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    ULTRASONIC ROBOTIC SURGICAL NAVIGATION
    1.
    发明申请
    ULTRASONIC ROBOTIC SURGICAL NAVIGATION 有权

    公开(公告)号：US20230011428A1

    公开(公告)日：2023-01-12

    申请号：US17371554

    申请日：2021-07-09

    申请人： GLOBUS MEDICAL, INC.

    发明人： Neil Crawford ,  Paden Troxell ,  Dale Earle ,  Michael Robinson ,  Keiichi Matsuda ,  Isaac Dulin

    IPC分类号： A61B34/20 ,  A61B34/30

    摘要： Surgical robot systems, anatomical structure tracker apparatuses, and US transducer apparatuses are disclosed. A surgical robot system includes a robot, a US transducer, and at least one processor. The robot includes a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The end-effector is configured to guide movement of a surgical instrument. The US transducer is coupled to the end-effector and operative to output US imaging data of anatomical structure proximately located to the end-effector. The least one processor is operative to obtain an image volume for the patient and to track pose of the end-effector relative to anatomical structure captured in the image volume based on the US imaging data.

    EXTENDED REALITY INSTRUMENT INTERACTION ZONE FOR NAVIGATED ROBOTIC SURGERY
    2.
    发明申请
    EXTENDED REALITY INSTRUMENT INTERACTION ZONE FOR NAVIGATED ROBOTIC SURGERY 有权

    公开(公告)号：US20210169581A1

    公开(公告)日：2021-06-10

    申请号：US16781200

    申请日：2020-02-04

    申请人： GLOBUS MEDICAL, INC.

    发明人： Thomas Calloway ,  Isaac Dulin ,  Keiichi Matsuda ,  Christine Russ ,  Keerthighaan Kanagasegar ,  Amelia Raphaelson

    IPC分类号： A61B34/20 ,  A61B34/00 ,  G02B27/01 ,  A61B34/30

    摘要： A surgical system including a XR headset, a tracking system, and an XR headset controller. The XR headset can be worn by a user during a surgical procedure and includes a see-through display screen configured to display a world-registered XR image and to allow at least a portion of a real-world scene to pass therethrough for viewing by the user. The tracking system can determine a real-world pose of the XR headset and a real-world pose of a real-world element. The real-world pose of the XR headset and the real-world pose of the real-world element being determined relative to a real-world coordinate system. The XR headset controller can generate the world-registered XR image based on the real-world pose of the XR headset and the real-world pose of the real-world element. The world-registered XR image includes a virtual element that is generated based on a characteristic of the real-world element.

    AUGMENTED REALITY HEADSET WITH VARIED OPACITY FOR NAVIGATED ROBOTIC SURGERY
    4.
    发明申请
    AUGMENTED REALITY HEADSET WITH VARIED OPACITY FOR NAVIGATED ROBOTIC SURGERY 有权

    公开(公告)号：US20210169578A1

    公开(公告)日：2021-06-10

    申请号：US16708937

    申请日：2019-12-10

    申请人： GLOBUS MEDICAL, INC.

    发明人： Thomas Calloway ,  Weston Healy ,  Isaac Dulin ,  Dale Earle ,  Keiichi Matsuda

    IPC分类号： A61B34/20 ,  A61B34/00 ,  A61B90/00 ,  G02B27/01 ,  G06K9/00 ,  G06K9/46 ,  G06T7/73

    摘要： A surgical system includes an AR headset and a AR headset controller. The AR headset is configured to be worn by a user during a surgical procedure and has a see-through display screen configured to display an AR image and to allow at least a portion of a real-world scene to pass therethrough for viewing by the user. The AR headset also includes an opacity filter positioned between at least one of the user's eyes and the real-world scene when the see-through display screen is viewed by the user. The opacity filter provides opaqueness to light from the real-world scene. The AR headset controller communicates with a navigation controller to receive navigation information from the navigation controller which provides guidance to the user during the surgical procedure on an anatomical structure, and generates the AR image based on the navigation information for display on the see-through display screen.

    EXTENDED REALITY SYSTEMS FOR VISUALIZING AND CONTROLLING OPERATING ROOM EQUIPMENT
    6.
    发明申请
    EXTENDED REALITY SYSTEMS FOR VISUALIZING AND CONTROLLING OPERATING ROOM EQUIPMENT 有权

    公开(公告)号：US20230083605A1

    公开(公告)日：2023-03-16

    申请号：US17476840

    申请日：2021-09-16

    申请人： GLOBUS MEDICAL, INC.

