Spinous process clip registration and methods of using spinous process clips

Abstract

A method according to at least one embodiment of the present disclosure includes: receiving a plurality of images depicting a navigation probe to contact a plurality of recesses on a medical device; receiving information about the medical device; and determining a pose of the medical device based on the plurality of images and the information.

Description

Background Art

[0001] The present disclosure relates generally to surgical registration, and more particularly to a registration fixture.

[0002] A surgical robot may assist a surgeon or other medical provider in performing a surgical procedure, or may autonomously complete one or more surgical procedures. Imaging may be used by a medical provider for diagnostic and / or therapeutic purposes. Patient anatomy and tool placement may change over time, particularly after a medical implant is placed in a patient's anatomy. Summary of the invention

[0003] Example aspects of the present disclosure include:

[0004] A method according to at least one embodiment of the present disclosure includes: receiving a plurality of images depicting a navigation probe contacting a plurality of recesses on a medical device; receiving information about the medical device; and determining a pose of the medical device based on the plurality of images and the information.

[0005] In any of the features of this document, the method further includes: updating the surgical plan based on the posture of the medical device.

[0006] Any of the features herein, wherein updating the surgical plan further comprises: registering the medical device to the anatomical element; and determining a new trajectory of the surgical implant based on the registration.

[0007] Any of the features herein, wherein the surgical implant comprises a pedicle screw.

[0008] Any of the features herein, wherein the medical device comprises a bone mounting device, and wherein the information about the medical device comprises information about pre-configured orientations of the plurality of recesses.

[0009] Any of the features of the present invention, wherein determining the posture of the medical device further includes: determining the posture of multiple tracking markers on the navigation probe when the navigation probe contacts each of the multiple recesses; and determining the position of the medical device based on the preconfigured orientation and the determined posture of the tracking markers.

[0010] A system according to at least one embodiment of the present disclosure includes: a processor; and a memory having data stored thereon, which, when processed by the processor, causes the processor to: receive multiple images depicting a navigation probe contacting multiple recessed portions on a surgical device; receive information about the surgical device; and determine a posture of the surgical device based on the multiple images and the information about the surgical device.

[0011] Any of the features herein, wherein the data further causes the processor to: update a surgical plan based on the pose of the surgical device.

[0012] Any of the features herein, wherein updating the surgical plan further comprises: registering the surgical device to the anatomical element; and updating the trajectory of the surgical implant based on the registration.

[0013] Any of the features herein, wherein the surgical device comprises: an upper body; a clamp connected to the upper body and attaching the surgical device to the anatomical element; and a tightening mechanism securing the clamp to the anatomical element.

[0014] Any of the features herein, wherein the plurality of recesses include a first recess, a second recess, and a third recess, all of which are disposed on the upper body, and a fourth recess disposed on the tightening mechanism.

[0015] Any of the features of the present invention, wherein the data further causes the processor to: receive at least one image depicting the navigation probe contacting the fourth recess; determine a position of the fourth recess relative to at least one of the first recess, the second recess, or the third recess based on the at least one image and the information about the surgical device; and determine an angle of the surgical device relative to the anatomical element based on the position.

[0016] Any of the features herein, wherein each of the plurality of recesses comprises a first geometric shape, and wherein the first geometric shape is one of a circle, a triangle, a square, a rectangle, a pentagon, a hexagon, a heptagon, an octagon, a nonagon, a decagon, an ellipse, a trapezoid, a parallelogram, a rhombus, a cross or a plus sign, a five-pointed star, a six-pointed star, an eight-pointed star, or a crescent.

[0017] An apparatus according to at least one embodiment of the present disclosure includes: an imaging device; a bone mounting device configured to be attached to an anatomical element and including a plurality of recesses; a processor; and a memory having data stored thereon which, when processed by the processor, causes the processor to: receive a plurality of images from the imaging device, the plurality of images depicting a plurality of navigation markers disposed on a navigation probe contacting the plurality of recesses; receive information regarding an orientation of the plurality of recesses; and determine a posture of the bone mounting device based on the plurality of images and the information regarding the orientation of the plurality of recesses.

[0018] Any of the features herein, wherein the data further causes the processor to: update a surgical plan based on the pose of the bone mounting device.

[0019] Any of the features herein, wherein updating the surgical plan further comprises: registering the bone mounting device to the anatomical element; and updating the trajectory of the surgical implant based on the registration.

[0020] Any of the features herein, wherein the bone mounting device further comprises: an upper body; a clamp connected to the upper body; and a movable member attaching the clamp to the anatomical element.

[0021] Any of the features herein, wherein the plurality of recesses include a first recess, a second recess, and a third recess, and wherein the movable component includes a fourth recess.

[0022] Any of the features herein, wherein the navigation probe is substantially perpendicular to the surface of the bone mounting device when contacting at least one of the first recess, the second recess, the third recess, or the fourth recess.

[0023] Any of the features herein, wherein the bone mounting device is attached to a spinous process of a vertebra, and wherein the apparatus further comprises: a connector coupled to the bone mounting device at a first end and to the robotic arm at a second end.

[0024] Any aspect may be combined with any one or more other aspects.

[0025] Any one or more of the features disclosed herein.

[0026] Any one or more of the features is generally disclosed herein.

[0027] Any one or more of the features generally disclosed herein may be combined with any one or more of the other features generally disclosed herein.

[0028] Any of the aspects / features / embodiments may be combined with any one or more of the other aspects / features / embodiments.

[0029] Use any one or more of the aspects or features disclosed herein.

[0030] It should be understood that any feature described herein may be claimed in combination with any other feature described herein, regardless of whether the features are from the same described embodiment.

[0031] The details of one or more aspects of the present disclosure are set forth in the following drawings and description. Other features, objectives, and advantages of the techniques described in the present disclosure will be apparent from the description and drawings, and from the claims.

[0032] The phrases "at least one", "one or more", and "and / or" are open expressions that have both connective and dissociative properties in operation. For example, the expressions "at least one of A, B, and C", "at least one of A, B, or C", "one or more of A, B, and C", "one or more of A, B, or C", and "A, B, and / or C" each mean only A, only B, only C, A and B together, A and C together, B and C together, or A, B, and C together. When each of A, B, and C in the above expressions refers to an element such as X, Y, and Z or a class of elements such as X1-Xn, Y1-Ym, and Z1-Zo, the phrase is intended to refer to a single element selected from X, Y, and Z, a combination of elements selected from the same class (e.g., X1 and X2), and a combination of elements selected from two or more classes (e.g., Y1 and Zo).

[0033] The term "an" entity refers to one or more of that entity. Therefore, the terms "a", "one or more", and "at least one" can be used interchangeably herein. It should also be noted that the terms "including", "comprising", and "having" can be used interchangeably.

[0034] The foregoing is a simplified overview of the present disclosure to provide an understanding of some aspects of the present disclosure. The present disclosure is neither a broad overview nor an exhaustive overview of the present disclosure and its various aspects, embodiments, and configurations. It is neither intended to determine the key or important elements of the present disclosure nor to delimit the scope of the present disclosure, but rather to present the selected concepts of the present disclosure in a simplified form as an introduction to the more detailed description presented below. As should be understood, other aspects, embodiments, and configurations of the present disclosure may utilize one or more of the features set forth above or described in detail below, either individually or in combination.

[0035] Numerous additional features and advantages of the present disclosure will become apparent to those skilled in the art after considering the description of the embodiments provided below. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are incorporated into and form a part of this specification to illustrate several examples of the present disclosure. These drawings, together with the description, explain the principles of the present disclosure. The accompanying drawings illustrate only preferred and alternative examples of how to implement and use the present disclosure, and these examples should not be interpreted as limiting the present disclosure to only the illustrated and described examples. Additional features and advantages will become apparent from the following more detailed description of various aspects, embodiments and configurations of the present disclosure, as illustrated by the accompanying drawings referenced below.

