Detection of unintentional movement of a reference marker and automatic re-registration

A method comprising:

• retrieving, by a computing device comprising a processor, data comprising a static relationship between a position of at least one bump detection sensor and a position of a reference marker at an initial image registration time and a static relationship between the position of the reference marker and a position of a portion of a patient's anatomy at the initial image registration time, wherein the reference marker is detectable by an image acquisition device and positioned on the portion of the patient's anatomy,
• wherein the reference marker, the at least one bump detection sensor, and the portion of the patient's anatomy are image registered together at the initial image registration time;
• receiving, by the computing device, position data of an actual position of the reference marker at a time as a procedure is being performed on the patient and position data of an actual position of each of the at least one bump detection sensor at the time as the procedure is being performed on the patient;
• determining, by the computing device, a delta matrix based on the position data of the actual position of the reference marker at the time, the position data of the actual position of each of the at least one bump detect sensor at the time, and the static relationship between the positions of the at least one bump detection sensor and the reference marker at the initial image registration time, wherein the delta matrix represents the dynamic relationship between the actual position of the reference marker at the time as the procedure is being performed on the patient and the static position of the reference marker relative to the at least one bump detection sensor at the initial registration time;
• calculating, by the computing device, a quantitative measure of a shift in the actual position of the reference marker relative to the position of the anatomy at the time as the procedure is being performed on the patient by multiplying the delta matrix and the static relationship between the positions of the reference marker and the portion of the patient's anatomy at the initial image registration time;
• deciding, by the computing device, whether automatic re-registration is required by determining if the quantitative measure of the shift in the actual position of the reference marker relative to the position of the anatomy at the time as the procedure is being performed on the patient exceeds one or more predefined thresholds;
• when at least one of the one or more predefined thresholds are exceeded and the automatic re-registration is required:
• performing, by the computing device, the automatic re-registration to update the static relationship between the position of the reference marker and the position of the portion of the patient's anatomy at the initial image registration time with a corrected relationship between the actual position of the reference marker and the portion of the patient anatomy at the time, and
• outputting, to a surgical assistive device, a corrected pose as the procedure is being performed on the patient based on the automatic re-registration.