公开(公告)号：US20240307131A1

公开(公告)日：2024-09-19

申请号：US18184394

申请日：2023-03-15

Applicant: Mazor Robotics Ltd.

Inventor： Gad HARPAZ ,  Gillan M. Grimberg ,  Leonid Kleyman

IPC: A61B34/30 ,  G06T7/246 ,  G06T7/73

CPC classification number: A61B34/30 ,  G06T7/246 ,  G06T7/73 ,  A61B6/4458 ,  A61B2034/2065 ,  A61B2090/363 ,  A61B2090/376 ,  G06T2207/10116 ,  G06T2207/30004 ,  G06T2207/30204

Abstract: Registering a robotic coordinate system defined by a robotic system and a navigation coordinate system defined by a tracking system localizer. The registration includes: determining a robotic coordinate system between a first portion of the robotic system and a subject separate from the first portion of the robotic system; connecting a fiducial marker at a first known position relative to the robotic coordinate system and relative to the first portion of the robotic system; acquiring a fiducial image at an initial time with an imaging system of the fiducial marker; detecting the acquisition of the fiducial image with the imaging system at the initial time with a detector; and sending a command to determine or record an initial position of at least one of the first portion of the robotic system or the robotic coordinate system at the initial time.