[0037] Figure 1A shows a perspective view of a bone mounting device according to an embodiment of the present disclosure;

[0038] Figure 1Bshows an alternative perspective view of a bone mounting device according to an embodiment of the present disclosure;

[0039] Figure 2A shows a perspective view of a bone mounting device connected to an anatomical element according to an embodiment of the present disclosure;

[0040] Figure 2B shows a plan view of a bone mounting device coupled to an anatomical element according to an embodiment of the present disclosure;

[0041] Figure 3A shows a perspective view of a bone mounting device with a navigation probe contacting a first recess according to an embodiment of the present disclosure;

[0042] Figure 3B shows a perspective view of a bone mounting device with a navigation probe contacting a second recess according to an embodiment of the present disclosure;

[0043] Figure 3C shows a perspective view of a bone mounting device with a navigation probe contacting a third recess according to an embodiment of the present disclosure;

[0044] Figure 4A shows a perspective view of a bone mounting device with a navigation probe contacting a fourth recess according to an embodiment of the present disclosure;

[0045] Figure 4B shows a planar cross-section of a bone mounting device with a navigation probe contacting a fourth recess in a first orientation according to an embodiment of the present disclosure;

[0046] Figure 4C shows a planar cross-section of a bone mounting device with a navigation probe contacting a fourth recess in a second orientation according to an embodiment of the present disclosure;

[0047] Figure 5 shows a perspective view of a navigation probe according to an embodiment of the present disclosure;

[0048] Fig. 6A shows a perspective view of a navigation attachment according to an embodiment of the present disclosure;

[0049] Figure 6B shows a perspective view of a navigation attachment coupled to a bone mounting device according to an embodiment of the present disclosure;

[0050] Figure 7 shows a block diagram of a system according to an embodiment of the present disclosure; and

[0051] Figure 8 A flow chart according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0052] It should be understood that the various aspects disclosed herein may be combined in combinations different from those specifically presented in the specification and drawings. It should also be understood that, depending on the example or implementation, certain actions or events of any process or method described herein may be performed in a different order and / or may be added, combined, or omitted entirely (e.g., not all described actions or events may be required to practice the disclosed technology, according to different implementations of the present disclosure). In addition, although for clarity, certain aspects of the present disclosure are described as being performed by a single module or unit, it should be understood that the technology of the present disclosure may be performed by a combination of units or modules associated with, for example, a computing device and / or a medical device.

[0053] In one or more examples, the described methods, processes, and techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as one or more instructions or codes on a computer-readable medium and executed by a hardware-based processing unit. Alternatively or additionally, the functions may be implemented using a machine learning model, a neural network, an artificial neural network, or a combination thereof (alone or in combination with instructions). A computer-readable medium may include a non-transitory computer-readable medium corresponding to a tangible medium, such as a data storage medium (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and can be accessed by a computer).

[0054] Instructions may be executed by one or more processors, such as one or more digital signal processors (DSPs), general-purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A10 or 10X Fusion processors; Apple A11, A12, A12X, A12Z, or A13 Bionic processors; or any other general-purpose microprocessor), graphics processing units (e.g., Nvidia GeForce RTX 2000 series processors, Nvidia GeForce RTX 3000 series processors, AMD Radeon RX 5000 series processors, AMD Radeon RX 6000 series processors, or any other graphics processing unit), application-specific integrated circuits (ASICs), field-programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuits. Thus, the term "processor" as used herein may refer to any of the foregoing structures or any other physical structure suitable for implementing the described techniques. Additionally, these techniques may be fully implemented in one or more circuits or logic elements.

[0055] Before explaining any embodiment of the present disclosure in detail, it should be understood that the present disclosure is not limited to the construction details and component arrangements set forth in the following description or illustrated in the accompanying drawings in terms of its application. The present disclosure can have other embodiments and can be practiced or implemented in various ways. In addition, it should be understood that the wording and terminology used herein are for the purpose of description and should not be considered as restrictive. The use of "comprises", "including" or "having" and its variations herein is intended to cover the items listed thereafter and their equivalents, as well as additional items. In addition, the present disclosure can use examples to illustrate one or more aspects thereof. Unless otherwise expressly stated, the use or listing of one or more examples (which can be indicated by "for example", "by way of example", "such as" or similar language) is not intended to and does not limit the scope of the present disclosure.

[0056] The terms proximal and distal are used in this disclosure in their conventional medical sense, with proximal being closer to an operator or user of the system and farther away from the area of ​​surgical interest in or on the patient's body, and distal being closer to the area of ​​surgical interest in or on the patient's body and farther away from the operator or user of the system.

[0057] When planning to insert screws for surgery or surgical procedures, it is impossible to show bone mounting hardware to the surgeon on the screen. Surgery or surgical procedures may include screws or other surgical instruments with which one or more surgical clamps (e.g., spinous process clamps) or other bone mounting devices may be interfered. The surgeon may benefit from representing the mode of clamps and other hardware in three-dimensional (3D) space after hardware is mounted to the bone, advantageously enabling screws to be placed more accurately relative to anatomical structures and bone mounting devices. For example, after placing the spinous process clamp, it will be useful to know the position of the clamp in 3D space to avoid collision with the clamp (such as when inserting a pedicle screw). By providing a 3D representation of the clamp (e.g., rendering to a screen or other user display), the surgeon may be able to plan the trajectory of other medical implants (e.g., surgical screws) to avoid collision between medial implant and the clamp.

[0058] In at least one embodiment of the present disclosure, a bone mounting device may include three or more recesses that can be used to align the bone mounting device. A navigation probe may be used to contact each of the three or more recesses, wherein a captured image of the navigation probe is used to generate a position of the bone mounting device that can be used by a navigation system. If the bone mounting device includes a movable component, a fourth recess may be added that can be used to generate the position of the movable component relative to the original three recesses. Software or a processor can calculate the position of the moving component based on the original position of the three recesses and the measured position of the movable component relative to the three recesses. Based on the captured image, the system and method of the present disclosure can be used to align the recess points on the fixture to a common coordinate system. For example, three recesses can generate three points for providing a coordinate system that is used to place a 3D representation of the fixture into other 3D scans so that the navigation system knows the position of the fixture relative to one or more anatomical elements.

[0059] In at least one embodiment of the present disclosure, the system may provide a user (e.g., a surgeon) with the ability to select a "definition fixture" or similar feature (e.g., by selecting a prompt on a user interface such as a touch screen). When selecting, the system may ask the user to select three or more recesses on the fixture. As the user selects each recess, the imaging device may capture an image of the navigation probe. In addition, the user may provide an identification number or part number associated with the fixture. The system may then determine the position of the fixture relative to one or more anatomical elements based on the identification number and the series of images.

[0060] As previously described, if the clamp includes a movable component (e.g., a set screw that is adjustable to change the degree of clamping of the vertebra or other anatomical element by the clamp), the user can be prompted to select a fourth recess to define the position of the movable component. The system can then use the position of the navigation probe to determine the position of the fourth recess relative to the other three recesses. Based on the position of the fourth recess relative to, for example, the third recess (or any other recess), the system can determine the angle of the clamp relative to the anatomical element and / or other parts of the clamp.

