Here is a determinant-based formulation.
Start with the fact that a circle through three points $(x_1,y_1),(x_2,y_2),(x_3,y_3)$ has the formula
$$\begin{vmatrix}x^2+y^2 & x & y & 1 \\ x_1^2+y_1^2 & x_1 & y_1 & 1 \\x_2^2+y_1^2 & x_2 & y_2 & 1 \\x_3^2+y_3^2 & x_3 & y_3 & 1 \\ \end{vmatrix}=0$$
Thus if a fourth point $(x_4,y_4)$ lies on the circle it will satisfy
$$\begin{vmatrix}x_4^2+y_4^2 & x_4 & y_4 & 1 \\ x_1^2+y_1^2 & x_1 & y_1 & 1 \\x_2^2+y_1^2 & x_2 & y_2 & 1 \\x_3^2+y_3^2 & x_3 & y_3 & 1 \\ \end{vmatrix}=0$$
or, using a standard row operation to put the points in a more familiar order:
$$\begin{vmatrix}x_1^2+y_1^2 & x_1 & y_1 & 1 \\ x_2^1+y_2^2 & x_2 & y_2 & 1 \\x_3^2+y_3^2 & x_3 & y_3 & 1 \\x_4^2+y_4^2 & x_4 & y_4 & 1 \\ \end{vmatrix}=0$$
This form is a bit unwieldy because it requires evaluating a $4×4$ determinant. We can reduce the problem to a pair of $3×3$ determinants by expanding with minors of the last column. This gives
$$\begin{vmatrix}x_1^2+y_1^2 & x_1 & y_1 \\ x_2^1+y_2^2 & x_2 & y_2 \\x_3^2+y_3^2 & x_3 & y_3 \\ \end{vmatrix}+\color{blue}{\begin{vmatrix}x_1^2+y_1^2 & x_1 & y_1 \\ x_3^1+y_3^2 & x_3 & y_3 \\x_4^2+y_4^2 & x_4 & y_4 \\ \end{vmatrix}}=\begin{vmatrix}x_2^2+y_2^2 & x_2 & y_2 \\ x_3^1+y_3^2 & x_3 & y_3 \\x_4^2+y_4^2 & x_4 & y_4 \\ \end{vmatrix}+\color{brown}{\begin{vmatrix}x_1^2+y_1^2 & x_1 & y_1 \\ x_2^1+y_2^2 & x_2 & y_2 \\x_4^2+y_4^2 & x_4 & y_4 \\ \end{vmatrix}}$$
In the blue matrix interchange the last two rows, which changes the sign of that determinant, and in the brown matrix interchange for first two rows. Then note that the two matrices on the left have two like rows and likewise for the two matrices on the right, so we may combine the unlike rows in each case. We are left with an equality if two $3×3$ determinants, which are much easier to render than the $4×4$ determinant:
$$\begin{vmatrix}x_1^2+y_1^2 & x_1 & y_1 \\ (x_2^1+y_2^2)-(x_4^2+y_4^2) & x_2-x_4 & y_2-y_4 \\x_3^2+y_3^2 & x_3 & y_3 \\ \end{vmatrix}=\begin{vmatrix}x_2^2+y_2^2 & x_2 & y_2 \\ (x_3^1+y_3^2)-(x_1^2+y_1^2) & x_3-x_1 & y_3-y_1 \\x_4^2+y_4^2 & x_4 & y_4 \\ \end{vmatrix}$$
Put in the coordinates of the four points $(9,1),(7,9),(-2,12),(6,10)$:
$$\begin{vmatrix}82 & 9 & 1 \\ -6 & 1 & -1 \\148 & -2 & 12 \\ \end{vmatrix}=82×1×12+(-6)×(-2)×1+148×9×(-1)-82×(-1)×(-2)-(-6)×12×9-(-6)×12-148×1×1=0$$
$$\begin{vmatrix}130 & 7 & 9 \\ 66 & -11 & 11 \\136 & 6 & 10 \\ \end{vmatrix}=130×(-11)×10+66×6×9+136×7×11-130×11×6-66×10×7-136×9×(-11)=0$$
The $3×3$ determinants are equal, so the points are concyclic.
Comment: The common value of the determinants came out zero here, but it may be nonzero for other sets of concyclic points. For instance, the points $(5,0),(0,5),(-5,0),(3,4)$ give a common value of $+250$ rather than zero. The zero value in this problem may be related to two sides of the quadrilateral being parallel.