US 12,446,978 B2
Robotic systems providing co-registration using natural fiducials and related methods
Neil R. Crawford, Chandler, AZ (US); and Norbert Johnson, North Andover, MA (US)
Assigned to Globus Medical, Inc., Audubon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on Mar. 27, 2019, as Appl. No. 16/365,921.
Application 16/365,921 is a continuation of application No. 16/002,047, filed on Jun. 7, 2018, granted, now 11,399,900.
Application 16/002,047 is a continuation in part of application No. 15/157,444, filed on May 18, 2016, granted, now 11,896,446.
Application 15/157,444 is a continuation in part of application No. 15/095,883, filed on Apr. 11, 2016, granted, now 10,893,912.
Application 15/095,883 is a continuation in part of application No. 14/062,707, filed on Oct. 24, 2013, granted, now 10,357,184.
Application 14/062,707 is a continuation in part of application No. 13/924,505, filed on Jun. 21, 2013, granted, now 9,782,229, issued on Oct. 10, 2017.
Claims priority of provisional application 62/634,245, filed on Feb. 23, 2018.
Claims priority of provisional application 61/800,527, filed on Mar. 15, 2013.
Claims priority of provisional application 61/662,702, filed on Jun. 21, 2012.
Prior Publication US 2019/0274765 A1, Sep. 12, 2019
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 17/16 (2006.01); A61B 17/70 (2006.01); A61B 34/20 (2016.01); A61B 34/32 (2016.01); G06T 3/02 (2024.01); G06T 3/147 (2024.01); G06T 7/30 (2017.01); G06T 7/33 (2017.01); A61B 17/00 (2006.01); A61B 17/17 (2006.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01); A61F 2/46 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 17/1671 (2013.01); A61B 17/7082 (2013.01); A61B 34/20 (2016.02); A61B 34/32 (2016.02); G06T 3/02 (2024.01); G06T 3/147 (2024.01); G06T 7/30 (2017.01); G06T 7/33 (2017.01); A61B 2017/00477 (2013.01); A61B 17/1617 (2013.01); A61B 17/1757 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/2068 (2016.02); A61B 2034/2072 (2016.02); A61B 90/361 (2016.02); A61B 2090/363 (2016.02); A61B 2090/364 (2016.02); A61B 2090/367 (2016.02); A61B 2090/373 (2016.02); A61B 2090/376 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/3966 (2016.02); A61B 2090/3983 (2016.02); A61F 2/4611 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/10081 (2013.01); G06T 2207/10088 (2013.01); G06T 2207/20221 (2013.01); G06T 2207/30101 (2013.01); G06T 2207/30204 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method of performing cranial surgery comprising the steps of:
providing a robotic system having a robotic arm configured to position a surgical end effector with respect to an anatomical volume of a patient;
providing a controller coupled with the robotic arm;
providing first data for a first 3-dimensional (3D) image scan of the anatomical volume, wherein the first data identifies a blood vessel node in a first coordinate system for the first 3D image scan;
providing second data for a second 3D image scan of the anatomical volume, wherein the second data identifies the blood vessel node in a second coordinate system for the second 3D image scan, wherein the controller derives the second data by processing the second 3D image scan, which includes traversing a blood vessel in an upstream direction to find the largest blood vessel and then mapping each downstream blood vessel node by its 3D location;
performing co-registering of the first and second coordinate systems for the first and second 3D image scans of the anatomical volume using the blood vessel node identified in the first data and in the second data as a fiducial;
co-registering the second coordinate system for the second 3D image scan and a third coordinate system for the robotic actuator using an artificial fiducial from the second 3D image scan; and
controlling the robotic arm to move the end-effector to a target trajectory relative to the anatomical volume based on the co-registration of the first and second coordinate systems for the first and second 3D image scans using the blood vessel node and based on the co-registration of the second coordinate system for the second 3D image scan and the third coordinate system for the robotic actuator.