US 12,458,451 B2
System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
Hayden Cameron, Philadelphia, PA (US); Spiros Mantzavinos, Nashua, NH (US); and Neil R. Crawford, Chandler, AZ (US)
Assigned to Globus Medical, Inc., Audubon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on Nov. 7, 2023, as Appl. No. 18/503,558.
Application 18/503,558 is a continuation of application No. 16/822,076, filed on Mar. 18, 2020, granted, now 11,806,084.
Application 16/822,076 is a continuation in part of application No. 16/361,863, filed on Mar. 22, 2019, abandoned.
Prior Publication US 2024/0108417 A1, Apr. 4, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/20 (2016.01); A61B 6/03 (2006.01); A61B 90/11 (2016.01); A61B 90/14 (2016.01); A61B 17/34 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61N 1/05 (2006.01)
CPC A61B 34/20 (2016.02) [A61B 6/032 (2013.01); A61B 90/11 (2016.02); A61B 90/14 (2016.02); A61B 17/3403 (2013.01); A61B 2034/2057 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/302 (2016.02); A61B 2090/365 (2016.02); A61B 2090/3937 (2016.02); A61B 2090/3966 (2016.02); A61B 2090/3983 (2016.02); A61N 1/0529 (2013.01)] 20 Claims
OG exemplary drawing
 
11. A surgical robot system comprising:
a tracking device having a plurality of cameras;
a stereotactic frame base configured to be attached to a patient head;
a dynamic reference base (DRB) adjustably attachable to the stereotactic frame base and having a plurality of first tracking markers trackable by the cameras;
a frame reference array (FRA) non-adjustably attachable to the stereotactic frame base and having a plurality of second tracking markers trackable by the cameras;
a ring-arc assembly attachable to the stereotactic frame base;
a surgical robot in communication with the tracking device and including a processor, a robot arm controllable by the processor and an end effector attachable to the robot arm, wherein the processor is configured to:
register a medical image of the patient head to the DRB tracked by the cameras;
position the end effector along a planned trajectory using the registered DRB;
in case the surgical robot becomes unavailable, perform the following steps:
register the medical image to the stereotactic frame base based on simultaneous tracking of the FRA and the DRB by the cameras;
determine manual dial positions of the ring-arc assembly for the planned trajectory based on the registered stereotactic frame base.