[0061] In at least one embodiment of the present disclosure, a post can be used to determine the position of the fixture. The post can include a navigation tracker and can be engaged with a bone mounting device. A user can insert a custom post with a tracker into the bone mounting device, and the custom post can be moved to a specific orientation in 3D space when inserted. Once the custom post is connected to the bone mounting device, the user can provide the system with an identification number of the custom post, or otherwise instruct the system on which bone mounting device to connect the custom post. In addition, the bone mounting device in such embodiments may include a fourth recessed portion that can be used to control the screw position and the angle of the fixture.

[0062] Embodiments of the present disclosure provide technical solutions to one or more of the following problems: (1) collision between a surgical implant and one or more other surgical devices near the implant location, and (2) uncertainty in the pose (e.g., position and orientation) of a bone-mounted device.

[0063] First turn Figures 1A to 2B , depicts various views of a bone mounting device 100 according to at least one embodiment of the present disclosure. The bone mounting device 100 may be capable of connecting or attaching to one or more anatomical elements (e.g., vertebrae), or otherwise mechanically coupling with the one or more anatomical elements. The bone mounting device 100 may also be connected to one or more other surgical components, tools, or other instruments (e.g., a robotic arm) to rigidly connect the surgical components to the anatomical elements.

[0064] The bone mounting device 100 may include an upper body 102. The upper body 102 may provide a location for one or more surgical components to be connected to the bone mounting device 100. The upper body 102 may include one or more cavities, ports, slots, or other connection mechanisms to enable the surgical components to be attached to the bone mounting device 100. For example, the upper body 102 may include a first port 106A and a second port 106B into which a connector may be inserted. The first port 106A may include a first screw 104A and the second port 106B may include a second screw 104B, wherein each screw 104A, 104B may be tightened or loosened, for example, to secure the surgical component in the first port 106A and the second port 106B, respectively. Figure 2A As shown, the connector 212 can be inserted into the first port 106A, and the first screw 104A can be adjusted to secure the connector 212 in the first port 106A. The connector 212 can then be connected to the robotic arm, so that by connecting the connector 212 to the bone mounting device 100, the robotic arm can be connected to the anatomical element to which the bone mounting device 100 is connected, such as to the first vertebra 204A. The connection between the robotic arm and the anatomical element can beneficially enable the navigation system to determine the pose of the robotic arm relative to the anatomical element, for example, to navigate the robotic arm relative to the anatomical element.

[0065] The upper body 102 may also include a plurality of recesses 108. The plurality of recesses 108 may include a first recess 108A, a second recess 108B, and a third recess 108C disposed in a preconfigured orientation on one or more surfaces of the upper body 102. The plurality of recesses 108 may be or include notches or other concave structures on a surface of the upper body 102. In some embodiments, one or more of the plurality of recesses 108 may be disposed at other locations on the bone mounting device 100, or in other words, may not be disposed on the upper body 102. It should be understood that while three recesses are depicted, the number of recesses is not limited in any way, and an additional or alternative number of recesses may be present or used.

[0066] In some embodiments, the plurality of depressions 108 may be reflective, radiopaque, or otherwise detectable in a captured image. In such embodiments, the plurality of depressions 108 may appear in the captured image, and image processing may be used to identify or mark the plurality of depressions 108. The marking may then enable the pose of the bone mounting device 100 to be determined based at least in part on the identified positions. Additionally or alternatively, the plurality of depressions 108 may be observed by a navigation system (e.g., without capturing an image), and the visible marks created by the plurality of depressions 108 may be registered with other known markers or locations known to the navigation system (e.g., with navigation markers on a robotic arm) to enable the navigation system to determine the position of the bone mounting device 100.

[0067] The plurality of recesses 108 may include one or more geometric shapes. The geometric shape may be engraved into one or more of the plurality of recesses 108, or may alternatively be the overall shape of the recess. When the navigation probe is used to determine the pose of the bone mounting device 100, the geometric shape may enable a connection between the recess and the end of the navigation probe. For example, the end of the navigation probe may have a spherical end, and the recesses may each include a concave spherical shape so that the end of the navigation probe fits into the recess. In another example, the end of the navigation probe may have a triangular shape, and the recesses may each have a triangular recess so that the end of the navigation probe is inserted into the triangular recess of each recess so that the end of the navigation probe is aligned with the recess. In this example, when the end is coupled to the recess, the triangular recess ensures that the end (and by extension the navigation probe) is substantially perpendicular to the surface of the bone mounting device 100. In other embodiments, the end of the navigation probe may be able to couple with the recess at an angle so that the end of the navigation probe enters the recess at an angle.

[0068] In some embodiments, each recessed portion may have a different geometry from any other recessed portion. For example, the first recessed portion 108A may have a first geometry, the second recessed portion 108B may have a second geometry, and the third recessed portion 108C may have a third geometry. In other embodiments, any one recessed portion may share a common geometry with one or more other recessed portions. For example, the first recessed portion 108A and the second recessed portion 108B may have a first geometry, and the third recessed portion 108C may have a second geometry. The type of the geometry of the recessed portion is not subject to any restriction, and examples of the geometry include a circle, a triangle, a square, a rectangle, a pentagon, a hexagon, a heptagon, an octagon, a nonagon, a decagon, an ellipse, a trapezoid, a parallelogram, a rhombus, a cross or a plus sign, a five-pointed star, a six-pointed star, an eight-pointed star, a crescent, etc.

[0069] The bone mounting device 100 may include a clamp 110. The clamp 110 may include a first jaw 114 and a second jaw 116. The first jaw 114 and the second jaw 116 may be or include components that enable the bone mounting device 100 to be connected to an anatomical element, such as the first vertebra 204A. Figure 2A As shown, the bone mounting device 100 can be connected to one or more vertebrae 204A-204C, such as the spinous process 208A of the first vertebra 204A and the spinous process 208B of the second vertebra 204B, respectively. In other embodiments, the clamp 110 can be configured to attach the bone mounting device 100 to another portion of the vertebra, such as to the transverse process of the vertebra.

[0070] The clamp 110 may include a set screw 120. The set screw 120 may be or include a tensioning or tightening mechanism to secure the clamp 110 (and, by extension, the bone mounting device 100) to the anatomical element. The set screw 120 may be or include a screw or other movable component capable of adjusting the position of the first jaw 114 and / or the second jaw 116 to connect the bone mounting device 100 to the anatomical element. The set screw 120 may be screwed into and inserted through the upper body 102 to contact the second jaw 116 at a contact point 124. In order to attach the bone mounting device 100 to the anatomical element, the bone mounting device 100 may be positioned such that the first jaw 114 is disposed on a first side of the anatomical element and the second jaw 116 is positioned on a second side of the anatomical element, such as a first side and a second side, respectively, of the spinous process of a vertebra. The set screw 120 may then be inserted (e.g., screwed into) the upper body 102, wherein the body of the set screw 120 contacts the second jaw 116 at the contact point 124. When the set screw 120 is tightened (e.g., by twisting the set screw 120 using a screwdriver or other tool), the set screw 120 can apply a force to the upper portion of the second jaw 116. The second jaw 116 can then pivot about the connection point 115 toward the first jaw 114. As the set screw 120 is tightened, the force on the upper portion of the second jaw 116 can increase until the bone mounting device 100 is secured to the anatomical element.

[0071] The set screw 120 may include a fourth recess 112. The fourth recess 112 may be an adjuster or adjustment recess disposed in the hollow interior of the set screw 120 or other movable component and may be accessed by the tip of the navigation probe. As described in further detail below, the fourth recess 112 may be used to determine the angle of the bone mounting device 100 relative to an anatomical element, which may beneficially enable the navigation system to avoid contacting the bone mounting device 100 during a surgical procedure or surgical procedure.

