Systems and methods for segmental tracking using single sphere trackers

Abstract

A method for predicting a movement of an anatomical element. The method includes receiving a surgical plan including a predetermined trajectory for a robot and a predetermined position of a second anatomical element, receiving, from a tracking system, data representing a movement of a first anatomical element, and determining a predicted movement of the second anatomical element with a machine learning model using data including the movement of the first anatomical element. The method also includes, based on the predicted movement of the second anatomical element and the predetermined position of the second anatomical element, determining a predicted position of the second anatomical element and, when the predetermined position of the second anatomical element is different from the predicted position of the second anatomical element, updating the predetermined trajectory, the predetermined position of the second anatomical element, or both based on the predicted position of the second anatomical element.

Description

SYSTEMS AND METHODS FORSEGMENTAL TRACKING USING SINGLE SPHERE TRACKERSBACKGROUND

[0001] The present disclosure is generally directed to autonomous or semi-autonomous surgical procedure, and relates more particularly to tracking an anatomical element during such procedures.

[0002] Surgical robots may assist a surgeon or other medical provider in carrying out a surgical procedure, or may complete one or more surgical procedures autonomously.BRIEF SUMMARY

[0003] The systems and methods described herein relate to tracking an anatomical element during an autonomous or semi-autonomous surgical procedure performed using an electronic computing device. As a part of performing an autonomous or semi-autonomous surgical procedure, a surgical plan is received. The surgical plan may include an ordered list of actions that are to be performed on one or more anatomical elements and a position associated with the one or more anatomical elements.

[0004] In performing navigation-aided or robotic-aided spine surgeries, the system is registered to the anatomical element such that each segment of the anatomical element (and location thereof) is defined, stored, and utilized by the system. Existing systems and methods utilize a tracking system (e.g., an optical tracking system, an electromagnetic tracking system, inertial measurement unit tracking system, or the like) including an anatomy tracker (e.g., an optical instrument) placed on or proximate to a first segment of the anatomical element. In some instances, the tracking system is configured to measure a movement of the first segment. For example, the anatomy tracker may be placed on a sacrum (i.e., in instances where the anatomical element is a spine). The tracking system may communicate data representing the movement of the first segment of the anatomical element with an electronic processor. Based on the movement of the first segment, the electronic processor may determine the position of the first anatomical element that the anatomy tracker is placed on or near to.

[0005] It should be understood that, when described herein, the position of a segment of an anatomical element refers to the location of the segment in space (e.g., with respect to the x, y, andz-coordinate planes) and the orientation of the anatomical element in space (e.g., the pitch, roll and yaw of the segment). The electronic processor may also determine a position of a second segment (e.g., a second vertebra) of the anatomical element that the tracker is not placed on, based on the assumption that a movement of the second segment matches the movement of the first segment.

[0006] However, systems similar to those described above may register the whole anatomical element (e.g., the whole spine) to the system based on one element fixed on the anatomical element's last segment (or other movements detected by an optical component fixed on one segment) while the detected movements in this position don't necessarily reflect the movements in each segment of the anatomical element separately. This may decrease an accuracy in detecting movement of a particular segment and, thus, result in the tracking information of the system to become no longer correct.

[0007] Therefore, the implementations described herein provide systems and methods for detecting a movement of an anatomical element (i.e., of one or more segments thereof) via a plurality of trackers positioned at various segments of the anatomical element (e.g., different vertebrae of a spine). A position of each tracker relative to a position of one or more of the other trackers is utilized by the system to define a single tool (i.e., a virtual tool defined by a geometry) comprising the plurality of trackers. The system implements a segmental tracking of the anatomical element based on the single tool and, upon detection of a movement of a tracker relative to one or more of the other trackers, the system outputs an alert to the user of a potential geometric misalignment of the single tool (and, in some embodiments, the particular affected segment).

[0008] Thus, the systems and methods described herein allow improved accuracy in tracking parts of an anatomical element by basing a tracking on individual parts of the anatomical element (e.g., as opposed to tracking via a single tracker).

[0009] One implementation provides a system for detecting a movement of an anatomical element. The system includes a tracking system including a position sensor and a plurality of trackers and an electronic computing device. Each of the plurality of trackers is positioned on the anatomical element and the electronic computing device includes an electronic processor. The electronic processor is configured to receive, from the tracking system, a respective position of each of the plurality of trackers, define a single tool comprising the plurality of trackers based on the respective positions of each of the plurality of trackers, and execute a segmental tracking function based on the single tool. The electronic processor is further configured to detect ageometric misalignment of the single tool and, responsive to detecting the geometric misalignment, generate an alert to a user indicative of the geometric misalignment.

[0010] Another implementation provides a method for detecting a movement of an anatomical element. The method includes receiving, from a tracking system including a position sensor, a respective position of each of a plurality of trackers, the plurality of trackers each being positioned on the anatomical element and defining a single tool comprising the plurality of trackers based on the respective positions of each of the plurality of trackers. The method further includes executing a segmental tracking function based on the single tool, detecting a geometric misalignment of the single tool, and responsive to detecting the geometric misalignment, generating an alert to a user indicative of the geometric misalignment.

