US 12,408,843 B2
Navigation system for and method of tracking the position of a work target
Hans Schoepp, Freiburg (DE); Jochen Breisacher, Teningen (DE); and Juergen Kaltenbrunn, Loeffingen (DE)
Assigned to Stryker European Operations Holdings LLC, Portage, MI (US)
Filed by Stryker European Operations Holdings LLC, Kalamazoo, MI (US)
Filed on Dec. 22, 2022, as Appl. No. 18/086,784.
Application 18/086,784 is a continuation of application No. 16/585,870, filed on Sep. 27, 2019, granted, now 11,540,742.
Application 16/585,870 is a continuation of application No. 14/710,998, filed on May 13, 2015, granted, now 10,575,756, issued on Mar. 3, 2020.
Claims priority of application No. 14001698 (EP), filed on May 14, 2014.
Prior Publication US 2023/0117183 A1, Apr. 20, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 5/06 (2006.01); A61B 34/20 (2016.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01)
CPC A61B 5/061 (2013.01) [A61B 34/20 (2016.02); A61B 2017/00946 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2072 (2016.02); A61B 2090/364 (2016.02); A61B 2090/3983 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical navigation system for tracking a position of a work target located inside a patient's body in a surgical operating room, wherein the body is compressible and has a distortable outer surface, the surgical navigation system comprising:
a trackable device comprising a plurality of tracking points configured to be secured to the distortable outer surface of the patient's body, wherein the plurality of tracking points are configured to be moveable relative to each other when secured to the distortable outer surface of the patient's body; and
a computer-implemented tracking system that is adapted to remotely track the positions of each of the plurality of tracking points of the trackable device relative to a coordinate system, the computer-implemented tracking system including a computer processor arrangement adapted to implement a navigation routine that includes:
accessing an initial model of the trackable device, the initial model having an initial shape based on initial locations of a set of tracking points of the plurality of tracking points of the trackable device;
registering the initial model with an initial position of the work target in an image of the work target;
sensing a deformation of the trackable device with the computer-implemented tracking system after registering the initial model and during a surgical procedure;
determining whether the trackable device as deformed is insufficient for tracking the work target during the surgical procedure based on a comparison between an average spatial deviation of two or more tracking points resulting from the deformation and an error threshold;
providing an indication to a user responsive to the trackable device as deformed being determined to be insufficient for tracking the work target during the surgical procedure; and
calculating a current position of the work target from the trackable device as deformed responsive to the trackable device as deformed not being determined to be insufficient for tracking the work target during the surgical procedure,
wherein the trackable device is adapted to be attached to the distortable outer surface of the patient's body so as to extend around a surgical area on the patient without covering the surgical area.