# US 2014/0155735 A1 · Methods, Devices, And Systems Useful In Registration

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- Number: US 2014/0155735 A1
- Document ID: US20140155735A1
- Status: Published application
- Kind: A1
- Application number: 13/960,711
- Filed: 2013-08-06
- Published: 2014-06-05
- Earliest claimed: 2007-04-16
- Inventors: Alexander Greer; Garnette Sutherland; Tim Fielding; Perry Newhook; Scott King; Calvin Bewsky; Jarod Matwiy; Boguslaw Tomanek; Mike Smith
- Web page: https://patentgrep.com/patent/US20140155735A1

## CPC

- A61B 5/064: {using markers (A61B5/062 takes precedence)}
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 34/30: Surgical robots
- A61B 90/36: {Image-producing devices or illumination devices not otherwise provided for}
- A61B 90/14: Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
- A61B 2034/207: {Divots for calibration}
- A61B 2090/364: {Correlation of different images or relation of image positions in respect to the body}
- A61B 2090/374: {NMR or MRI}
- A61B 2090/392: {Radioactive markers}
- A61B 2090/3954: {magnetic, e.g. NMR or MRI}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

Methods, devices, and systems for use in accomplishing registration of a patient to a robot to facilitate image guided surgical procedures, such as stereotactic procedures.

## Claims

### Claim at position 1

1-58. (canceled)

### Claim 59

A device comprising:
a. a radio-frequency (RF) coil;
b. a first structure coupled to the RF coil, the first structure having:
i. multiple magnetic resonance imaging-visible markers; and
ii. multiple touch point features configured to interface with a registration tool during a physical registration process, each touch point feature having a fixed spatial relationship to at least one magnetic resonance imaging-visible marker.

### Claim 60

A device comprising:
a. a radio-frequency (RF) coil;
b. a first structure coupled to the RF coil,
c. an attachment mechanism providing the first structure with adjustment in at least four degrees of freedom of movement when the device is fixed to a patient's head, the at least four degrees of freedom of movement including translation in a head-foot direction of the patient, translation in an up-down direction, movement comprising azimuthal rotation, and movement comprising tilting.

### Claim 61 (depends on 75)

The device according to claim 75, wherein the attachment mechanism comprises:
a translation bracket fixed to the first structure;
a vertical strut coupled to the translation bracket for linear translation and angular displacement of the translation bracket relative to the vertical strut;
an upper arch coupled to the vertical strut for linear translation and angular displacement of the vertical strut relative to the upper arch; and
a lower structure coupled to the upper arch;
wherein:
translation of the first structure in the head-foot direction of the patient involves linear translation of the translation bracket relative to the vertical strut;
translation of the first structure in the up-down direction involves linear translation of the vertical strut relative to the upper arch;
movement of the first structure comprising azimuthal rotation involves angular displacement of the vertical strut relative to the upper arch; and movement of the first structure comprising tilting involves angular displacement of the translation bracket relative to the vertical strut.

### Claim 62 (depends on 76)

The device of claim 76, wherein the first structure includes:
multiple magnetic resonance imaging-visible markers; and
multiple touch point features configured to interface with a registration tool during a physical registration process, each touch point feature having a fixed spatial relationship to at least one magnetic resonance imaging-visible marker.

### Claim 63 (depends on 74)

The device according to claim 74, wherein the first structure includes multiple recesses, each of the recesses for receiving one of the magnetic resonance imaging-visible markers.

### Claim 64 (depends on 78)

The device according to claim 78, further comprising a plurality of removable caps, each cap operatively coupled to the first structure to cover one of the recesses, each of the caps configured to provide one of the touch point features.

### Claim 65 (depends on 79)

The device according to claim 79, configured to withstand a sterilization process while maintaining both the visibility under magnetic resonance imaging of the magnetic resonance imaging-visible markers and the signal-to-noise performance of the device.

### Claim 66 (depends on 74)

The device according to claim 74, further comprising a second radio-frequency coil coupled to the first structure, wherein the second radio frequency coil is optionally smaller than the RF coil, and wherein the second radio-frequency coil is optionally capable of achieving higher signal-to-noise ratio in magnetic resonance imaging than is achievable by the RF coil.