[0011] Yet another implementation provides a method for detecting a movement of an anatomical element. The method includes positioning a first tracker on the anatomical element, positioning a second tracker on the anatomical element, detecting a first position for the first tracker, and detecting a second position for the second tracker. The method further includes determining, with an electronic processor, based on the first position and the second position, a placement region for a third tracker and displaying, on an electronic display, a graphical indication of the placement region. The method also includes positioning the third tracker on the anatomical element based on the placement region, detecting a third position for the third tracker, and defining a single tool comprising the first tracker, the second tracker, and the third tracker based on the respective first position, the second position, and the third position. The method further includes operating the tracking system to execute a segmental tracking function using the single tool based on the first position, the second position, and the third position, detecting a geometric misalignment of the single tool, and, responsive to detecting the geometric misalignment, generating an alert to a user indicative of the geometric misalignment.

[0012] Other aspects, features, and implementations will become apparent by consideration of the detailed description and accompanying drawings.BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying figures, where like reference numerals refer to identical or functionally similar elements throughout the separate views, together with the detailed description below, are incorporated in and form part of the specification, and serve to further illustrate embodiments, examples, aspects, and features of concepts that include the claimed subject matterand explain various principles and advantages of those implementations, embodiments, examples, aspects, and features.

[0014] FIG. 1 is a block diagram of a system for detecting a movement of an anatomical element according to one implementation.

[0015] FIG. 2 is an illustrative example of a position of a plurality of trackers of a tracking system included in the system of FIG. 1 relative to an anatomical element.

[0016] FIG. 3 is an illustrative example of a flowchart of a method for detecting a movement of an anatomical element using the system of FIG. 1.

[0017] FIG. 4 is another illustrative example of a flowchart of a method for detecting a movement of an anatomical element using the system of FIG. 1.

[0018] FIG. 5 is an illustrative example of a graphical indication of a placement region of a tracker generated in implementing the method of FIG. 4.

[0019] Skilled artisans will appreciate that elements in the figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions of some of the elements in the figures may be exaggerated relative to other elements to help to improve understanding of examples, aspects, and features illustrated.

[0020] In some instances, the apparatus and method components have been represented where appropriate by conventional symbols in the drawings, showing only those specific details that are pertinent to understanding the of various embodiments, examples, aspects, and features so as not to obscure the disclosure with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein.DETAILED DESCRIPTION

[0021] For ease of description, some or all of the example systems presented herein are illustrated with a single exemplar of each of its component parts. Some examples may not describe or illustrate all components of the systems. Other example implementations may include more or fewer of each of the illustrated components, may combine some components, or may include additional or alternative components.

[0022] It should be understood that although certain figures presented herein illustrate hardware and software located within particular devices, these depictions are for illustrative purposes only. In some implementations, the illustrated components may be combined or divided into separate software, firmware, and / or hardware. For example, instead of being located within and performedby a single electronic processor, logic and processing may be distributed among multiple electronic processors. Regardless of how they are combined or divided, hardware and software components may be located on the same computing device or may be distributed among different computing devices connected by one or more networks or other suitable communication links.

[0023] FIG. 1 provides an example implementation of a system 100 for detecting a movement of an anatomical element. The system 100, in the illustrated embodiment, includes a database 110, a robot 113, a tracking system 120, and an electronic computing device 130. The electronic computing device 130 includes an electronic processor 135 (e.g., a microprocessor, applicationspecific integrated circuit (ASIC), or another suitable electronic device), a memory 140 (e.g., a non-transitory, computer-readable storage medium), an input device 145, and an output device 150. The electronic computing device 130 further optionally includes a transceiver 160 for communicating over the system 100 (e.g., with the database 110) and, in some embodiments, one or more additional communication networks or connections.

[0024] The electronic processor 135 obtains and provides information (e.g., from the memory 140, the input device 145, the output device 150, and / or the transceiver 160), and processes the information by executing one or more software instructions or modules, capable of being stored, for example, in the memory 140. The software can include firmware, one or more applications, program data, filters, rules, one or more program modules, and other executable instructions.

[0025] The memory 140 may include a program storage area and a data storage area. The processor 135 is connected to the memory 140 and executes computer readable code (“software”) stored in a random access memory (RAM) of the memory (e.g., during execution), a read only memory (ROM) of the memory (e.g., on a generally permanent basis), or another non-transitory computer readable medium. Software included for the processes and methods for identification and configuration of each electronic device can be stored in the storage memory 140. The software may include firmware, one or more applications, program data, filters, rules, one or more program modules, and / or other executable instructions. In some embodiments, some or all of the software and data stored in the memory 140 may also be stored in and retrieved from one or more databases (e.g., the database 110) remote from the electronic computing device 130.

[0026] As explained in more detail herein (with regard to FIGS. 3 and 4 in particular), the memory 140 is configured to store, in some implementations, a single tool geometry 155. Thesingle tool geometry 155 is a geometric mapping of a plurality of trackers, each tracker being positioned on an anatomical element.

[0027] The input device 145 and the output device 150 are respectively configured to receive input and to provide system output. The input device 145 may be, for example, a keypad, a keyboard, a mouse, a touchscreen (e.g., as part of the output device 150), a microphone, a camera, a Universal Serial Bus (“USB”) port, or the like. The output device 150 may be, for example, a speaker, a touchscreen, a liquid crystal display (“LCD”), a light-emitting diode (“LED”) display, an organic LED (“OLED”) display, an electroluminescent display (“ELD”), or the like.

