Bone motion tracking system
AssigneeIntegrated Surgical Systems, Inc.
InventorsBrent D. Mittelstadt, Steven M. Cohan
Life of this patent
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Abstract
A method of tracking and compensating for bone motion when operating on bone (50) with surgical robotic arm (20), comprising: determining a spatial relationship between surgical robotic arm (20) and bone (50); tracking translational and rotational movements of bone (50) with a bone motion detector, which preferably comprises a passive mechanical arm (40); and updating the spatial relationship as bone (50) moves.
Claims22
A method of tracking and compensating for bone motion when operating on a bone with a surgical robotic arm, comprising:
- registering the surgical robotic arm to the bone with a six degree of freedom position sensor;
- tracking movements of the bone with the six degree of freedom position sensor;
- and
- updating the registration as the bone moves.
A method of tracking and compensating for bone motion when operating on a bone with a surgical robotic arm, comprising:
- registering the surgical robotic arm to the bone
- tracking movements of the bone with a bone motion detector by:
- securing a distal end of a six-degree-of-freedom mechanical arm to the bone;
- and
- tracking translational movement of the distal end of the mechanical arm as distal end of the mechanical arm moves with the bone;
- and
- updating the registration as the bone moves.
A method of ceasing operation of a surgical robotic arm in response to bone movement, comprising:
- registering the surgical robotic arm to the bone with a six degree of freedom position sensor;
- tracking translational and rotational movement of the bone with the six degree of freedom position sensor;
- and
- ceasing operation of the surgical robotic arm when the six degree of freedom position sensor has detected a threshold amount of movement.
A method of tracking and compensating for bone motion when operating on a bone with a surgical robotic arm, comprising:
- (a) registering the surgical robotic arm to the bone by transforming a bone image data set representing an image of the bone into a robotic coordinate system of the surgical robotic arm by:
- registering a bone digitizer arm to the robotic coordinate system,
- generating a digitized bone data set by taking bone surface position measurements with the digitizer arm, and
- transforming the bone image data set into the robotic coordinate system by performing a best fit calculation between coordinates of the bone image data set and corresponding coordinates of the digitized bone data set;
- (b) tracking movements of the bone with a bone motion detector;
- and
- (c) updating the registration as the bone moves.
Dependencies are inferred from the claim text.