# US 12,594,001 B2 · Apparatus for recording probe movement

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- Number: US 12,594,001 B2
- Document ID: US12594001B2
- Status: Granted
- Kind: B2
- Application number: 18/176,751
- Filed: 2023-03-01
- Published: 2023-09-07
- Granted: 2026-04-07
- Earliest claimed: 2012-06-21
- Assignees: Globus Medical, Inc.
- Applicants: Globus Medical, Inc.
- Inventors: Norbert Johnson; Neil Crawford; Weston Healy; Sanjay M. Joshi; Thomas Calloway; Joshua Cige
- Web page: https://patentgrep.com/patent/US12594001B2

## CPC

- A61B 5/064: {using markers (A61B5/062 takes precedence)}
- A61B 5/066: {Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging}
- A61B 17/1671: {for the spine}
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 34/30: Surgical robots
- A61B 34/32: operating autonomously
- A61B 90/96: using barcodes
- A61B 90/98: using electromagnetic means, e.g. transponders
- A61F 2/4465: {having a circular or kidney shaped cross-section substantially perpendicular to the axis of the spine}
- A61F 2/4611: {of spinal prostheses}
- A61B 17/17: Guides {or aligning means} for drills {, mills, pins or wires}
- A61B 17/1757: {for the spine}
- A61B 90/11: with guides for needles or instruments, e.g. arcuate slides or ball joints
- A61B 2017/00876: {magnetic}
- A61B 2034/105: {Modelling of the patient, e.g. for ligaments or bones}
- A61B 2034/2051: {Electromagnetic tracking systems}
- A61B 2034/2055: {Optical tracking systems}
- A61B 2034/2057: {Details of tracking cameras}
- A61B 2034/2059: {Mechanical position encoders}
- A61B 2034/2072: {Reference field transducer attached to an instrument or patient}
- A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes}
- A61B 2090/034: {abutting on parts of the device itself}
- A61B 2090/0811: {for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument}
- A61B 2090/363: {Use of fiducial points}
- A61B 2090/365: {augmented reality, i.e. correlating a live optical image with another image}
- A61B 2090/376: {using X-rays, e.g. fluoroscopy}
- A61B 2090/3762: {using computed tomography systems [CT]}
- A61B 2090/3764: {with a rotating C-arm having a cone beam emitting source}
- A61B 2090/3937: {Visible markers}
- A61B 2090/3945: {Active visible markers, e.g. light emitting diodes}
- A61B 2090/3983: {Reference marker arrangements for use with image guided surgery}
- 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)}
- A61F 2/4603: {for insertion or extraction of endoprosthetic joints or of accessories thereof}
- A61F 2002/3008: {radio-opaque, e.g. radio-opaque markers}
- A61F 2002/30538: {for adjusting angular orientation}
- A61F 2002/4627: {with linear motion along or rotating motion about the instrument axis or the implantation direction, e.g. telescopic, along a guiding rod, screwing inside the instrument}
- A61F 2002/4628: {with linear motion along or rotating motion about an axis transverse to the instrument axis or to the implantation direction, e.g. clamping}
- A61F 2002/4632: {using computer-controlled surgery, e.g. robotic surgery}
- G06N 20/00: Machine learning
- 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)
- G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS

## Abstract

A method and system for determining an extent of matter removed from a targeted anatomical structure are disclosed. The method includes acquiring an initial representation of a targeted anatomical structure and then removing matter from the targeted anatomical structure. An instrument is then navigated within the targeted anatomical structure. The instrument includes a tracking array, and a relative position of the instrument within the targeted anatomical structure is determined by the tracking array. The method includes recording the relative position of the instrument within the targeted anatomical structure to determine a final representation of the targeted anatomical structure. Finally, the method includes determining an extent of matter removed from the targeted anatomical structure by comparing the initial representation of the targeted anatomical structure with the final representation of the targeted anatomical structure. Indicators are provided to convey the extent of matter remaining within the targeted anatomical structure.

## Claims

### Claim 1

A robotic tracking and delivery system comprising:
an instrument configured to deliver biologics to a targeted anatomical structure, the instrument including a syringe having a body having a chamber for containing the biologics and a plunger slidably coupled to the body along a central longitudinal axis, the body of the instrument including two and only two spaced apart optical markers and the plunger including a movable optical marker directly attached to the plunger;
at least one camera configured to detect a position of the instrument plunger relative to the instrument body via the two optical markers and the movable optical marker; and
a computer system including a display, the computer system configured to record the position of the instrument plunger relative to the instrument body, and the display configured to illustrate a displacement of biologics within the instrument by tracking the positioning of the two optical makers and the movable optical maker.

### Claim 2 (depends on 1)

The robotic tracking and delivery system of claim 1, wherein the computer system is configured to provide an indication of the volume of biologics delivered based on the relative position of the two optical makers relative to the movable optical marker of the instrument.

### Claim 3 (depends on 1)

The robot tracking and delivery system of claim 1, wherein the instrument is coupled to an end effector of a robot.

### Claim 4 (depends on 1)

The robot tracking and delivery system of claim 1, wherein the instrument includes an end effector coupled to a robot arm of the robot tracking and delivery system.

### Claim 5 (depends on 1)

The robotic tracking and delivery system of claim 1, wherein the plunge is coupled to a trigger that causes the plunger to be moved within the body of the syringe.

### Claim 6 (depends on 1)

The robotic tracking and delivery system of claim 1, wherein the computer system includes a robot having a robotic arm, and the robotic arm is configured to navigate the instrument by comparing data regarding the volume of biologics delivered within the targeted anatomical structure and data regarding the initial volume within the instrument based on tracking of the two optical markers and the movable optical marker.

### Claim 7 (depends on 1)

The robotic tracking and delivery system of claim 1, wherein the movable optical marker is disposed on a distal end of the plunger at a pre-determined position with respect to the central longitudinal axis.

### Claim 8 (depends on 1)

The robotic tracking and delivery system of claim 1, wherein the computer system is configured to provide a dynamic indicator of an extent of matter remaining in the syringe as the moveable maker is moved during use.

### Claim 9 (depends on 8)

The robotic tracking and delivery system of claim 8, wherein the instrument is flexible.

### Claim 10 (depends on 1)

The robotic tracking and delivery system of claim 1, wherein the computer system includes a robot having a robotic arm and an end-effector coupled to the robotic arm, and the end-effector includes a guide tube configured to receive the instrument.

### Claim 11 (depends on 10)

The robotic tracking and delivery system of claim 10, wherein the robotic arm includes a secondary tracking array, and the at least one camera is configured to detect a relative position of the robotic arm to the targeted anatomical structure via the secondary tracking array.