[0028] It should be understood that, while the electronic computing device 130 is illustrated as including a single input device 145 and a single output device 150, the electronic computing device 130 may include multiple input devices and multiple output devices.

[0029] As mentioned above, the electronic controller 300 further may include a transceiver 160. In some embodiments. The transceiver 160 is adapted for communication with one or more communication links or communication networks used to communicate with other components of or outside of the system 100. For example, the transceiver 160 may be adapted for communication with one or more of the Internet (including public and private Internet Protocol (IP) networks), a Bluetooth network, a Wi-Fi network, a cellular network, or another similar type of wireless network. The transceiver 160 may also comprise one or more wired transceivers, such as an Ethernet transceiver, a USB (Universal Serial Bus) transceiver, or similar transceiver configurable to communicate via a twisted pair wire, a coaxial cable, a fiber-optic link, or a similar physical connection to a wired network. In some embodiments, the transceiver 160 may be implemented as separate transmitting and receiving components (e.g., a transmitter and a receiver) instead of a combined transceiver.

[0030] The electronic processor 135 is communicatively coupled to the memory 140, the input device 145, the output device 150, and the optional transceiver 160. In some implementations, the electronic processor 135, in coordination with the memory 140, is configured to implement, among other things, the processes and methods described herein (e.g., the method 300 of FIG. 3 and the method 400 of FIG. 4 both described below).

[0031] The database 110, the robot 113, the tracking system 120, and the electronic computing device 130 may communicate via a wired or wireless communication network 160. The communication network may include, for example, one or more cables, a local area network, awide area network, a short-range wireless network, such as a Bluetooth™ network, a combination of the foregoing, or the like. For example, in one implementation, the electronic computing device 130 may communicate with the database 110 via the Internet, and the robot 113 via one or more cables. In some implementations, the electronic processor 135 may be configured to send data to and receive data from the database 110, the robot 113, and the tracking system 120 via the communication network 160 using one or more communication interfaces included in the electronic computing device 130 (e.g., the transceiver 160).

[0032] It should be understood that while the system 100 of FIG. 1 is illustrated as including only a single database 110, a single robot 113, and a single electronic computing device 130, the system 100 may instead include multiple databases, robots, and electronic computing devices. For example, the system 100 may include multiple databases and the functionality described herein as being performed by the database 110 may be divided among multiple databases. It should also be understood that, while the robot 113 and the electronic computing device 130 are illustrated in FIG. 1 as being separate components in the system 100, the components illustrated as being included in the electronic computing device 130 may instead be included in the robot 113. In some implementations, the some or all of the database 110 (and functionality thereof) described herein is integrated into (and performed by) the memory 140.

[0033] In one implementation, the database 110 is configured to store patient data associated with one or more patients. Patient data may include, for example, an age associated with a patient, a body mass index (“BMI”) associated with a patient, a bone density associated with a patient, a computed tomography scan associated with a patient, a gender associated with a patient, an implant history associated with a patient (e.g., a date and a placement location associated with an implant such as a screw, a rod, a cage, a prosthesis, or the like), a combination of the foregoing, or the like. In some implementations, patient data is associated with a patient undergoing a surgical procedure wherein the systems and methods described herein are utilized. In some implementations, the patient data may be stored in the database 110 prior to the surgical procedure. In some implementations, the electronic processor 135 is configured to send, to the database 110, a query requesting patient data associated with an unique patient identifier and receive, from the database 110, patient data associated with the unique patient identifier.

[0034] In some implementations, the database 110 is configured to store one or more surgical plans. In one example, the database 110 may receive a surgical plan and a unique plan identifierassociated with the surgical plan from an electronic computing device (e.g., the electronic computing device 130 or another electronic computing device), via the communication network 160. In some implementations, the electronic processor 135 is configured to send, to the database 110, a query requesting a surgical plan associated with a unique plan identifier and receive, from the database 110, the surgical plan associated with the unique plan identifier. In some implementations, the electronic computing device 130 stores the single tool 155 as part of a surgical plan of the database 110.

[0035] In some implementations, the tracking system 120 is an optical tracking system including a plurality of trackers 122 and a position sensor 123 (e.g., a depth camera or another suitable sensor for determining the positions of the plurality of trackers 122). In some implementations, the tracker 122 is an optical instrument. While the tracking system 120 is illustrated in the Figures and described throughout as an optical tracking system, in some implementations, the tracking system 120 may be an electromagnetic tracking system, inertial measurement unit tracking system, or the like. In some implementations, the position sensor 123 may be included in the robot 113.

[0036] In some implementations, the trackers 122 are positioned on or proximate to an anatomical element and the position sensor 123 is configured to send data to the electronic processor 135 regarding a movement of the anatomical element. For example, as illustrated in FIG. 2, a first tracker 122A, a second tracker 122B, and a third tracker 122C (collectively referred to herein as trackers 122) are each positioned on a particular segment (or section) an anatomical element 202. In the illustrated example, the anatomical element 202 is a spinal segment and, as explained below, each respective position of the trackers 122 may correspond to a different vertebra of the spinal segment. The trackers 122 may be manually positioned by a user, robotically positioned, or a combination of both. One or more of the trackers 122 may be drilled into a respective segment of the anatomical element 202. In some implementations, one or more of the trackers are clamped into the respective segment of the anatomical element 202. As also illustrated, each of the trackers 122 includes a single sphere.