    发明人： Michael Robinson ,  Thomas Calloway ,  Isaac Dulin ,  Mir Hussain

    IPC分类号： A61B34/20 ,  A61B34/30 ,  A61B34/00 ,  A61B90/00 ,  A61B90/50 ,  G06F3/01 ,  G06K9/00

    摘要： A camera tracking system receives patient reference tracking information indicating pose of a patient reference array tracked by a patient tracking camera relative to a patient reference frame. A local XR headset view pose transform is determined between a local XR headset reference frame and the patient reference frame. Remote reference tracking information is received indicating pose of a remote reference array tracked by a remote reference tracking camera. A remote XR headset view pose transform is determined between a remote XR headset reference frame of a remote XR headset and the remote reference array. A 3D computer image is transformed from a local pose determined using the local XR headset view pose transform to a remote pose determined using the remote XR headset view pose transform. The transformed 3D computer image is provided to the remote XR headset for display with the remote pose relative to the remote XR headset reference frame.

    LEVERAGING TWO-DIMENSIONAL DIGITAL IMAGING AND COMMUNICATION IN MEDICINE IMAGERY IN THREE-DIMENSIONAL EXTENDED REALITY APPLICATIONS
    7.
    发明申请
    LEVERAGING TWO-DIMENSIONAL DIGITAL IMAGING AND COMMUNICATION IN MEDICINE IMAGERY IN THREE-DIMENSIONAL EXTENDED REALITY APPLICATIONS 有权

    公开(公告)号：US20210346115A1

    公开(公告)日：2021-11-11

    申请号：US16869757

    申请日：2020-05-08

    申请人： GLOBUS MEDICAL, INC.

    发明人： Isaac Dulin ,  Thomas Calloway ,  Norbert Johnson

    IPC分类号： A61B90/00 ,  A61B34/20 ,  G06T11/00 ,  G06F3/01 ,  G06T7/20

    摘要： A surgical system includes an XR headset and an XR headset controller. The XR headset is configured to be worn by a user during a surgical procedure and includes a see-through display screen configured to display an XR image for viewing by the user. The XR headset controller is configured to receive a plurality of two-dimensional (“2D”) image data associated with an anatomical structure of a patient. The XR headset controller is further configured to generate a first 2D image from the plurality of 2D image data based on a pose of the XR headset. The XR headset controller is further configured to generate a second 2D image from the plurality of 2D image data based on the pose of the XR headset. The XR headset controller is further configured to generate the XR image by displaying the first 2D image in a field of view of a first eye of the user and displaying the second 2D image in a field of view of a second eye of the user.

    ULTRASONIC ROBOTIC SURGICAL NAVIGATION
    9.
    发明申请
    ULTRASONIC ROBOTIC SURGICAL NAVIGATION 有权

    公开(公告)号：US20230009831A1

    公开(公告)日：2023-01-12

    申请号：US17368358

    申请日：2021-07-06

    申请人： GLOBUS MEDICAL, INC.

    发明人： Paden Troxell ,  Neil Crawford ,  Dale Earle ,  Michael Robinson ,  Keiichi Matsuda ,  Isaac Dulin

    IPC分类号： A61B34/20 ,  A61B34/30

    摘要： Surgical robot systems, anatomical structure tracker apparatuses, and US transducer apparatuses are disclosed. A surgical robot system includes a robot, a US transducer, and at least one processor. The robot includes a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The end-effector is configured to guide movement of a surgical instrument. The US transducer is coupled to the end-effector and operative to output US imaging data of anatomical structure proximately located to the end-effector. The least one processor is operative to obtain an image volume for the patient and to track pose of the end-effector relative to anatomical structure captured in the image volume based on the US imaging data.

    AUGMENTED REALITY HEADSET FOR NAVIGATED ROBOTIC SURGERY
    10.
    发明申请
    AUGMENTED REALITY HEADSET FOR NAVIGATED ROBOTIC SURGERY 有权

    公开(公告)号：US20210169605A1

    公开(公告)日：2021-06-10

    申请号：US16709185

    申请日：2019-12-10

    申请人： GLOBUS MEDICAL, INC.

    发明人： Thomas Calloway ,  Weston Healy ,  Isaac Dulin ,  Dale Earle ,  Keiichi Matsuda ,  Norbert Johnson ,  Bessam Al Jewad ,  Christine Russ ,  Michael Robinson ,  Keerthighaan Kanagasegar

    IPC分类号： A61B90/00 ,  A61B34/37

    摘要： A surgical robot positions an end effector that guides movement of a surgical tool during a surgical procedure on a patient anatomical structure. A tracking system determines a pose of the anatomical structure and a pose of the end effector and/or the surgical tool. A navigation controller determines a target pose for the surgical tool based on a surgical plan and based on the pose of the anatomical structure, and generates steering information based on the target pose for the surgical tool, the pose of the anatomical structure, and the pose of the surgical tool and/or the end effector. The steering information indicates where the surgical tool and/or the end effector need to be moved. An AR headset controller receives the steering information from the navigation controller and displays a graphical representation of the steering information and/or the target pose for the surgical tool on a see-through display screen.