Single origin marker assemblies and methods for their use
AssigneeLEM Surgical AG
InventorsYossi BAR, Lior KIMRON, Matvey RZHAVSKIY
Life of this patent
Estimating the term…
Abstract
An integrated marker system used for registration of a pre-operative images with a surgical robot and subsequent robotic navigation during a robotic surgical procedure in includes a registration marker removably pre-attached to a navigation marker in a predetermined relative orientation. The integrated marker system may be placed on a patient's bony anatomy and used in an initial registration step. After completing registration, the registration marker may be removed leaving navigation marker available for robotic navigation and patient tracking.
Claims11
A robotic surgical system comprising:
- an integrated surgical marker comprising a registration marker removably pre-attached to a navigation marker in a predetermined fixed relative orientation, wherein the predetermined fixed relative orientation will be maintained after the registration marker is removed and reattached to the navigation marker;
- a surgical robot comprising at least one robotic arm and a controller, wherein the controller is configured to (a) register an image of a patient's bony anatomy to a robotic coordinate system based upon a location of the registration marker in the image while the registration marker is initially attached to the navigation marker, (b) control motion of the at least one robotic arm based upon a tracked location of the navigation marker after the registration marker has been removed from the navigation marker, and reregister an image of a patient's bony anatomy to the robotic coordinate system based upon the location of the registration marker in the image when the registration marker is reattached to the navigation marker.
-21. (canceled)
An integrated surgical marker comprising:
- a navigation marker having an attachment feature configured to be removably attached to a patient's bony anatomy;
- and
- a registration marker removably pre-attached to the navigation marker in a predetermined fixed orientation relative to the navigation marker, wherein the predetermined fixed relative orientation will be maintained after the registration marker is removed and reattached to the navigation marker.
Dependencies are inferred from the claim text.