[0037] Each of the trackers 122, in particular, are each positioned at a particular respective segment (or section) of the anatomical element 202. In the illustrated example, the first tracker 122A is positioned on a first vertebra 204A of the anatomical element 202, the second tracker 122B is positioned on a second vertebra 204B, and the third tracker 122C is positioned on a third vertebra 204C of the anatomical element 204C. The position sensor 123 collects sensor data regarding thetrackers 122 (and a position thereof) and the electronic processor 135, using the sensor data, registers the trackers 122 with the anatomical element 202 based on, for example, image data of the anatomical element 202 acquired via a medical imaging procedure such as computer tomography (CT), generating a single tool 155. The position sensor 123, utilizing the trackers 122 and a respective position thereof, collects data regarding a change in the position of the respective section or sections (i.e., vertebra 204A - 204C) of the anatomical element 202 detected in x, y, z or Cartesian coordinates and a change in the orientation of the section. In some examples, each of the trackers 122 (and the single tool 155 thereof) is trackable by the electronic processor 135 in 6 degrees of freedom.

[0038] The position sensor 123 may detect a movement of a tracker (e.g., the tracker 122A) and, thus, the corresponding section thereof (e.g., the vertebra 204A) relative to at least one other tracker positioned on the anatomical element 202. For example, the position sensor 123 captures a change in distance in at least one degree of freedom between at least two trackers 122. Based on the change, as explained in more detail below, the electronic processor 135 determines whether a geometric misalignment of the anatomical element 202 (i.e., a deviation from a registered position of at least one section of the anatomical element 202) from the single tool 155 is present. In some embodiments, the electronic processor 135 is further configured to measure the relative movement and / or geometric misalignment of the section (or sections) of the anatomical element 202.

[0039] It should be understood that although the examples described herein are in terms of the system 100 including three trackers 122, the system 100 may include any number of a plurality of trackers 122. For example, the system 100 may include two trackers 122 or more. It should also be understood that the particular positioning of each of the plurality of trackers 122 is not limited to the particular example illustrated in FIG. 2 and that other configurations are possible.

[0040] Returning to FIG. 1, the robot 113 may be any surgical robot or surgical robotic system. The robot 113 is or includes, for example, the Mazor XTM Stealth Edition robotic guidance system. The robot 113 includes a robotic instrument 115 and, in some implementations, may include more than one robotic instrument. If the robot 113 includes multiple robotic instruments, each robotic instrument 115 may be positioned independently of every other robotic instrument included in the robot 113. The robotic instruments may be controlled in a single, shared coordinate space, or in separate coordinate spaces. The robotic instrument 115 may be a robotic arm. The robot 113 may include one or more electronic processors (not shown) that are configured to control the movementof the robotic instrument 115 automatically or based on input from a user. For example, the robot 113 may include one or more electronic processors that are configured to control a robotic instrument 115 to manipulate a surgical tool in order to accomplish or to assist with a surgical task. In another example, the robot 113 may include one or more electronic processors that are configured to control a robotic instrument 115 to hold and / or manipulate an anatomical element during or in connection with a surgical procedure. In some implementations, the robotic instrument 115 includes one or more sensors (not shown) that enable the one or more electronic processors included in the robot 113 to determine a precise position (location and orientation) of the robotic instrument (as well as any object or anatomical element held by or secured to the robotic instrument), a force applied by the robotic instrument 115, a torque applied by the robotic instrument 115, a combination of the foregoing, or the like.

[0041] The robot 113, together with the robotic instrument 115, may have, for example, one, two, three, four, five, six, seven, or more degrees of freedom. Additionally, the robotic instrument 115 may be positioned in any position, plane, and / or focal point. The position includes a location and an orientation. As a result, a surgical tool or other object held by the robotic instrument 115 may be precisely positioned according to a surgical plan.

[0042] In some implementations, an electronic processor (not shown) included in the robot 113 sends historical surgical data to the electronic processor 135. Historical surgical data may include, for an anatomical element (e.g., the anatomical element 202), a torque is applied to and an amount of torque applied, a force is applied to and an amount of force applied, or both. For example, when the robotic instrument 115 applies a torque to a segment of the anatomical element 202, the electronic processor included in the robot 113 sends data to the electronic processor 135 indicating that a torque was applied to the particular segment and an amount of torque that was applied thereof.

[0043] FIG. 3 is a flowchart of a method 300 for detecting a movement of an anatomical element (e.g., the anatomical element 202 of FIG. 2) using the system 100. As an example, the method 300 is described as being performed by the electronic computing device 130 and, in particular, the electronic processor 135. However, it should be understood that in some embodiments, portions of the method 300 may be performed by other devices, including for example, the tracking system 120 and / or the robot 113. Additional electronic processors may also be included in the device 130 that perform all or a portion of the method 300. For ease of description, the method 300 is describedin terms of a single anatomical element 202. However, the method 300 may be applied to multiple anatomical elements.