[0072] The bone mounting device 100 may include a part number, identification number, or other form of identifier. The part number may reflect information about the bone mounting device 100, such as the size of the bone mounting device 100 (e.g., length, width, depth, etc.), the geometry of the plurality of recesses 108 (e.g., triangular recesses), information about the orientation of the plurality of recesses 108 (e.g., how far in 3D space is the first recess 108A from the second recess 108B), combinations thereof, and the like. In one embodiment, the part number may enable a navigation system to determine a set of coordinates of the bone mounting device 100. For example, the part number may be a unique identifier of the bone mounting device 100, such that by knowing the part number, the navigation system may determine the coordinates of the plurality of recesses 108 and / or the 3D model of the bone mounting device 100. In such an example, the part number may be provided by a user (e.g., a surgeon), and the navigation system may use the number to identify the corresponding bone mounting device 100 (and information associated therewith, such as the volume occupied by the bone mounting device 100) in, for example, a database or other data storage unit. The navigation system may then use this information to determine the pose of the bone mounting device 100 when the bone mounting device 100 is mounted to the anatomical element.

[0073] When the bone mounting device 100 is used in a surgical procedure or surgical procedure, differences in the posture of the bone mounting device 100 may affect how the surgical implant is implanted into the anatomical element. Figure 2B As shown, for example, a screw 216 can be inserted into the first vertebra 204A, but a potential risk of inserting the screw 216 without knowing the posture of the bone mounting device 100 is that when the screw 216 is moved and screwed into place, a collision 220 may occur between the screw 216 and the bone mounting device 100, which may lead to surgeon dissatisfaction, reduced efficiency of the surgical procedure, and / or patient injury. To address such issues, the posture of the bone mounting device 100 can be determined and the trajectory of the screw 216 can be adjusted, as discussed in detail herein.

[0074] Steering FIG. 3A to FIG. 3C , aspects of a bone mounting device 100 coupled to an anatomical element are shown in accordance with at least one embodiment of the present disclosure. The bone mounting device 100 can be coupled to a spinous process 208A of a vertebra 204A, wherein a connector 212 is disposed in a first port 106A of an upper body 102. In some embodiments, the bone mounting device 100 can be disposed on the spinous process 208A during a surgical procedure or surgical procedure. For example, the bone mounting device 100 can be used to physically couple the connector 212 to an anatomical element, wherein the connector 212 is further coupled to a robotic arm. Such coupling can couple the robotic arm to the anatomical element, thereby allowing registration between the robotic arm and the anatomical element and allowing a navigation system to manipulate the robotic arm relative to the anatomical element.

[0075] To determine the pose (e.g., position and orientation, position and angle, etc.) of the bone mounting device 100, a user (e.g., a surgeon) may use the navigation probe tip 304 of the navigation probe 500 to contact each of the plurality of recesses 108. The navigation probe tip 304 may be Figure 5 . The navigation probe 500 may include a body 504 to which one or more tracking markers 508A to 508E are attached. The tracking markers 508A to 508E may include radiopaque elements that enable the navigation system to identify the tracking markers 508A to 508E in one or more images (e.g., fluoroscopic images). In some embodiments, the tracking markers 508A-508E may be active (e.g., light emitting diode (LED)) markers or passive markers. The tracking markers 508A to 508E may be set on the body 504 in a preconfigured orientation based on, for example, a part number or identification number associated with the navigation probe 500. In other words, the navigation system, processor, or other system may be able to determine the pose of the navigation probe 500 based on the identified positions of the tracking markers 508A to 508E based on a set of images received. In some embodiments, the navigation system, processor, or other system can use the identified pose of the navigation probe 500 to help align the navigation probe 500, and by extension, the plurality of recesses 108, to a common coordinate system shared by other surgical instruments (e.g., a robotic arm) used in the surgical procedure or surgical procedure.

[0076] like FIG. 3A to FIG. 3C As shown, in order to enable registration of the plurality of recesses 108, the navigation probe tip 304 may be inserted, placed or used to contact the first recess 108A, the second recess 108B and the third recess 108C. Figure 3A The navigation probe tip 304 is shown contacting the second recess 108B. Figure 3B The navigation probe tip 304 is shown contacting the first recess 108A, and Figure 3C The navigation probe tip 304 is shown contacting the third recess 108C. As the navigation probe tip 304 contacts each recess, an imaging device (not shown) can capture one or more images of the navigation probe 500 relative to the bone mounting device 100. Based on the images, the location of each recess in the plurality of recesses 108 and the pose of the bone mounting device 100 can be determined, as discussed in further detail below.

[0077] Additionally, the navigation probe tip 304 may be inserted into the fourth recess 112 of a movable component, such as a set screw 120, to enable determination of the angle of the clamp 110 or bone mounting device 100 relative to the anatomical element to which the bone mounting device 100 is attached. Figure 4AAs shown, the fourth recess 112 may be provided inside the fixing screw 120, and the navigation probe tip 304 may be inserted into the fixing screw 120 to contact the fourth recess 112. In some embodiments, the fourth recess 112 may be contacted after the first recess 108A, the second recess 108B, and the third recess 108C have been contacted and the posture of the bone mounting device 100 has been determined. In other words, the angle of the bone mounting device 100 may be determined after the posture of the bone mounting device 100 has been determined.

[0078] Once the navigation probe tip 304 is inserted into the set screw 120 to contact the fourth recess 112, one or more images of the navigation probe 500 can be captured. Based on the determined pose of the navigation probe 500, a processor or other component can determine the position of the fourth recess 112 relative to the third recess 108C, or alternatively relative to the position of any other recess in the plurality of recesses 108. The relative distance between the fourth recess 112 and the third recess 108C can be used to determine the angle of the bone mounting device 100. For example, as the set screw 120 moves further downward through the upper body 102 to rotate the second jaw 116 about the connection point 115, the fourth recess 112 moves farther away from the third recess 108C. FIG. 4B to FIG. 4C As shown, when the fourth recess 112 is a first distance 404 from the third recess 108C in a first direction (such as a height direction), the clamp 110 can be at a first angle 408, and when the fourth recess 112 is a second distance 412 from the third recess 108C, the clamp 110 can be at a second angle 416. For example, when the fourth recess 112 is 9.183 millimeters (mm) away from the third recess 108C in the height direction, the clamp 110 can have a corresponding angle of 5 degrees (5°), and when the fourth recess 112 is 5.836 mm away from the third recess 108C in the height direction, the clamp 110 can have an angle of negative 10°. The determination of the angle can beneficially enable the navigation system to update the trajectory of the surgical implant (e.g., screw 216) based on the determined angle. For example, when the clamp 110 has an angle of 5°, the navigation system can determine that the trajectory of the screw 216 does not need to be changed (e.g., the bone mounting device 100 will not interfere with the planned insertion of the fixation screw 120), but when the clamp 110 has an angle of negative 10°, the navigation system can determine that the trajectory of the screw 216 should be updated (e.g., at the planned trajectory, the angle of the bone mounting device 100 is such that the screw 216 will collide with the bone mounting device 100).

