US 11,918,297 B2
System and method for registration between coordinate systems and navigation
Victor D. Snyder, Erie, CO (US); Matthew F. Dicorleto, Boulder, CO (US); Joseph Moctezuma, Golden, CO (US); David E. Macht, Littleton, CO (US); Jeremiah R. Beers, Westminster, CO (US); Katherine M. Puckett, Denver, CO (US); Katharine E. Darling, Arvada, CO (US); Leonid Kleyman, Atzmon-Segev (IL); Dany Junio, Tel Aviv (IL); Dana Gazit-Ankori, Zichron Yaakov (IL); Eliyahu Zehavi, Haifa (IL); Elad Ratzabi, Ramat Gan (IL); Aviv Ellman, Kfar-Saba (IL); and Timothy M. Conkin, Superior, CO (US)
Assigned to Mazor Robotics Ltd., Caesarea (IL)
Filed by MAZOR ROBOTICS LTD., Caesarea (IL)
Filed on Jan. 10, 2019, as Appl. No. 16/244,369.
Prior Publication US 2020/0222122 A1, Jul. 16, 2020
Int. Cl. A61B 34/20 (2016.01); A61B 5/06 (2006.01); A61B 34/30 (2016.01); G06T 7/32 (2017.01)
CPC A61B 34/20 (2016.02) [A61B 5/061 (2013.01); A61B 34/30 (2016.02); G06T 7/32 (2017.01); A61B 2034/2051 (2016.02); A61B 2034/2059 (2016.02); G05B 2219/39401 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method to form a single virtual tracking device with a trackable member, associated with a moveable member that is moveable relative to a base member, the method comprising:
defining a navigation space with a navigation tracking system;
positioning the trackable member in the navigation space with the moveable member at a first position;
defining the single virtual tracking device with the trackable member by moving the trackable member between the first position and a second position;
performing a navigation system tracking by (i) tracking the first position of the moveable member with the navigation tracking system and (ii) tracking the second position of the moveable member with the navigation tracking system;
performing a moveable member tracking system tracking separate from the navigation tracking system by (i) tracking the first position with the moveable member tracking system separate from the navigation tracking system and (ii) tracking the second position with a moveable member tracking system separate from the navigation tracking system; and
correlating the navigation tracking system tracking and the moveable member tracking system tracking with the defined single virtual tracking device;
wherein the defined single virtual tracking device is defined by both the first and second positions of the trackable member used in concert and coordinated to define a single virtual larger than the trackable member to provide greater navigation accuracy.