[0044] At block 305, the electronic processor 135 receives, from the tracking system 120, a respective position of each of the plurality of trackers 122, each of the plurality of trackers 122 being positioned on the anatomical element 202 (e.g., as illustrated in and as described above with respect to FIG. 2). The position of a tracker 122 is a location of the tracker in space (e.g., with respect to the x, y, and z-coordinate planes) and the orientation of the tracker 122 in space (e.g., the pitch, roll and yaw of the tracker 122). As mentioned above, in some examples, each of the trackers 122 may be positioned on a respective segment of the anatomical element 202.

[0045] At block 310, the electronic processor 135 defines a single tool (e.g., the single tool 155 of FIG. 1) comprising the plurality of trackers 122 and based on the respective positions of each of the plurality of trackers 122. In some aspects, the single tool 155 is a virtual multi-sphere tool, which is defined by the geometry formed by the plurality of trackers 122 and their positions relative to each other. In some aspects, the single tool 155 is registered with the tracking system 123. The registered tool geometry is mapped to the anatomical element 202.

[0046] At block 315, the electronic processor 135 executes a segmental tracking function based on the single tool 155. For example, the segmental tracking function actively tracks a relative position of one or more segments of the anatomical element 202 using the virtual tool (e.g., the single tool 155) as it would a multi- sphere tool.

[0047] In some embodiments, the electronic processor 135 is further configured to define, based on the single tool 155, a surgical plan including a predetermined trajectory for a robot (e.g., the robot 113) and the positions of one or more segments of the anatomical element 202. The robot 113 may then be autonomously or manually operated according to the surgical plan.

[0048] At block 320, the electronic processor 135 detects a geometric misalignment of the single tool 155. A geometric misalignment occurs when a positional relationship between at least two trackers 122 is out of bounds. For example, the tracking system 123 may determine that one or more spheres making up the single tool 155 are beyond a threshold distance from their expected positions. When a positional relation between trackers 122 changes, this may be indicative of a relative movement of the at least one segment of the anatomical element 202. In some implementations, the geometric misalignment is an occurrence of a deviation of at least one of the plurality of trackers 122 from the tool geometry of the single tool 155.

[0049] The geometric misalignment may correspond to a translation, a rotation, or a combination of both of a segment of the anatomical element 202. In some implementations, the movement of one or more segments of the anatomical element 202 may occur because the patient moved, because the bed or table the patient is on moved, because an action of a human operator, such as a surgeon, caused the patient to move, or the like. In other implementations, the movement of the anatomical element 202 may be caused when an action is performed by the robotic instrument 115. For example, the movement of the anatomical element 202 may be caused when the robotic instrument 115 performs an action included in the surgical plan that involves applying a force or a torque to part of the anatomical element 202. In some implementations, when the robotic instrument 115 performs the action, data regarding the action is collected by one or more sensors included in the robotic instrument 115 and the data is included in the historical surgical data.

[0050] At block 325, the electronic processor 135, responsive to detecting the geometric misalignment, generates an alert to a user (e.g., at the output device 150), indicative of the geometric misalignment. The alert may be, for example, an audio or visual notification that possible misalignment of the anatomical element 202 has occurred. In some implementations, the electronic processor 135 may generate, on a display of the output device 150, a notification regarding the geometric misalignment (e.g., a text saying “MISALIGNMENT DETECTED”). As another example, the electronic processor 135 may output a notification regarding the geometric misalignment via a speaker of the output device 150. In some implementations, the alert may include a location of the misalignment. For example, the electronic processor 135 may be configured to identify one or more of the particular segments of the anatomical element 202 that may be misaligned based on the information from the tracking system 120 and generate an indication including the particular segment(s) that may be misaligned. In some implementations, the electronic processor 135 is further configured to determine an amount of deviation in one or more degrees of freedom and, in some implementations, include the amount in the alert as well. In some embodiments, a combination of different types of alerts may be generated (e.g., both an audio and visual alert). In some implementations, upon detection of the geometric misalignment, the electronic processor 135 also cancels the segmental tracking function.

[0051] Following block 325, the electronic processor 135 may return to block 305 of the method 300.

[0052] FIG. 4 is a flowchart of a method 400 for detecting a movement of an anatomical element (e.g., the anatomical element 202 of FIG. 2) using the system 100. As an example, the method 400 is described as being at least partially performed by the electronic computing device 130 and, in particular, the electronic processor 135. However, it should be understood that in some embodiments, portions of the method 400 may be performed by other devices, including for example, the tracking system 120 and / or the robot 113. Additional electronic processors may also be included in the device 130 that perform all or a portion of the method 400. For ease of description, the method 400 is described in terms of a single anatomical element 202 and three trackers (e.g., the trackers 122A-122C of FIG. 2). However, the method 300 may be applied to multiple anatomical elements and / or a different number of trackers.

[0053] The method 400 includes, at block 405, positioning a first tracker (e.g., the tracker 122A) on the anatomical element 202 and, at block 410, positioning a second tracker (e.g., the tracker 122B) on the anatomical element 202. As described above, in some implementations, in positioning the trackers 122 onto the anatomical element 202 the trackers 122 are drilled or clamped into a respective segment of the anatomical element 202. The trackers 122 may be robotically positioned (e.g., via the electronic computing device 130) or manually positioned on the anatomical element 202 by a user.

