US 12,324,710 B2
Method for disassembling a marker array from an array fixation, and array assembly for performing said method
Hervé Collet, Gieres (FR); Nicolas Demanget, Gieres (FR); Elie Fournier, Sassenage (FR); and Alasdair Mercer, Leeds (GB)
Assigned to DePuy Ireland Unlimited Company, Ringaskiddy (IE)
Filed by DePuy Ireland Unlimited Company, Ringaskiddy (IE)
Filed on Oct. 20, 2020, as Appl. No. 17/074,950.
Claims priority of application No. 19204708 (EP), filed on Oct. 22, 2019.
Prior Publication US 2021/0113294 A1, Apr. 22, 2021
Int. Cl. A61B 90/00 (2016.01); A61B 34/30 (2016.01); A61B 34/20 (2016.01)
CPC A61B 90/39 (2016.02) [A61B 34/30 (2016.02); A61B 2034/2055 (2016.02); A61B 2090/3937 (2016.02); A61B 2090/3983 (2016.02); A61B 2090/3991 (2016.02); A61B 2560/0266 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for disassembling a marker array, the marker array having at least three optical markers arranged according to a determined array geometry configured to be detected by a localization camera, from an array fixation to which the marker array is connected, the method comprising:
providing a robot carrying a surgical tool operable to treat an anatomical structure of a patient, wherein the array fixation is attached to the anatomical structure, the robot, or the surgical tool, and wherein the robot is configured to compensate in real time for relative movement between the robot and the anatomical structure, the movement being detected by the localization camera only when all of the optical markers are visible to the localization camera; and
prior to or during disconnecting the marker array from the array fixation, actuating a mechanism configured to selectively obscure at least one optical marker, thereby modifying the array geometry of the marker array so as to disable detection of the marker array by the localization camera and thus real time compensation for movement.