System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
Inventors
Cameron, Hayden • Mantzavinos, Spiros • Crawford, Neil R.
Assignees
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Publication Number
US-12458451-B2
Publication Date
2025-11-04
Expiration Date
Abstract
Embodiments consistent with the present disclosure allow the ring, arc, and linear offset values for a stereotactic frame to be determined for a cranial procedure without requiring a CT scan to be acquired with the fiducial frame attached. Having the ring, arc, and offset values available for a cranial procedure allows the surgeon to revert to traditional stereotactic ring-arc frame guidance as a fallback strategy in case a robot cannot be used. This disclosure also provides an alternate method for registering a ring-arc system to the medical image volume for facilities having no CT scanner or scanner with limited field of view such that the intended fiducial localizer cannot be used.
Core Innovation
The invention relates to neuronavigation registration and robotic trajectory guidance for stereotactic neurosurgery using camera-tracked stereotactic references. A surgical robot system positions an end effector along a planned trajectory using a dynamic reference base (DRB) tracked by cameras, and the stereotactic frame base is attached to a patient head. The DRB is adjustably attachable to the stereotactic frame base with a plurality of first tracking markers trackable by the cameras.
A frame reference array (FRA) is also attachable to the stereotactic frame base and includes a plurality of second tracking markers trackable by the cameras. In case the surgical robot becomes unavailable, the system registers an acquired medical image to the stereotactic frame base based on simultaneous tracking of the FRA and the DRB, then determines manual dial positions of the ring-arc assembly for the planned trajectory based on the registered stereotactic frame base.
The described approach supports switching between robot-guided and ring-arc-guided modes by tracking FRA and DRB to derive CT/MR-to-frame transformations and setting ring/arc/xyz dials for implant insertion. The partial content additionally describes intraoperative verification using matching or CT shadow artifacts and ring-arc-to-image registration for facilities lacking or limited CT field of view.
Claims Coverage
The partial content provides two independent claims centered on camera-tracked stereotactic references and a contingency workflow for manual ring-arc guidance. The inventive coverage includes an adjustable or non-adjustable FRA, DRB tracking for planned-trajectory positioning, simultaneous FRA and DRB tracking for registration when the surgical robot becomes unavailable, and manual ring-arc dial determination based on the registered stereotactic frame base.
Camera-based DRB tracking for planned-trajectory positioning
A tracking device having a plurality of cameras; a dynamic reference base (DRB) adjustably attachable to the stereotactic frame base and having a plurality of first tracking markers trackable by the cameras; and the processor configured to position the end effector along a planned trajectory using the DRB tracked by the cameras.
Simultaneous FRA and DRB image registration for fallback
A frame reference array (FRA) attachable to the stereotactic frame base and having a plurality of second tracking markers trackable by the cameras; and in case the surgical robot becomes unavailable, the processor configured to register an acquired medical image to the stereotactic frame base based on simultaneous tracking of the FRA and the DRB by the cameras.
Manual dial determination of the ring-arc assembly based on registered stereotactic frame base
In case the surgical robot becomes unavailable, determine manual dial positions of the ring-arc assembly for the planned trajectory based on the registered stereotactic frame base.
Non-adjustable FRA attachment with DRB-based registration and fallback
A frame reference array (FRA) non-adjustably attachable to the stereotactic frame base and having a plurality of second tracking markers trackable by the cameras; the processor configured to register a medical image of the patient head to the DRB tracked by the cameras and to position the end effector along a planned trajectory using the registered DRB.
Fallback registration using simultaneous FRA and DRB and manual ring-arc dial positions
In case the surgical robot becomes unavailable, register the medical image to the stereotactic frame base based on simultaneous tracking of the FRA and the DRB by the cameras; and determine manual dial positions of the ring-arc assembly for the planned trajectory based on the registered stereotactic frame base.
The independent claims cover a surgical robot system that uses camera-tracked stereotactic references to guide an end effector along a planned trajectory and, when the surgical robot becomes unavailable, register a medical image to the stereotactic frame base using simultaneous tracking of FRA and DRB and then determine manual dial positions for a ring-arc assembly. Independent claim 11 further specifies that the FRA is non-adjustably attachable.
Stated Advantages
Supports a fallback to manual ring-arc operation when the surgical robot becomes unavailable.
Enables deriving manual ring-arc dial positions for a planned trajectory based on registered stereotactic frame base from camera-tracked FRA and DRB.
Documented Applications
Use in neuronavigation registration and robotic trajectory guidance for cranial stereotactic procedures using camera-tracked dynamic reference base (DRB) and frame reference array (FRA).
Fallback operation by converting robot-guided mode into ring-arc-guided operation by deriving CT/MR-to-frame transformations from tracked FRA and DRB and setting ring/arc/xyz dials for implant insertion.
Ring-arc-to-image registration for facilities lacking or limited CT field of view.
Intraoperative and postoperative verification using CT shadow artifacts or fluoroscopy/DRR matching.
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