US 12,186,032 B2
Robotic navigation of robotic surgical systems
Szymon Kostrzewski, Lausanne (CH); Jean-Marc Wismer, Lausanne (CH); Daniel Gehriger, Lausanne (CH); and Roderik Berthelin, Lausanne (CH)
Assigned to Globus Medical Inc., Audubon, PA (US)
Filed by KB MEDICAL SA, Audubon, PA (US)
Filed on Jul. 26, 2023, as Appl. No. 18/359,018.
Application 18/359,018 is a continuation of application No. 18/053,942, filed on Nov. 9, 2022, granted, now 11,779,408.
Application 18/053,942 is a continuation of application No. 16/535,166, filed on Aug. 8, 2019, granted, now 11,529,195, issued on Dec. 20, 2022.
Application 16/535,166 is a continuation of application No. 15/874,695, filed on Jan. 18, 2018, granted, now 10,420,616, issued on Sep. 24, 2019.
Claims priority of provisional application 62/447,884, filed on Jan. 18, 2017.
Prior Publication US 2024/0016553 A1, Jan. 18, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/33 (2017.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 46/10 (2016.01); A61B 90/00 (2016.01); G02C 7/04 (2006.01); G06T 7/73 (2017.01); A61B 17/00 (2006.01); A61B 17/16 (2006.01); A61B 34/10 (2016.01); G02B 1/04 (2006.01)
CPC A61B 34/20 (2016.02) [A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/76 (2016.02); A61B 46/10 (2016.02); A61B 90/37 (2016.02); G02C 7/049 (2013.01); G06T 7/33 (2017.01); G06T 7/344 (2017.01); G06T 7/75 (2017.01); A61B 2017/00694 (2013.01); A61B 2017/00902 (2013.01); A61B 17/1615 (2013.01); A61B 17/1671 (2013.01); A61B 2034/104 (2016.02); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2046 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/2068 (2016.02); A61B 2034/207 (2016.02); A61B 2034/252 (2016.02); A61B 2090/064 (2016.02); A61B 2090/065 (2016.02); A61B 2090/363 (2016.02); A61B 2090/364 (2016.02); A61B 2090/374 (2016.02); A61B 2090/376 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/378 (2016.02); A61B 2090/3983 (2016.02); G02B 1/043 (2013.01); G02C 2202/16 (2013.01); G06T 2207/10016 (2013.01); G06T 2207/30012 (2013.01); G06T 2207/30196 (2013.01); G06T 2207/30204 (2013.01); G06T 2210/41 (2013.01)] 18 Claims
OG exemplary drawing
 
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.