System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
Inventors
Crawford, Neil R. • Ponce, Francisco
Assignees
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Publication Number
US-12721687-B2
Publication Date
2026-09-01
Expiration Date
Abstract
A position is determined for each fiducial marker of a plurality of fiducial markers in an image volume. Based on the determined positions, a position and orientation of the registration fixture with respect to the anatomical feature is determined. A position is determined for each tracked marker of a first plurality of tracked markers on the registration fixture and a second plurality of tracked markers on the robot arm in a tracking data frame. Based on the determined positions of tracked markers, a position and orientation of the registration fixture and the robot arm of a surgical robot with respect to the tracking space are determined.
Core Innovation
The disclosure describes neuronavigation registration that relates image-space fiducial positions and tracked-marker data to an anatomical feature's position and orientation relative to a surgical robot. The registration system includes a computer system, a registration fixture fixed with respect to the anatomical feature, fiducial markers, and a tracking data frame with tracked markers. Disclosed registration approaches include CT localizers, fluoroscopy, intraoperative CT fixtures, calibrated scanners, and probe-based mapping.
The computer system determines the number of times a planned electrode trajectory passes through brain folds for positioning an electrode or Stereo-EEG depth electrodes. The system evaluates candidate trajectories using distinctions between gyri and sulci and an accuracy score, providing visual or haptic feedback for trajectory guidance. Because the background section is omitted in the provided material, the problem being solved is not explicitly described in the patent.
Claims Coverage
The three independent claims are claims 1, 10, and 17, which cover three inventive features directed to computer-based electrode trajectory assessment using a tracked registration arrangement.
Tracked electrode trajectory assessment
Claim 1 recites a computer system, a registration fixture fixed with respect to an anatomical feature of a patient, fiducial markers, a tracking data frame with tracked markers fixed with respect to the registration fixture, and an electrode, wherein the computer system determines the number of times a planned electrode trajectory passes through brain folds. Dependent claims further describe gyrus-or-sulcus classification, an accuracy score, and a computer-generated trajectory through a gyrus that avoids penetrating a sulcus.
Stereo-EEG depth electrode trajectory assessment
Claim 10 recites positioning a plurality of Stereo-EEG depth electrodes within an anatomical feature using a computer, a registration fixture, fiducial markers, and a tracking data frame with tracked markers, wherein the computer system determines the number of times a planned trajectory of one electrode passes through brain folds. Dependent claims further describe accuracy-based placement and trajectories through gyri that avoid sulci.
Robotic system for electrode trajectory assessment
Claim 17 recites a robotic arm coupled to a base and in electronic communication with a computer system, together with a registration fixture, fiducial markers, a tracking data frame, and an electrode, wherein the computer system determines the number of times a planned electrode trajectory passes through brain folds. Dependent claims add an end effector with tracked markers and manual movement of the robotic arm among cerebral-cortex entry-point positions with visual or haptic feedback.
The independent claims cover computer-based assessment of electrode trajectories through brain folds using tracked registration arrangements, distinguishing the use of an electrode, Stereo-EEG depth electrodes, or a robotic system.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Performing surgical or medical procedures involving positioning an electrode within an anatomical feature and determining how often its planned trajectory passes through brain folds.
Positioning Stereo-EEG depth electrodes within an anatomical feature and assessing a planned electrode trajectory relative to brain folds.
Neuronavigation registration and robotic-arm guidance for surgical procedures.
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