[0079] In some embodiments, the navigation attachment 600 can be used to determine the pose of the bone mounting device 100. The navigation attachment 600 can include a body 604 to which one or more tracking markers 608A-608D can be attached. In some embodiments, the tracking markers 608A-608D can be similar or identical to the tracking markers 508A-508E. The body 604 can be attached to a post 616 of known length. When the navigation attachment 600 is coupled to the bone mounting device 100, the post 616 can support the body 604 and position the body 604 above the bone mounting device 100 so that one or more images of the navigation attachment 600 can be captured by an imaging device. The navigation attachment 600 can also include an attachment mechanism 612 to enable the navigation attachment 600 to be attached to the bone mounting device 100. The attachment mechanism 612 can include, for example, one or more slots that can allow the navigation attachment 600 to be placed on the bone mounting device 100, such as Figure 6B As shown. One or more images of the navigation attachment 600 can be captured by an imaging device, and the pose of the navigation attachment 600 can be determined. Based on the pose of the navigation attachment 600, the relationship between the attachment mechanism 612 and the bone mounting device 100, and the part number of the bone mounting device 100, the navigation system can determine the position of the bone mounting device 100. Similarly, the pose of the tracking markers 608A to 608D can provide the information needed by the navigation system to determine the angle of the bone mounting device 100. For example, if the navigation attachment 600 is as shown in FIG. Figure 6B Attached to the bone mounting device 100 as shown, and the first tracking marker 608A has a height coordinate greater than the height coordinate of the second tracking marker 608B, the navigation system can determine that the bone mounting device 100 is tilted at a first angle.

[0080] Go to Figure 7 , a block diagram of a system 700 according to at least one embodiment of the present disclosure is shown. The system 700 can be used to place and / or otherwise manipulate a surgical mounting system, a surgical arm, and / or a surgical tool attached thereto, and / or perform one or more other aspects of one or more methods disclosed herein. The system 700 includes a computing device 702, one or more imaging devices 712, a robot 714, a navigation system 718, a database 730, and / or a cloud or other network 734. Systems according to other embodiments of the present disclosure may include more or fewer components than the system 700. For example, the system 700 may not include the imaging device 712, the robot 714, the navigation system 718, one or more components of the computing device 702, the database 730, and / or the cloud 734.

[0081] Computing device 702 includes processor 704, memory 706, communication interface 708, and user interface 710. Computing devices according to other embodiments of the present disclosure may include more or fewer components than computing device 702.

[0082] The processor 704 of the computing device 702 can be any processor described herein or any similar processor. The processor 704 can be configured to execute instructions stored in the memory 106, which can cause the processor 704 to perform one or more computing steps using or based on data received from the imaging device 712, the robot 714, the navigation system 718, the database 730, and / or the cloud 734.

[0083] The memory 706 may be or include RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible non-transitory memory for storing computer-readable data and / or instructions. The memory 706 may store information or data useful for completing any step of the method 800 or any other method described herein, for example. The memory 706 may store instructions and / or machine learning models, for example, supporting one or more functions of the robot 714. For example, the memory 706 may store content (e.g., instructions and / or machine learning models), which, when executed by the processor 704, enable image processing 720, segmentation 722, transformation 724, and / or registration 728. In some embodiments, if provided as instructions, such content may be organized into one or more applications, modules, packages, layers, or engines. Alternatively or additionally, the memory 706 may store other types of content or data (e.g., machine learning patterns, artificial neural networks, deep neural networks, etc.) that may be processed by the processor 704 to implement the various methods and features described herein. Thus, although the various contents of the memory 106 may be described as instructions, it should be understood that the functionality described herein may be implemented using instructions, algorithms, and / or machine learning models. The data, algorithms, and / or instructions may cause the processor 704 to manipulate data stored in the memory 706 and / or data received from or via the imaging device 712, the robot 714, the database 730, and / or the cloud 734.

[0084] The computing device 702 may also include a communication interface 708. The communication interface 708 may be used to receive image data or other information from an external source (such as an imaging device 712, a robot 714, a navigation system 718, a database 730, a cloud 734, and / or any other system or component that is not part of the system 700) and / or to transmit instructions, images, or other information to an external system or device (e.g., another computing device 702, an imaging device 712, a robot 714, a navigation system 718, a database 730, a cloud 734, and / or any other system or component that is not part of the system 700). The communication interface 708 may include one or more wired interfaces (e.g., a USB port, an Ethernet port, a FireWire port) and / or one or more wireless transceivers or interfaces (configured to transmit and / or receive information via one or more wireless communication protocols such as 802.11a / b / g / n, Bluetooth, NFC, ZigBee, etc.). In some embodiments, the communication interface 708 may be used to enable the computing device 702 to communicate with one or more other processors 704 or computing devices 702, whether to reduce the time required to complete computationally intensive tasks or for any other reason.

[0085] The computing device 702 may also include one or more user interfaces 710. The user interface 710 may be or include a keyboard, a mouse, a trackball, a monitor, a television, a screen, a touch screen and / or any other device for receiving information from a user and / or for providing information to a user. The user interface 710 may be used, for example, to receive a user selection or other user input for any step of any method described herein. Nevertheless, any required input for any step of any method described herein may be automatically generated by the system 700 (e.g., by another component of the processor 704 or the system 700) or received by the system 700 from a source external to the system 700. In some embodiments, the user interface 710 may be used to allow a surgeon or other user to modify the instructions to be executed by the processor 704 according to one or more embodiments of the present disclosure, and / or modify or adjust the settings of other information displayed on or corresponding to the user interface 710.

[0086] Although the user interface 710 is shown as part of the computing device 702, in some embodiments, the computing device 702 may utilize a user interface 710 that is housed separately from one or more remaining components of the computing device 702. In some embodiments, the user interface 710 may be located proximate to one or more other components of the computing device 702, while in other embodiments, the user interface 710 may be located remote from one or more other components of the computing device 702.

[0087] The imaging device 712 can be used to image anatomical features (e.g., bones, veins, tissues, etc.) and / or other aspects of the patient's anatomical structure to generate image data (e.g., image data depicting or corresponding to bones, veins, tissues, etc.). As used herein, "image data" refers to data generated or captured by the imaging device 712, including data in machine-readable form, graphical / visual form, and in any other form. In different examples, the image data may include data corresponding to the anatomical features of the patient or a portion thereof. The image data may be or include preoperative images, intraoperative images, postoperative images, or images taken independently of any surgical procedure. In some embodiments, the first imaging device 712 can be used to obtain first image data (e.g., a first image) at a first time, and the second imaging device 712 can be used to obtain second image data (e.g., a second image) at a second time after the first time. The imaging device 712 can be used to capture 2D images or 3D images to generate image data. The imaging device 712 may be or include, for example, an ultrasound scanner (which may include, for example, physically separate transducers and receivers, or a single ultrasound transceiver), an O-arm, C-arm, G-arm, or any other device utilizing X-ray based imaging (e.g., a fluoroscope, a CT scanner or other X-ray machine), a magnetic resonance imaging (MRI) scanner, an optical coherence tomography (OCT) scanner, an endoscope, a microscope, an optical camera, a thermal imaging camera (e.g., an infrared camera), a radar system (which may include, for example, a transmitter, a receiver, a processor, and one or more antennas), or any other imaging device suitable for obtaining images of anatomical features of a patient 712. The imaging device 712 may be entirely contained within a single housing, or may include a transmitter / transmitter and a receiver / detector that are physically separated in a single housing or otherwise.

[0088] In some embodiments, the imaging device 712 may include more than one imaging device 712. For example, a first imaging device may provide first image data and / or a first image, and a second imaging device may provide second image data and / or a second image. In yet other embodiments, the same imaging device may be used to provide both the first image data and the second image data and / or any other image data described herein. The imaging device 712 may be used to generate an image data stream. For example, the imaging device 712 may be configured to operate with a shutter open, or to operate with a shutter continuously alternating between open and closed, so as to capture continuous images. For purposes of this disclosure, unless otherwise indicated, if the image data represents two or more frames per second, the image data may be considered continuous and / or provided as an image data stream.

