# US 12,004,818 B2 · System and method for performing and evaluating a procedure

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- Number: US 12,004,818 B2
- Document ID: US12004818B2
- Status: Granted
- Kind: B2
- Application number: 17/338,202
- Filed: 2021-06-03
- Published: 2021-09-23
- Granted: 2024-06-11
- Earliest claimed: 2018-06-04
- Assignees: Medtronic Navigation, Inc.
- Applicants: Medtronic Navigation, Inc.
- Inventors: Robert J. Reddy; John B. Clayton
- Web page: https://patentgrep.com/patent/US12004818B2

## CPC

- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations
- A61B 34/25: {User interfaces for surgical systems}
- A61B 90/37: {Surgical systems with images on a monitor during operation}
- A61B 34/30: Surgical robots
- A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback}
- A61B 2017/00115: {with audible or visual output}
- A61B 2017/00119: {alarm; indicating an abnormal situation}
- A61B 2017/00128: {related to intensity or progress of surgical action}
- A61B 2034/2051: {Electromagnetic tracking systems}
- A61B 2034/2055: {Optical tracking systems}
- A61B 2034/2063: {Acoustic tracking systems, e.g. using ultrasound}
- A61B 2034/2074: {Interface software}
- A61B 2034/254: {being adapted depending on the stage of the surgical procedure}
- A61B 2090/3762: {using computed tomography systems [CT]}
- A61F 2/442: {Intervertebral or spinal discs, e.g. resilient (non-disc-shaped intervertebral inflatable pockets A61F2/441; non-disc-shaped intervertebral fusion implants A61F2/4455)}
- A61F 2/4455: {for the fusion of spinal bodies, e.g. intervertebral fusion of adjacent spinal bodies, e.g. fusion cages (intervertebral discs A61F2/442)}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C)

## Abstract

Disclosed is a method and system for performing a procedure. The system may include a navigation system and/or a surgical robot to be used to at least assist in the procedure. The system may assist in delineating objects and/or determining physical characteristics of subject portions. The system may assist in performing and/or a workflow of the procedure.

## Claims

### Claim 1

A system having a navigation system for performing a procedure on a subject, comprising:
an instrument configured to interact with the subject;
a tracking device configured to be tracked and connected to the instrument;
a tracking system configured to track the tracking device;
a display device configured to display at least an image of the subject;
a processor system configured to execute instructions to:
recall a working volume within which a working end of the instrument is selected to travel;
recall a non-working volume within which the working end of the instrument is not to travel;
determine the position of the working end relative to at least one of the working volume or non-working volume by tracking the tracking device with the tracking system; and
output to the display device at least one of (i) a first indication to a user of the determined position of the working end relative to at least one of the working volume or non-working volume or (ii) a second indication to the user of the determined position of the working end relative to at least one of the working volume or non-working volume;
wherein the first indication and the second indication are at a single indication position on the display device that changes from the first indication to the second indication;
wherein the first indication and the second indication are both graphical representations displayed with the display device.

### Claim 2 (depends on 1)

The system of claim 1, wherein the single indication position gradually changes from the first indication to the second indication.

### Claim 3 (depends on 2)

The system of claim 2, wherein the first indication is a first color or first audible alert and the second indication is a second color or second audible alert.

### Claim 4 (depends on 2)

The system of claim 2, wherein the first indication is a first color of a portion of the displayed image of the subject and the second indication is a second color of the portion of the subject.

### Claim 5 (depends on 1)

The system of claim 1, wherein the processor system is further configured to execute instructions to:
change the output for display with the display device from the first indication to the second indication based upon a change in the determined position of the working end relative to at least one of the working volume or non-working volume.

### Claim 6

A system having a navigation system for performing a procedure on a subject, comprising:
an instrument configured to interact with the subject;
a tracking device configured to be tracked and connected to the instrument;
a tracking system configured to track the tracking device;
a display device configured to display at least an image of the subject;
a processor system configured to execute instructions to:
recall a working volume within which a working end of the instrument is selected to travel;
recall a non-working volume within which the working end of the instrument is not to travel;
determine the position of the working end relative to at least one of the working volume or non-working volume by tracking the tracking device with the tracking system; and
output to the display device at least one of (i) a first indication to a user of the determined position of the working end relative to at least one of the working volume or non-working volume or (ii) a second indication to the user of the determined position of the working end relative to at least one of the working volume or non-working volume;
wherein the first indication and the second indication are at a single indication position on the display device and the indication position changes from the first indication to the second indication;
wherein the single indication position includes at least one of a horizontal bar or a vertical bar;
wherein the second indication includes the bar of a greater length than the first indication.