Robotic navigation of robotic surgical systems

• US 10,420,616 B2
• Filed: 01/18/2018
• Issued: 09/24/2019
• Est. Priority Date: 01/18/2017
• Status: Active Grant

• Current Assignee: KB Medical SA (Globus Medical, Inc.)
• Original Assignee: Globus Medical, Inc.
• Inventors: Kostrzewski, Szymon, Wismer, Jean-Marc, Gehriger, Daniel, Berthelin, Roderik
• Primary Examiner(s): Azima, Shaghayegh
• Application Number:
  US15/874,695
• Publication Number:
  US 20180200002A1
• Time in Patent Office: 614 Days
• CPC Class Codes: A61B 17/1615 Drill bits, i.e. rotating tools extending from a handpiece to contact the worked material
• CPC Class Codes: A61B 17/1671 for the spine
• CPC Class Codes: A61B 2017/00694 with means correcting for movement of or for synchronisation with the body
• CPC Class Codes: A61B 2017/00902 transparent or translucent
• CPC Class Codes: A61B 2034/104 Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2046 Tracking techniques
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/207 Divots for calibration
• CPC Class Codes: A61B 2034/252 indicating steps of a surgical procedure
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/376 : using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/3762 : using computed tomography systems [CT]
• CPC Class Codes: A61B 2090/378 : using ultrasound
• CPC Class Codes: A61B 2090/3983 : Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/20 : Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 : User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 46/10 : specially adapted for instruments, e.g. microscopes
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: G02B 1/043 : Contact lenses
• CPC Class Codes: G02C 2202/16 : Laminated or compound lenses
• CPC Class Codes: G02C 7/049 : Contact lenses having special fitting or structural features achieved by special materials or material structures
• CPC Class Codes: G06T 2207/10016 : Video; Image sequence
• CPC Class Codes: G06T 2207/30012 : Spine; Backbone
• CPC Class Codes: G06T 2207/30196 : Human being; Person
• CPC Class Codes: G06T 2207/30204 : Marker
• CPC Class Codes: G06T 2210/41 : Medical
• CPC Class Codes: G06T 7/33 : using feature-based methods
• CPC Class Codes: G06T 7/344 : involving models
• CPC Class Codes: G06T 7/75 : involving models

Abstract

In certain embodiments, the systems, apparatus, and methods disclosed herein relate to robotic surgical systems with built-in navigation capability for patient position tracking and surgical instrument guidance during a surgical procedure, without the need for a separate navigation system. Robotic based navigation of surgical instruments during surgical procedures allows for easy registration and operative volume identification and tracking. The systems, apparatus, and methods herein allow re-registration, model updates, and operative volumes to be performed intra-operatively with minimal disruption to the surgical workflow. In certain embodiments, navigational assistance can be provided to a surgeon by displaying a surgical instrument'"'"'s position relative to a patient'"'"'s anatomy. Additionally, by revising pre-operatively defined data such as operative volumes, patient-robot orientation relationships, and anatomical models of the patient, a higher degree of precision and lower risk of complications and serious medical error can be achieved.

Claims

1. A method of updating a model of a patient'"'"'s anatomy after a volume of the patient'"'"'s anatomy removal with an instrument attached to an end-effector of a robotic arm of a robotic surgical system, the method comprising the steps of:

receiving, by a processor of a computing device, haptic feedback, from a force sensor attached directly or indirectly to the robotic arm, prompted by movement of the end-effector determining, by the processor, that the haptic feedback corresponds to contact of the instrument with a material;

determining, by the processor, a set of spatial coordinates, wherein the set of spatial coordinates comprises a spatial coordinate for each contact of the instrument with the material, expressed using a robot coordinate system, wherein each spatial coordinate corresponds to a point on a surface of the volume of the patient'"'"'s anatomy;

receiving, by the processor, a set of medical image data coordinates that correspond to the surface of the volume of the patient'"'"'s anatomy, wherein each medical image data coordinate in the set of medical image data coordinates is expressed using a medical image data coordinate system;

receiving, by the processor, a coordinate mapping between the robot coordinate system and the medical image data coordinate system;

determining, by the processor, one or more interior spatial coordinates in the set of spatial coordinates that correspond to points inside the surface of the volume of the patient'"'"'s anatomy based on the set of medical image data coordinates and the coordinate mapping;

generating, by the processor, a set of interior medical image data coordinates, wherein the set of interior medical image data coordinates comprises a interior medical image data coordinate for each of the one or more interior spatial coordinates using the coordinate mapping;

modifying, by the processor, the set of medical image data coordinates that define the surface of the volume of the patient'"'"'s anatomy with the set of interior medical image data coordinates such that a first volume defined by the set of medical image data coordinates is larger than a second volume defined by the modified set of medical image data coordinates; and

storing, by the processor, the modified set of medical image data coordinates, thereby updating the model of the patient'"'"'s anatomy.