[0089] Robot 714 may be any surgical robot or surgical robotic system. Robot 714 may be or include, for example, a Mazor XTM Stealth version of the robot guidance system. The robot 714 may be configured to position the imaging device 712 at one or more precise positions and orientations, and / or return the imaging device 712 to the same position and orientation at a later point in time. The robot 714 may be additionally or alternatively configured to manipulate surgical tools (whether or not based on guidance from the navigation system 718) to complete or assist in surgical tasks. In some embodiments, the robot 714 may be configured to hold and / or manipulate anatomical elements during or in conjunction with a surgical procedure. The robot 714 may include one or more robotic arms 716. In some embodiments, the robotic arm 716 may include a first robotic arm and a second robotic arm, but the robot 714 may include more than two robotic arms. In some embodiments, one or more of the robotic arms 716 may be used to hold and / or manipulate the imaging device 712. In embodiments where the imaging device 712 includes two or more physically separate components (e.g., a transmitter and a receiver), one robotic arm 716 may hold one such component, and another robotic arm 716 may hold another such component. Each robotic arm 716 can be positioned independently of the other robotic arms. The robotic arms 716 can be controlled in a single shared coordinate space or in separate coordinate spaces.

[0090] The robot 714, together with the robotic arm 716, may have, for example, one, two, three, four, five, six, seven or more degrees of freedom. In addition, the robotic arm 716 may be positioned or capable of being positioned in any pose, plane and / or focus. The pose includes a position and an orientation. Thus, an imaging device 712, a surgical tool or other object held by the robot 714 (or more specifically, by the robotic arm 716) may be able to be precisely positioned in one or more desired and specific positions and orientations.

[0091] The robotic arm 716 may include one or more sensors that enable the processor 704 (or a processor of the robot 714) to determine the precise pose of the robotic arm (and any object or element held by or secured to the robotic arm) in space.

[0092] In some embodiments, reference markers (i.e., navigation markers or tracking markers) can be placed on the robot 714 (including, for example, on the robot arm 716), the imaging device 712, or any other object in the surgical space. The reference markers can be tracked by the navigation system 718, and the results of the tracking can be used by the robot 714 and / or by an operator of the system 700 or any component thereof. In some embodiments, the navigation system 718 can be used to track other components of the system (e.g., the imaging device 712), and the system can be operated without the use of the robot 714 (e.g., the surgeon manually manipulates the imaging device 712 and / or one or more surgical tools, e.g., based on information and / or instructions generated by the navigation system 718).

[0093] During the operation, the navigation system 718 can provide navigation for the surgeon and / or the surgical robot. The navigation system 718 can be any known or future developed navigation system, including, for example, the Medtronic StealthStation TM S8 surgical navigation system or any subsequent product thereof. The navigation system 718 may include one or more cameras or other sensors for tracking one or more reference markers, navigation trackers, or other objects in the operating room or other rooms where part or all of the system 700 is located. The one or more cameras may be optical cameras, infrared cameras, or other cameras. In some embodiments, the navigation system 718 may include one or more electromagnetic sensors. In various embodiments, the navigation system 718 may be used to track the position and orientation (e.g., pose) of the imaging device 712, the robot 714, and / or the robot arm 716, and / or one or more surgical tools (or more specifically, for tracking the pose of the navigation tracker attached directly or indirectly to one or more of the foregoing in a fixed relationship). The navigation system 718 may include a display for displaying one or more images from an external source (e.g., a computing device 702, an imaging device 712, or other source) or for displaying images and / or video streams from one or more cameras or other sensors of the navigation system 718. In some embodiments, the system 700 may operate without the use of the navigation system 718. The navigation system 718 can be configured to provide guidance to a surgeon or other user of the system 700 or its components, to the robot 714, or to any other element of the system 700 regarding, for example, the pose of one or more anatomical elements, whether a tool is in an appropriate trajectory, and / or how to move a tool into an appropriate trajectory to perform a surgical task according to a preoperative or other surgical plan. In some embodiments, the navigation system 718 can utilize the processor 704 or any other processor or processing unit to perform one or more determinations, calculations, or mathematical operations, or access content stored in the memory 706.

[0094] The database 730 may store information relating one coordinate system to another coordinate system (e.g., relating one or more robot coordinate systems to a patient coordinate system and / or a navigation coordinate system). The database 730 may additionally or alternatively store, for example, one or more surgical plans (including, for example, pose information about a target and / or image information about an anatomical structure of a patient at and / or near a surgical site for use by the robot 714, the navigation system 718, and / or the computing device 702 or a user of the system 700); one or more images that may be used in conjunction with a surgical procedure performed by or with the assistance of one or more other components of the system 700; and / or any other useful information. The database 730 may be configured to provide any such information to the computing device 702 or any other device of the system 700 or any other device external to the system 700, whether directly or via the cloud 734. In some embodiments, database 730 can be or include a part of a hospital image storage system, such as a picture archiving and communication system (PACS), a health information system (HIS), and / or another system for collecting, storing, managing, and / or transmitting electronic medical records including image data.

[0095] The cloud 734 can be or represent the Internet or any other wide area network. The computing device 702 can be connected to the cloud 734 via the communication interface 708 using a wired connection, a wireless connection, or both. In some embodiments, the computing device 702 can communicate with the database 730 and / or an external device (e.g., a computing device) via the cloud 734.

[0096] The system 700 or a similar system may be used, for example, to perform one or more aspects of the method 800 described herein. The system 700 or a similar system may also be used for other purposes.

[0097] Figure 8 A method 800 is depicted that may be used, for example, to determine a pose of a bone mounted device.

[0098] One or more steps of method 800 may be performed or otherwise executed, for example, by at least one processor. The at least one processor may be the same or similar to processor 704 of computing device 702 described above. The at least one processor may be part of a robot (such as robot 714) or part of a navigation system (such as navigation system 718). One or more steps of method 800 may also be performed using a processor other than any processor described herein. The at least one processor may perform method 800 by executing an element stored in a memory (such as memory 706). The element stored in the memory and executed by the processor may cause the processor to perform one or more steps of the functions shown in method 800. One or more parts of method 800 may be performed by a processor that executes any of the contents of the memory (such as image processing 720, segmentation 722, transformation 724, and / or registration 728).

[0099] The method 800 includes receiving a plurality of images depicting a navigation probe contacting one or more recesses on a medical device (step 804). The navigation probe can be similar or identical to the navigation probe 500 or the navigation attachment 600, and the medical device can be or include a medical device, a surgical device, etc., and can be similar or identical to the bone mounting device 100. The one or more recesses can be similar or identical to the plurality of recesses 108. The plurality of images can be or include image data or information captured by one or more imaging devices (such as the imaging device 712), which depicts the navigation probe 500 or the navigation attachment 600 relative to the plurality of recesses 108.

[0100] Each individual image in the plurality of images may depict the navigation probe 500 (and its tracking markers 508A to 508E) contacting an individual recess. For example, a first image (or image data or image information) may depict the navigation probe 500 being positioned so that the navigation probe tip 304 of the navigation probe 500 is disposed, coupled, inserted into the first recess 108A or otherwise touching the first recess. Similarly, a second image may depict the navigation probe 500 contacting the second recess 108B, and a third image may depict the navigation probe 500 contacting the third recess 108C. In some embodiments, there may be one or more images depicting different views of each of the first recess 108A, the second recess 108B, and the third recess 108C that depict the navigation probe 500 contacting.

[0101] In other embodiments, the plurality of depressions 108 may each be reflective, radiopaque, or may otherwise be detectable in the captured image. In such embodiments, the navigation system 718 using the processor 704 may be able to further process the image (e.g., using image processing 720) to mark or otherwise identify the plurality of depressions 108 in the image.

