US 12,133,693 B2
Method for automatic detection of instrument orientation for robotic surgery
Nils Frielinghaus, Munich (DE); and Mohamed Ahmed Fouad Barakat, Munich (DE)
Assigned to Brainlab AG, Munich (DE)
Appl. No. 16/646,786
Filed by Brainlab AG, Munich (DE)
PCT Filed Jul. 17, 2019, PCT No. PCT/EP2019/069270
§ 371(c)(1), (2) Date Mar. 12, 2020,
PCT Pub. No. WO2020/016312, PCT Pub. Date Jan. 23, 2020.
Claims priority of application No. PCT/EP2018/069791 (WO), filed on Jul. 20, 2018.
Prior Publication US 2020/0261161 A1, Aug. 20, 2020
Int. Cl. A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61B 90/50 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 34/30 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2059 (2016.02); A61B 2090/3945 (2016.02); A61B 2090/3983 (2016.02); A61B 90/50 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method of automatically determining an orientation of a medical instrument base in relation to a robotic system, the method comprising:
acquiring time resolved first movement data associated with a movement of the robotic system relative to a first reference, wherein the acquiring the time resolved first movement data comprises defining a start time point associated with an initial position of the robotic system and an end time point associated with a final position of the robotic system, and recording at least the initial position of the robotic system and the final position of the robotic system; and
acquiring time resolved second movement data associated with a movement of a marker device relative to a second reference, wherein the acquiring the time resolved second movement data comprises defining a start time point associated with an initial position of the marker device and an end time point associated with a final position of the marker device, and recording at least the initial position of the marker device and the final position of the marker device, wherein the start time points designate the same time point and the end time points designate the same time point,
wherein the marker device is attached to the medical instrument base,
wherein the medical instrument base is movably attached to the robotic system, the method further comprising:
determining a relative movement of the robotic system from the start time point associated with its recorded initial position to the end time point associated with its recorded final position;
determining a relative movement of the medical instrument base from the start time point associated with its recorded initial position to the end time point associated with its recorded final position;
determining that the time resolved first movement data and the time resolved second movement data are suitable for determining the orientation;
comparing the time resolved first movement data and the time resolved second movement data and determining a comparison result, wherein comparing the time resolved first movement data and the time resolved second movement data comprises comparing the relative movement of the robotic system with the relative movement of the medical instrument base from the start time point to the end time point; and
determining, using the comparison result, the orientation of the medical instrument base in relation to the robotic system,
wherein the acquisition of the time resolved first movement data is carried out marker-less.