Computer assisted surgery navigation using intra-operative tactile sensing feedback through machine learning system
Inventors
Weiman, Mark • Sullivan, Myles • Taubenkraut, Carly • McLaughlin, Corbett
Assignees
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Publication Number
US-12734000-B2
Publication Date
2026-09-15
Expiration Date
Abstract
A surgery navigation system is disclosed for computer assisted navigation during surgery. The surgery navigation system includes processing circuitry that is operative to obtain from a sensor circuit, intra-operative tactile sensing data indicating a sensed characteristic of a tool contacting a location on patient anatomy within a surgical site. The processing circuitry is further operative to process the intra-operative tactile sensing data through a machine learning model to generate intra-operative navigated guidance data, and to provide the intra-operative navigated guidance data to a display device and/or to a surgical robot to control movement of the tool.
Core Innovation
The invention is a surgery navigation system for computer-assisted navigation during surgery. A tool having a sensor circuit proximate to its working portion senses intra-operative tactile sensing data indicating a characteristic of the tool contacting patient anatomy within a surgical site. A trained machine learning model processes the data to generate intra-operative navigated guidance data, including a level of force between the tool and the anatomy, and the guidance controls tool movement through a surgical robot.
The disclosed tactile sensing characteristics include force, torque, vibration, sound, and electrical characteristics for tool contact with bone or soft tissue. The machine learning model trains using tactile sensing data collected from previous surgeries, with surgical plans, tracking data, and post-operative feedback also informing guidance. Instructions for executing the navigation process are embodied in a non-transitory computer program product.
Claims Coverage
The claims cover three inventive features across three independent claims directed to a surgery navigation system, a navigation method, and a computer program product.
Tactile-sensing surgery navigation system
A surgery navigation system obtains intra-operative tactile sensing data from a sensor circuit positioned proximate to a tool's working portion. A trained machine learning model processes the data to generate intra-operative navigated guidance data, including a level of force between the tool and patient anatomy. The guidance is provided to a display device and/or surgical robot and controls movement of the tool through the robot.
Method for generating intra-operative navigated guidance
A method trains a machine learning model with intra-operative tactile sensing data collected from previous surgeries, obtains tactile sensing data indicating a characteristic of a tool contacting patient anatomy, and processes the data through the trained model. The resulting guidance includes a level of force between the tool and anatomy, is provided to a display device and/or surgical robot, and controls tool movement through the surgical robot.
Computer program product for surgery navigation
A non-transitory computer readable medium stores instructions executable by processing circuitry of a surgery navigation system to obtain intra-operative tactile sensing data and process it through a machine learning model trained with data collected from previous surgeries. The instructions generate guidance including a level of force between the tool and patient anatomy and provide it to a display device and/or surgical robot to control tool movement.
The independent claims cover system, method, and computer program product forms of surgery navigation that use machine-learning processing of intra-operative tactile sensing data to generate force-related guidance and control tool movement through a surgical robot.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Computer-assisted navigation during surgery, including providing intra-operative navigated guidance to a display device and/or surgical robot controlling movement of a tool.
Spinal surgery, including decompression and discectomy tracking workflows.
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