[0102] In one embodiment, imaging device 712 can capture multiple images based on the positioning of navigation probe 500 by the user. For example, a user (e.g., a physician) can select an option on user interface 710 to define a medical device. The user can then be prompted (e.g., based on a message displayed on user interface 710) to place navigation probe 500 so that navigation probe tip 304 contacts first recess 108A. Once the user has positioned navigation probe tip 304 in first recess 108A, a first image can be captured. Then, the user can be further prompted to repeat placing navigation probe tip 304 in second recess 108B, third recess 108C, and one or more other recesses present on the medical device. In addition, each placed image can also be captured.

[0103] The method 800 also includes registering each of the plurality of depressions based on the plurality of images (step 808). Based on the pose of the navigation probe 500 in each of the plurality of images, and more specifically based on the pose of the tracking markers 508A to 508E relative to the navigation probe tip 304, the navigation system 718 can determine the position of each depression in space. For example, the navigation probe tip 304 can be at a known distance from each of the tracking markers 508A to 508E. The navigation system 718 can use image processing 720 to identify each of the tracking markers 508A to 508E in the first image and determine the position of each tracking marker in 3D space (e.g., based on the position of the tracking markers 508A to 508E relative to the known position in 3D space). Then, based on the information about the position of the tracking markers 508A to 508E relative to the navigation probe tip 304, the navigation system 718 can determine the position of the first depression 108A in 3D space. Image processing and determining the locations of the recesses may then be repeated for the second recess 108B, the third recess 108C, and one or more other recesses on the medical device.

[0104] The navigation system 718 can register each recess to a coordinate system using a registration 728. The coordinate system can be a common coordinate system shared by one or more surgical tools or instruments (e.g., a coordinate system used by the navigation system 718 to navigate the robotic arm 716), to an anatomical element coordinate system (e.g., a coordinate system used by the navigation system 718 to manipulate surgical implants such as pedicle screws into a vertebra), or to any other coordinate system. Each recess in the plurality of recesses 108 can be registered to one or more coordinate systems so that the navigation system 718 knows the coordinates associated with the recess in the one or more coordinate systems.

[0105] The method 800 also includes receiving information about the medical device (step 812). The information about the medical device can be received from one or more sources, such as from a user (e.g., via the user interface 710), from the database 730, from another computing device 702, or from any other source. The information about the medical device may include information about the size (e.g., length, width, height, etc.) of the medical device, the center of mass, the location of each recess on the medical device, etc. In one embodiment, the information about the medical device may be or include a part number or other identification number. Based on the part number, the navigation system 718 may be able to access further information about the medical device (e.g., access a specification table stored in the database 730). For example, a first part number may be provided to the navigation system 718 by a user. The navigation system 718 (using the processor 704) may access the database 730 to find information about a medical device that matches the first part number, and may retrieve information about the orientation or configuration of the plurality of recesses 108. In other embodiments, the surgical instrument may have a pattern that is unique to the recess. In other words, the orientation of the recess may be unique to the surgical instrument. In such an embodiment, the navigation system 718 can determine the relative distance between each recess based on the location of each recess, and can use this determination to identify a 3D model of the medical device, as discussed below in step 816. For example, one or more 3D models (e.g., computer-aided design (CAD) models or designs) associated with one or more surgical instruments can be stored in the database 730, where each surgical instrument includes a unique pattern of recesses. Based on the unique pattern (e.g., unique distances between recesses, unique geometric patterns of recesses, etc.), the navigation system 718 can identify the corresponding 3D model.

[0106] The method 800 also includes determining the position of the medical device based on the received information about the medical device and the registration of each recess (step 816). The navigation system 718 can use the 3D model corresponding to the medical device and the registered recess points to define the position of the medical device in 3D space. For example, the navigation system 718 can use the coordinates associated with the recess and the 3D model including the recess, and use one or more transformations 724 to determine a set of points representing the position of the medical device in the coordinate system. In some embodiments, the navigation system 718 can render the coordinates to a display (e.g., user interface 710) along with a rendering of the anatomical element to which the medical device is attached, and can highlight the perimeter of the volume occupied by the medical device so that the user can view the position of the medical device relative to the anatomical element and / or relative to the planned trajectory of a medical implant (such as a surgical screw).

[0107] The method 800 also includes determining a position of the movable component recess relative to at least one of the plurality of recesses based on the plurality of images (step 820). The plurality of images may include one or more images (or image data or other information) depicting the navigation probe 500 positioned such that the navigation probe tip 304 is disposed on an adjuster recess that may be similar or identical to the fourth recess 112. For example, the medical device may be similar or identical to the bone mounting device 100 and may include a set screw 120 or other attachment mechanism that enables the bone mounting device 100 to be connected to an anatomical element. Although the recesses registered in step 808 may be used to determine the position of the bone mounting device 100, the position of the fourth recess 112 may be used to determine the angle of the fixture 110 or another component of the bone mounting device 100 relative to the anatomical element.

[0108] Similar to step 808 described above, based on the image, the navigation system 718 can identify the tracking markers 508A to 508E of the navigation probe 500 and align the fourth recess 112 to the common coordinate system. Based on the alignment, the navigation system 718 can then know the location of the fourth recess 112. Alternatively, the navigation system 718 can compare the poses of the tracking markers 508A to 508E when the navigation probe tip 304 contacts the fourth recess 112 with the poses of the tracking markers 508A to 508E when the navigation probe tip 304 contacts any other recess in the plurality of recesses 108 to determine the location of the fourth recess 112 relative to one or more recesses in the plurality of recesses 108.

[0109] The method 800 also includes determining an angle of the medical device based on the position of the recess of the movable part and the information about the medical device (step 824). The angle of the medical device may correspond to the calculated angle of the fixture 110. The difference between the position of the fourth recess 112 and any one or more recesses of the plurality of recesses 108 may reflect the angle of the fixture. For example, when the fourth recess 112 and the third recess 108C are separated by a first distance 404 in the first direction, the fixture may be at a first angle 408, and when the fourth recess 112 and the third recess 108C are separated by a second distance 412 in the first direction, the fixture 110 may be at a second angle 416. Although examples have been discussed with respect to the distance between the fourth recess 112 and the third recess 108C, the angle of the fixture 110 may be determined using the distance between the fourth recess 112 and any one or more recesses of the plurality of recesses 108.

[0110] In some embodiments, the navigation system 718 can use one or more predetermined tables, graphs, or values ​​to determine the clamp angle, or can perform one or more mathematical calculations to determine the clamp angle. For example, the bone mounting device 100 can have a predetermined angle based on the distance between the fourth recess 112 and any one or more recesses in the plurality of recesses 108, as determined and published by, for example, a manufacturer.

[0111] Method 800 also includes registering the medical device to the anatomical element (step 828). By determining the position and angle of the medical device, the navigation system 718 can know the 3D space (e.g., volume) occupied by the medical device. The navigation system 718 can then use registration 728 to register one or more points on the medical device to the anatomical element (e.g., vertebra). In some embodiments, the navigation system 718 can register the contour (e.g., perimeter or boundary) of the medical device to the anatomical element, which can save computing time while also ensuring that the medical device and the anatomical element are represented in a common coordinate system. In some embodiments, the medical device can be registered to an additional or alternative coordinate system, such as a common coordinate system shared by other medical devices or devices, a coordinate system associated with a robotic arm, a combination thereof, etc.

