US 12,268,506 B2
System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
Neil R. Crawford, Chandler, AZ (US); and Francisco Ponce, Phoenix, AZ (US)
Assigned to Globus Medical, Inc., Audubon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on Jun. 27, 2023, as Appl. No. 18/342,144.
Application 18/342,144 is a continuation of application No. 17/737,599, filed on May 5, 2022, granted, now 11,737,696.
Application 17/737,599 is a continuation of application No. 16/380,413, filed on Apr. 10, 2019, granted, now 11,382,549, issued on Jul. 12, 2022.
Application 16/380,413 is a continuation in part of application No. 16/361,863, filed on Mar. 22, 2019, abandoned.
Prior Publication US 2024/0008788 A1, Jan. 11, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 5/24 (2021.01); A61B 5/00 (2006.01); A61B 34/00 (2016.01); A61B 90/14 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 5/24 (2021.01) [A61B 5/6868 (2013.01); A61B 34/76 (2016.02); A61B 90/14 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2072 (2016.02); A61B 2034/302 (2016.02); A61B 2090/374 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/3983 (2016.02); A61B 2560/063 (2013.01); A61B 2562/0209 (2013.01)] 20 Claims
OG exemplary drawing
 
17. A system for performing a surgical procedure, said system comprising:
a computer system;
a robotic arm coupled to a base, the robotic arm in electronic communication with the computer system;
a registration fixture configured to be fixed with respect to an anatomical feature of a patient;
a plurality of fiducial markers configured to be fixed with respect to the registration fixture;
a tracking data frame defining a tracking space, the tracking data frame including a first plurality of tracked markers that are fixed with respect to the registration fixture; and
an electrode configured to be positioned within the anatomical feature,
wherein the computer system is configured to determine a number of times a planned trajectory of the electrode passes through brain folds.