US 12,279,834 B2
Detection of unintentional movement of a reference marker and automatic re-registration
Robb Colbrunn, Hinckley, OH (US); Callan Gillespie, Cleveland, OH (US); and Joshua Golubovsky, Cleveland, OH (US)
Assigned to THE CLEVELAND CLINIC FOUNDATION, Cleveland, OH (US)
Filed by THE CLEVELAND CLINIC FOUNDATION, Cleveland, OH (US)
Filed on Feb. 8, 2023, as Appl. No. 18/107,349.
Claims priority of provisional application 63/307,665, filed on Feb. 8, 2022.
Prior Publication US 2023/0248443 A1, Aug. 10, 2023
Int. Cl. A61B 34/20 (2016.01); A61B 34/32 (2016.01); A61B 90/00 (2016.01); B25J 9/16 (2006.01); A61B 34/30 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 34/32 (2016.02); A61B 90/03 (2016.02); A61B 90/39 (2016.02); B25J 9/1664 (2013.01); A61B 2034/302 (2016.02); A61B 2090/036 (2016.02); A61B 2090/3983 (2016.02)] 11 Claims
OG exemplary drawing
 
1. A navigation system comprising:
a reference marker detectable by an image acquisition device and configured to be positioned on a portion of a patient's anatomy;
at least one bump detection sensor having a lower profile than the reference marker, wherein the reference marker, the at least one bump detection sensor, and the portion of the patient's anatomy are image registered at an initial image registration time;
a computing device comprising:
a memory storing instructions and data, including a static relationship between a position of the at least one bump detection senserand a position of the reference marker at the initial image registration time and a static relationship between the position of the reference marker and a position of the portion of the patient's anatomy at the initial image registration time; and
a processor configured to access the memory to execute the instructions to at least: receive position data of an actual position of the reference marker at a time;
receive position data of an actual position of each of the at least one bump detection sensor at the time;
determine a delta matrix based on the position data of the actual position of the reference marker at the time, the position data of the actual position of each of the at least one bump detect sensor at the time, and the static relationship between the positions of the at least one bump detection senser and the reference marker at the initial image registration time;
determine the shift in the actual position of the reference marker relative to the position of the anatomy at the time based on the delta matrix and the static relationship between the positions of the reference marker and the portion of the patient's anatomy at the initial image registration time; and
determine whether automatic re-registration is required based on one or more predefined thresholds.