[0112] Method 800 also includes updating the surgical plan based on the position and angle of the medical instrument (step 832). The surgical plan may specify that a medical implant (such as a pedicle screw) will be manipulated along a first trajectory (e.g., using a robotic arm) to be inserted into an anatomical element (such as a vertebra). The navigation system 718 may determine whether the first trajectory will cause a collision between the pedicle screw and the medical instrument based on the position and angle (e.g., posture) of the medical instrument, or determine whether any other collision may occur based on the posture of the medical instrument. In some embodiments, the navigation system 718 may compare whether the path taken by the pedicle screw will pass through or occupy coordinates associated with the medical instrument. If the pedicle screw will pass through the coordinates associated with the medical instrument, the navigation system 718 may determine that a collision will occur and may determine a new trajectory for the pedicle screw. The navigation system 718 may determine a new trajectory for the pedicle screw based on the coordinates of the medical instrument so that the new trajectory does not pass through or occupy coordinates associated with the medical instrument. In some embodiments, the surgeon or other members of the surgical staff may determine that the surgical plan should be updated. For example, the physician may view a rendering of the proposed trajectory on a screen or other monitor and may determine that the trajectory of the screw should be updated. The physician may then provide one or more inputs (e.g., by manipulating a touch screen on the display) to cause the surgical plan to be updated. Alternatively, the physician may maintain the original trajectory but may adjust the pose of the fixture so that the fixture is no longer positioned along the original trajectory of the screw.

[0113] In some embodiments, the navigation system 718 can use a threshold tolerance to determine whether to adjust the trajectory. For example, the navigation system 718 can define a minimum distance between the pedicle screw and the medical device, which will need to be maintained when the pedicle screw follows the planned trajectory. If the pedicle screw is within a distance below the minimum distance from the medical device, the navigation system 718 can indicate that the trajectory needs to be updated. Similarly, the navigation system 718 can take the minimum distance into account when determining a new trajectory, such as by ensuring that the new trajectory does not pass through the pedicle screw within a distance below the minimum distance threshold from the medical device.

[0114] The present disclosure encompasses embodiments of method 800 that include more or fewer steps than those described above and / or one or more steps that are different than those described above.

[0115] As mentioned above, the present disclosure encompasses Figure 8 800) and including all steps identified in Figure 8The present disclosure also encompasses methods comprising one or more steps from one method described herein and one or more steps from another method described herein. Any correlation described herein may be or include registration or any other correlation.

[0116] The foregoing is not intended to limit the present disclosure to one or more forms disclosed herein. In the aforementioned specific embodiments, for example, for the purpose of simplifying the present disclosure, the various features of the present disclosure are grouped together in one or more aspects, embodiments and / or configurations. The features of the aspects, embodiments and / or configurations of the present disclosure may be combined in alternative aspects, embodiments and / or configurations other than those discussed above. The method of the present disclosure should not be interpreted as reflecting the following intention: the claims require more features than the features explicitly stated in each claim. On the contrary, as reflected in the following claims, aspects of the present invention are less than all the features of a single aforementioned disclosed aspect, embodiment and / or configuration. Therefore, the following claims are hereby incorporated into this specific embodiment, wherein each claim exists independently as a separate preferred embodiment of the present disclosure.

[0117] In addition, although the foregoing has included descriptions of one or more aspects, embodiments and / or configurations and certain variations and modifications, other variations, combinations and modifications are within the scope of the present disclosure, for example, within the skill and knowledge of those skilled in the art after understanding the present disclosure. It is intended to obtain rights to include alternative aspects, embodiments and / or configurations, including alternative, interchangeable and / or equivalent structures, functions, ranges or steps of those claimed, regardless of whether such alternative, interchangeable and / or equivalent structures, functions, ranges or steps are disclosed herein, and are not intended to be disclosed for any patentable subject matter.

Claims

1. A method, comprising: receiving a plurality of images depicting a navigation probe contacting a plurality of depressions on a medical device; receiving information about the medical device; as well as A pose of the medical device is determined based on the plurality of images and the information.

2. The method according to claim 1, further comprising: A surgical plan is updated based on the pose of the medical instrument.

3. The method of claim 2, wherein updating the surgical plan further comprises: registering the medical device to the anatomical element; as well as A new trajectory of the surgical implant is determined based on the registration.

4. The method of claim 3, wherein the surgical implant comprises a pedicle screw.

5. The method of claim 1, wherein the medical device comprises a bone mounting device, and wherein the information about the medical device comprises information about preconfigured orientations of the plurality of recesses.

6. The method according to claim 5, wherein determining the position and posture of the medical device further comprises: determining a pose of a plurality of tracking markers on the navigation probe when the navigation probe contacts each of the plurality of recesses; as well as Based on the preconfigured orientation and the determined pose of the tracking marker, a position of the medical device is determined.

7. A system, comprising: processor; and a memory having data stored thereon, the data, when processed by the processor, causing the processor to: receiving a plurality of images depicting a navigation probe contacting a plurality of depressions on a surgical device; receiving information about the surgical device; as well as A pose of the surgical device is determined based on the plurality of images and the information about the surgical device.

8. The system of claim 7, wherein the data further causes the processor to: A surgical plan is updated based on the pose of the surgical device.

9. The system of claim 8, wherein updating the surgical plan further comprises: registering the surgical device to the anatomical element; as well as A trajectory of the surgical implant is updated based on the registration.

10. The system of claim 7, wherein the surgical device comprises: upper body; a clamp connected to the upper body and attaching the surgical device to an anatomical element; and A tightening mechanism secures the clamp to the anatomical element.

11. The system of claim 10, wherein the plurality of recesses include a first recess, a second recess, and a third recess each disposed on the upper body, and a fourth recess disposed on the tightening mechanism.

12. The system of claim 11, wherein the data further causes the processor to: receiving at least one image depicting the navigation probe contacting the fourth recess; determining a position of the fourth recess relative to at least one of the first recess, the second recess, or the third recess based on the at least one image and the information about the surgical device; and An angle of the surgical device relative to the anatomical element is determined based on the position.

13. The system of claim 7, wherein each of the plurality of depressions comprises a first geometric shape, and wherein the first geometric shape is one of a circle, a triangle, a square, a rectangle, a pentagon, a hexagon, a heptagon, an octagon, a nonagon, a decagon, an ellipse, a trapezoid, a parallelogram, a rhombus, a cross or a plus sign, a five-pointed star, a six-pointed star, an eight-pointed star, or a crescent.

14. A device, comprising: Imaging device; a bone mounting device configured to attach to an anatomical element and comprising a plurality of depressions; processor; and a memory having data stored thereon, the data, when processed by the processor, causing the processor to: receiving a plurality of images from the imaging device, the plurality of images depicting a plurality of navigation markers disposed on a navigation probe contacting the plurality of recesses; receiving information regarding orientations of the plurality of recesses; as well as A pose of the bone mounting device is determined based on the plurality of images and the information regarding the orientations of the plurality of recesses.

15. The apparatus of claim 14, wherein the data further causes the processor to: A surgical plan is updated based on the pose of the bone mounting device.

16. The apparatus of claim 15, wherein updating the surgical plan further comprises: registering the bone mounting device to the anatomical element; as well as A trajectory of the surgical implant is updated based on the registration.

17. The apparatus of claim 14, wherein the bone mounting device further comprises: upper body; a clamp connected to the upper body; and A movable member attaches the clamp to the anatomical element.

18. The apparatus of claim 17, wherein the plurality of recesses comprises a first recess, a second recess, and a third recess, wherein the movable member comprises a fourth recess.

19. The apparatus of claim 18, wherein the navigation probe is substantially perpendicular to a surface of the bone mounting device when contacting at least one of the first recess, the second recess, the third recess, or the fourth recess.

20. The apparatus of claim 14, wherein the bone mounting device is attached to a spinous process of a vertebra, and wherein the apparatus further comprises: A connector is coupled to the bone mounting device at a first end and to a robotic arm at a second end.

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