System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
AssigneeGlobus Medical, Inc.
InventorsNeil R. Crawford, Francisco Ponce
Life of this patent
Estimating the term…
Abstract
A position is determined for each fiducial marker of a plurality of fiducial markers in an image volume. Based on the determined positions, a position and orientation of the registration fixture with respect to the anatomical feature is determined. A position is determined for each tracked marker of a first plurality of tracked markers on the registration fixture and a second plurality of tracked markers on the robot arm in a tracking data frame. Based on the determined positions of tracked markers, a position and orientation of the registration fixture and the robot arm of a surgical robot with respect to the tracking space are determined.
Claims20
A method for performing a surgical procedure, said method comprising:
- providing a system including:
- a computer system,
- a registration fixture, in electronic communication with the computer system, configured to be fixed with respect to an anatomical feature of a patient,
- a plurality of fiducial markers configured to be fixed with respect to the registration fixture,
- a tracking data frame defining a tracking space, the tracking data frame including a first plurality of tracked markers that are fixed with respect to the registration fixture, and
- an electrode;
- positioning the electrode within the anatomical feature;
- and
- determining, by the computer system, a number of times a planned trajectory of the electrode passes through brain folds.
A method for performing a medical procedure, said method comprising:
- providing a system including:
- a computer,
- a registration fixture, in electronic communication with the computer, configured to be fixed with respect to an anatomical feature of a patient,
- a plurality of fiducial markers configured to be fixed with respect to the registration fixture,
- a tracking data frame defining a tracking space, the tracking data frame including a first plurality of tracked markers that are fixed with respect to the registration fixture, and
- a plurality of Stereo-EEG depth electrodes;
- positioning the plurality of Stereo-EEG depth electrodes within the anatomical feature;
- and
- determining, by the computer system, a number of times a planned trajectory of one of the plurality of Stereo-EEG depth electrodes passes through brain folds.
A method for performing a surgical procedure, said method comprising:
- providing a robotic system including:
- a computer system,
- a robotic arm coupled to a base, the robotic arm in electronic communication with the computer system,
- a registration fixture, in electronic communication with the computer system, configured to be fixed with respect to an anatomical feature of a patient,
- a plurality of fiducial markers configured to be fixed with respect to the registration fixture,
- a tracking data frame defining a tracking space, the tracking data frame including a first plurality of tracked markers that are fixed with respect to the registration fixture, and
- an electrode,
- positioning the electrode within the anatomical feature;
- and
- determining, by the computer system, a number of times a planned trajectory of the electrode passes through brain folds.
Dependencies are inferred from the claim text.