[0054] The electronic processor 135 detects, via the tracking system 120, a first position for the first tracker 122 A (block 415) and detects a second position for the second tracker 122B (block 420). The position for the particular tracker 122 is its location and orientation relative in space. At block 425, the electronic processor 135 determines, based on the first position and the second position, a placement region for a third tracker (e.g., the tracker 122C) and displays, on an electronic display (e.g., the output device 145), a graphical indication of the placement region (block 430).

[0055] For example, FIG. 5 illustrates a graphical indication 500 of a placement region 502 for a tracker (e.g., the third tracker 122C) based on a position of a first and a second tracker 122A, 122B. In some implementations, the graphical indication 500 further includes additional information. For example, the graphical indication 500, in some implementations, may include an overlay of an approximate distance a center of the placement region from at least one of the other trackers 122 A, 122B.

[0056] Returning to FIG. 4, at block 435 the third tracker 122C is positioned on the anatomical element 202. At block 440, the electronic processor 135 detects, via the tracking system 120, a third position for the third tracker 122C. At block 445 (similar to the block 310 of the method 300 of FIG. 3), the electronic processor 135 defines a single tool including the first tracker 122A, the second tracker 122B, and the third tracker 122C based on the respective first position, the second position, and the third position.

[0057] The remaining blocks 450, 455, and 460 are each similar to the blocks 315, 320, and 325 of the method 300 of FIG. 3 and therefore, for sake of brevity, will not be described again in detail. Following block 460, although not illustrated, the method 400 may return to any one of blocks 405, 410, 415, 420, 425, 430, 435, and 440.

[0058] While the examples provided herein describe anatomical elements as vertebra in a spine, it should be understood that the anatomical elements may be bones, tissues, organs, veins, portions thereof, or any other portion of human anatomy.

[0059] With regard to the processes, systems, methods, heuristics, etc. described herein, it should be understood that, although the steps of such processes, etc. have been described as occurring according to a certain ordered sequence, such processes could be practiced with the described steps performed in an order other than the order described herein. It further should be understood that certain steps could be performed simultaneously, that other steps could be added, or that certain steps described herein could be omitted. In other words, the descriptions of processes herein are provided for the purpose of illustrating certain implementations and should in no way be construed to limit the claims.

[0060] Accordingly, it is to be understood that the above description is intended to be illustrative and not restrictive. Many embodiments and applications other than the examples provided would be apparent upon reading the above description. The scope should be determined, not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. It is anticipated and intended that future developments will occur in the technologies discussed herein, and that the disclosed systems and methods will be incorporated into such future embodiments. In sum, it should be understood that the application is capable of modification and variation.

[0061] All terms used in the claims are intended to be given their broadest reasonable constructions and their ordinary meanings as understood by those knowledgeable in thetechnologies described herein unless an explicit indication to the contrary in made herein. In particular, use of the singular articles such as “a,” “the,” “said,” et cetera, should be read to recite one or more of the indicated elements unless a claim recites an explicit limitation to the contrary.

[0062] Unless explicitly stated otherwise, each numerical value and range should be interpreted as being approximate as if the word “about” or “approximately” preceded the value or range.

[0063] Reference herein to “one embodiment” or “an embodiment” means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the disclosure. The appearances of the phrase “in one embodiment” in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments necessarily mutually exclusive of other embodiments. The same applies to the term “implementation.”

[0064] Unless otherwise specified herein, the use of the ordinal adjectives “first,” “second,” “third,” etc., to refer to an object of a plurality of like objects merely indicates that different instances of such like objects are being referred to, and is not intended to imply that the like objects so referred-to have to be in a corresponding order or sequence, either temporally, spatially, in ranking, or in any other manner.

[0065] Unless otherwise specified herein, in addition to its plain meaning, the conjunction “if’ may also or alternatively be construed to mean “when” or “upon” or “in response to determining” or “in response to detecting,” which construal may depend on the corresponding specific context. For example, the phrase “if it is determined” or “if [a stated condition] is detected” may be construed to mean “upon determining” or “in response to determining” or “upon detecting [the stated condition or event]” or “in response to detecting [the stated condition or event].”

[0066] Also, for purposes of this description, the terms “couple,” “coupling,” “coupled,” “connect,” “connecting,” or “connected” refer to any manner known in the art or later developed in which energy is allowed to be transferred between two or more elements, and the interposition of one or more additional elements is contemplated, although not required. Conversely, the terms “directly coupled,” “directly connected,” et cetera, imply the absence of such additional elements. The same type of distinction applies to the use of terms “attached” and “directly attached,” as applied to a description of a physical structure. For example, a relatively thin layer of adhesive or other suitable binder can be used to implement such “direct attachment” of the two corresponding components in such physical structure.

[0067] The described implementations are to be considered in all respects as only illustrative and not restrictive. In particular, the scope of the disclosure is indicated by the appended claims rather than by the description and figures herein. All changes that come within the meaning and range of equivalency of the claims are to be embraced within their scope.

[0068] The functions of the various elements shown in the figures, including any functional blocks labeled as “processors” and / or “controllers,” may be provided through the use of dedicated hardware as well as hardware capable of executing software in association with appropriate software. When provided by a processor, the functions may be provided by a single dedicated processor, by a single shared processor, or by a plurality of individual processors, some of which may be shared. Moreover, explicit use of the term “processor” or “controller” should not be construed to refer exclusively to hardware capable of executing software, and may implicitly include, without limitation, digital signal processor (DSP) hardware, network processor, application specific integrated circuit (ASIC), field programmable gate array (FPGA), read only memory (ROM) for storing software, random access memory (RAM), and nonvolatile storage. Other hardware, conventional and / or custom, may also be included. Similarly, any switches shown in the figures are conceptual only. Their function may be carried out through the operation of program logic, through dedicated logic, through the interaction of program control and dedicated logic, or even manually, the particular technique being selectable by the implementer as more specifically understood from the context.

