third coordinate space different than the first coordinate space and the second coordinate space; and

the memory includes instructions for execution by the at least one processor that, when executed, cause the at least one processor to compare the positions of the second tracking marker in the first coordinate space to positions of the second tracking marker in the third coordinate space.

9. The surgical robotic navigation system of claim 8 , wherein the second time is after the first time and the second position is different than the first position, wherein the designated location corresponds to a specific location on a patient, and wherein the third coordinate space comprises a patient space.

10. The surgical robotic navigation system of claim 9 , wherein the memory stores additional instructions for execution by the processor that, when executed, cause the at least one processor to:

register the first coordinate space to the second coordinate space and the third coordinate space based at least on the detected first position, the detected second position, the designated location, and the information.

11. The surgical robotic navigation system of claim 1 , wherein the received information is obtained independently of the tracking marker sensor.

12. A method of surgical navigation utilizing a time-spaced robotic reference frame, comprising:

receiving, from a tracking marker sensor, first information about positions of a tracking marker over a plurality of different times during a surgical procedure, the tracking marker secured to a robotic arm of a robot and the first information collectively defining a unique shape in a navigation coordinate system, wherein the robotic arm is in contact with a designated location for at least one time in the plurality of different times;

receiving, from a robotic system, second information corresponding to positions of the tracking marker in a robotic coordinate system at the plurality of different times during the surgical procedure; and

comparing the robotic coordinate system to a navigation coordinate system based on the first information and the second information, wherein comparing the robotic coordinate system to the navigation coordinate system based on the first information and the second information includes registering the robotic coordinate system to the navigation coordinate system.

13. The method of claim 12 , wherein the robotic system is configured to move the robotic arm to a first pose at a first one of the plurality of different times, wherein the first pose corresponds to an extension of the robotic arm in a first direction, wherein the robotic system is configured to move the robotic arm to a second pose at a second one of the plurality of different times, and wherein the second pose corresponds to an extension of the robotic arm in a second direction different than the first direction.

14. The method of claim 13 , wherein the first direction is orthogonal to the second direction.

15. The method of claim 12 , wherein each of the plurality of different times occurs during a continuous movement of the robotic arm.

16. The method of claim 12 , wherein the tracking marker sensor receives information about positions of a plurality of tracking markers over the plurality of different times, wherein the plurality of tracking markers are secured to the robotic arm of the robot.

17. The method of claim 16 , wherein the registering is not based on any information about any tracking marker not fixed to the robotic arm.

18. The method of claim 12 , wherein the second information comprises information about a position at which the tracking marker is fixedly secured to the robotic arm.

19. The method of claim 12 , further comprising:

operating the robot based on the comparison.

20. A device for surgical navigation utilizing a time-spaced robotic reference frame, comprising:

at least one communication interface for receiving information from a robot;

at least one tracking marker sensor configured to detect a tracking marker on a robotic arm of the robot;

at least one processor; and

at least one memory storing instructions for execution by the at least one processor that, when executed, cause the at least one processor to:

receive, from the robot, information corresponding to a pose of the robotic arm at each of a plurality of different times during a surgical procedure, wherein the robotic arm is in contact with a designated location for at least one pose of the robotic arm;

receive, from the at least one tracking marker sensor, data corresponding to a detected position of the tracking marker at each of the plurality of different times during the surgical procedure; and

combine the information and the data to generate a custom, time-spaced reference frame.

21. The device of claim 20 , wherein the at least one memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to:

confirm a position of an object in a predetermined coordinate space based on creation of the custom, time-spaced reference frame.

22. The device of claim 20 , wherein the at least one memory stores additional instructions for execution by the at least one processor that, when executed, further cause the at least one processor to determine the pose of the robotic arm at each of the plurality of different times in which each pose is configured to avoid collisions with external objects near the robotic arm.

23. The device of claim 20 , wherein the at least one tracking marker sensor is configured to detect a tracking marker on each of a plurality of robotic arms, the information corresponds to a pose of each of the plurality of robotic arms at each of the plurality of different times, and the data corresponds to a detected position of the tracking marker at each of the plurality of different times.

24. The device of claim 20 , wherein the information corresponds to a predicted pose of the robotic arm at each of the plurality of different times.

Assignments (1)

Continuity (2)

References Cited (102)