[0069] As used in this application, the term “circuitry” may refer to one or more or all of the following: (a) hardware-only circuit implementations (such as implementations in only analog and / or digital circuitry); (b) combinations of hardware circuits and software, such as (as applicable): (i) a combination of analog and / or digital hardware circuit(s) with software / firmware and (ii) any portions of hardware processor(s) with software (including digital signal processor(s)), software, and memory(ies) that work together to cause an apparatus, such as a mobile phone or server, to perform various functions); and (c) hardware circuit(s) and or processor(s), such as a microprocessor(s) or a portion of a microprocessor(s), that requires software (e.g., firmware) for operation, but the software may not be present when it is not needed for operation.” This definition of circuitry applies to all uses of this term in this application, including in any claims. As a further example, as used in this application, the term circuitry also covers an implementation of merely a hardware circuit or processor (or multiple processors) or portion of a hardware circuit or processorand its (or their) accompanying software and / or firmware. The term circuitry also covers, for example and if applicable to the particular claim element, a baseband integrated circuit or processor integrated circuit for a mobile device or a similar integrated circuit in server, a cellular network device, or other computing or network device.

[0070] It should be appreciated by those of ordinary skill in the art that any block diagrams herein represent conceptual views of illustrative circuitry embodying the principles of the disclosure. Similarly, it will be appreciated that any flow charts, flow diagrams, state transition diagrams, pseudo code, and the like represent various processes which may be substantially represented in computer readable medium and so executed by a computer or processor, whether or not such computer or processor is explicitly shown.

[0071] The following examples disclose various embodiments and alternatives of disclosed systems and methods, which may be combined in various embodiments.

[0072] Example 1. A system for detecting a movement of an anatomical element, the system comprising: a tracking system including an optic sensor and a plurality of trackers, each of the plurality of trackers being positioned on the anatomical element; and an electronic computing device comprising an electronic processor, the electronic processor configured to: receive, from the tracking system, a respective position of each of the plurality of trackers; define a single tool comprising the plurality of trackers based on the respective positions of each of the plurality of trackers; execute a segmental tracking function based on the single tool; detect a geometric misalignment of the single tool; and responsive to detecting the geometric misalignment, generate an alert to a user indicative of the geometric misalignment.

[0073] Example 2. The system of example 1, wherein each of the plurality of trackers includes a single sphere.

[0074] Example 3. The system of example 1, wherein the plurality of trackers comprises three trackers.

[0075] Example 4. The system of example 1, wherein the single tool has a tool geometry based on the respective positions of each of the plurality of trackers and the geometric misalignment is a deviation of at least one of the plurality of trackers from the tool geometry.

[0076] Example 5. The system of example 1, wherein the anatomical element is a spinal segment, and each respective position corresponds to a different vertebra of the spinal segment.

[0077] Example 6. The system of example 1, wherein the electronic processor is further configured to identify a segment corresponding to the geometric misalignment and wherein the alert further includes an indication of the segment corresponding to the geometric misalignment.

[0078] Example 7. The system of example 1, wherein the plurality of trackers are manually positioned.

[0079] Example 8. The system of example 1, wherein the plurality of trackers are robotically positioned.

[0080] Example 9. The system of example 1, wherein the trackers are drilled into position.

[0081] Example 10. The system of example 1, wherein the trackers are clamped into position.

[0082] Example 11. The system of example 1, wherein the single tool is trackable within six degrees of freedom.

[0083] Example 12. A method for detecting a movement of an anatomical element, the method comprising: receiving, from a tracking system including a position sensor, a respective position of each of a plurality of trackers, the plurality of trackers each being positioned on the anatomical element; defining a single tool comprising the plurality of trackers based on the respective positions of each of the plurality of trackers; executing a segmental tracking function based on the single tool; detecting a geometric misalignment of the single tool; and responsive to detecting the geometric misalignment, generating an alert to a user indicative of the geometric misalignment.

[0084] Example 13. The method of example 12, wherein each of the plurality of trackers includes a single sphere.

[0085] Example 14. The method of example 12, wherein the plurality of trackers comprises three trackers.

[0086] Example 15. The method of example 12, wherein the single tool has a tool geometry based on the respective positions of each of the plurality of trackers and the geometric misalignment is a deviation of at least one of the plurality of trackers from the tool geometry.

[0087] Example 16. The method of example 12, wherein the anatomical element is a spinal segment, and each respective position corresponds to a different vertebra of the spinal segment.

[0088] Example 17. The method of example 12, the method further comprising identifying a segment corresponding to the geometric misalignment and wherein the alert further includes an indication of the segment corresponding to the geometric misalignment.

[0089] Example 18. The method of example 12, wherein the plurality of trackers are manually positioned.

[0090] Example 19. The method of example 12, wherein the plurality of trackers are robotically positioned.

[0091] Example 20. The method of example 12, wherein the trackers are drilled into position.

[0092] Example 21. The method of example 12, wherein the trackers are clamped into position.

[0093] Example 22. The method of example 12, wherein the single tool is trackable within six degrees of freedom.

[0094] Example 23. A method for detecting a movement of an anatomical element, the method comprising: positioning a first tracker on the anatomical element; positioning a second tracker on the anatomical element; detecting a first position for the first tracker; detecting a second position for the second tracker; determining, with an electronic processor, based on the first position and the second position, a placement region for a third tracker; displaying, on an electronic display, a graphical indication of the placement region; positioning the third tracker on the anatomical element based on the placement region; detecting a third position for the third tracker; defining a single tool comprising the first tracker, the second tracker, and the third tracker based on the respective first position, the second position, and the third position; operating the tracking system to execute a segmental tracking function using the single tool; detecting a geometric misalignment of the single tool; and responsive to detecting the geometric misalignment, generating an alert to a user indicative of the geometric misalignment.

[0095] Example 24. The method of example 23, wherein the first tracker, the second tracker, and the third tracker include a single sphere.

[0096] Example 25. The method of example 23, wherein the single tool has a tool geometry based on the first position, the second position, and the third position and the geometric misalignment is a deviation of at least one of the plurality of trackers from the tool geometry.

[0097] Example 26. The method of example 23, wherein the anatomical element is a spinal segment, and each of the first position, the second position, and the third position correspond to a different vertebra of the spinal segment.

[0098] Example 27. The method of example 23, the method further comprising identifying a segment corresponding to the geometric misalignment and wherein the alert further includes an indication of the segment corresponding to the geometric misalignment.

[0099] Example 28. The method of example 23, wherein the first tracker, the second tracker, and the third tracker are each manually positioned.

[0100] Example 29. The method of example 23, wherein the first tracker, the second tracker, and the third tracker are each robotically positioned.

[0101] Example 30. The method of example 23, wherein the first tracker, the second tracker, and the third tracker are drilled into position.

[0102] Example 31. The method of example 23, wherein the first tracker, the second tracker, and the third tracker are each clamped into position.

[0103] Example 32. The method of example 23, wherein the single tool is trackable within six degrees of freedom.

[0104] Various features and advantages of the embodiments presented herein are set forth in the following claims.

Claims

CLAIMSWhat is claimed is:

1. A system (100) for detecting a movement of an anatomical element (202), the system (100) comprising: a tracking system (100) (120) including a position sensor (123) and a plurality of trackers (122), each of the plurality of trackers (122) being positioned on the anatomical element (202); and an electronic computing device (130) comprising an electronic processor (135), the electronic processor (135) configured to: receive, from the tracking system (100) (120), a respective position of each of the plurality of trackers (122); define a single tool (155) comprising the plurality of trackers (122) based on the respective positions of each of the plurality of trackers (122); execute a segmental tracking function based on the single tool (155); detect a geometric misalignment of the single tool (155); and responsive to detecting the geometric misalignment, generate an alert to a user indicative of the geometric misalignment.

2. The system (100) of claim 1, wherein each of the plurality of trackers (122) includes a single sphere.

3. The system (100) of claim 1 , wherein the plurality of trackers (122) comprises three trackers (122).

4. The system (100) of claim 1, wherein the single tool (155) has a tool geometry based on the respective positions of each of the plurality of trackers (122) and the geometric misalignment is a deviation of at least one of the plurality of trackers (122) from the tool geometry.

5. The system (100) of claim 1, wherein the anatomical element (202) is a spinal segment, and each respective position corresponds to a different vertebra (204A) of the spinal segment.

6. The system (100) of claim 1, wherein the electronic processor (135) is further configured to identify a segment corresponding to the geometric misalignment and wherein the alert further includes an indication of the segment corresponding to the geometric misalignment.

7. The system (100) of claim 1, wherein the plurality of trackers (122) are manually positioned.

8. The system (100) of claim 1, wherein the plurality of trackers (122) are robotically positioned.

9. The system (100) of claim 1, wherein the trackers (122) are drilled into position.

10. The system (100) of claim 1, wherein the trackers (122) are clamped into position.

11. The system (100) of claim 1, wherein the single tool (155) is trackable within six degrees of freedom.

12. A method (400) (300) for detecting a movement of an anatomical element (202), the method (400) (300) comprising: receiving, from a tracking system (100) (120) including an position sensor (123), a respective position of each of a plurality of trackers (122), the plurality of trackers (122) each being positioned on the anatomical element (202); defining a single tool (155) comprising the plurality of trackers (122) based on the respective positions of each of the plurality of trackers (122); executing a segmental tracking function based on the single tool (155); detecting a geometric misalignment of the single tool (155); and responsive to detecting the geometric misalignment, generating an alert to a user indicative of the geometric misalignment.

13. The method (400) (300) of claim 12, wherein each of the plurality of trackers (122) three trackers each including a single sphere.

14. The method (400) (300) of claim 12, wherein the single tool (155) has a tool geometry based on the respective positions of each of the plurality of trackers (122) and the geometric misalignment is a deviation of at least one of the plurality of trackers (122) from the tool geometry.

15. The method (400) (300) of claim 12, wherein the single tool (155) is trackable within six degrees of freedom.

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