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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
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.
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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
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.
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公开(公告)号：US20220280249A1
公开(公告)日：2022-09-08
申请号：US17824080
申请日：2022-05-25
申请人： GLOBUS MEDICAL, INC.
摘要： A surgical tool tracking array can include a first marker holder, a second marker holder, and a tool holder. The first marker holder is configured to couple a first marker to the surgical tracking array in a first plane. The second marker holder is configured to couple a second marker to the surgical tool tracking array in a second plane that is independent and substantially parallel to the first plane. The tool holder is configured to couple a portion of a surgical tool to the surgical tool tracking array in a third plane that is independent from the first plane and the second plane.
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公开(公告)号：US11382700B2
公开(公告)日：2022-07-12
申请号：US16869706
申请日：2020-05-08
申请人： GLOBUS MEDICAL, INC.
摘要： A surgical tool tracking array can include a first marker holder, a second marker holder, and a tool holder. The first marker holder is configured to couple a first marker to the surgical tracking array in a first plane. The second marker holder is configured to couple a second marker to the surgical tool tracking array in a second plane that is independent and substantially parallel to the first plane. The tool holder is configured to couple a portion of a surgical tool to the surgical tool tracking array in a third plane that is independent from the first plane and the second plane.
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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
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.
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6.发明申请公开(公告)号：US20180221098A1
公开(公告)日：2018-08-09
申请号：US15948013
申请日：2018-04-09
申请人： GLOBUS MEDICAL, INC.
CPC分类号： A61B34/30 , A61B17/00 , A61B17/1757 , A61B17/7082 , A61B34/20 , A61B34/74 , A61B2017/00075 , A61B2017/00119 , A61B2017/00477 , A61B2017/00486 , A61B2017/00699 , A61B2034/107 , A61B2034/2055 , A61B2034/2068 , A61B2034/2072 , A61B2090/376 , A61B2090/3762 , A61B2090/3764 , A61B2090/3966 , A61B2090/3983 , A61F2/4611 , A61F2002/4632
摘要： A method may be provided to operate a surgical robotic system including a robotic arm configured to position a surgical end-effector with respect to an anatomical location of a patient. Position information may be received where the position information is generated using a sensor system remote from the robotic arm and remote from the patient. The position information may include position information relating to a tracking device affixed to the patient and position information relating to the surgical end-effector. The robotic arm may be controlled to move the surgical end-effector to a target trajectory relative to the anatomical location of the patient based on the position information generated using the sensor system.
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公开(公告)号：US20230078919A1
公开(公告)日：2023-03-16
申请号：US17476689
申请日：2021-09-16
申请人： GLOBUS MEDICAL, INC.
发明人： Michael Robinson , Thomas Calloway , Isaac Dulin , Mir Hussain
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.
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公开(公告)号：US20230009846A1
公开(公告)日：2023-01-12
申请号：US17368190
申请日：2021-07-06
申请人： GLOBUS MEDICAL, INC.
发明人： Neil Crawford , Paden Troxell , Dale Earle , Michael Robinson , Keiichi Matsuda , Isaac Dulin
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.
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公开(公告)号：US20210346098A1
公开(公告)日：2021-11-11
申请号：US16869706
申请日：2020-05-08
申请人： GLOBUS MEDICAL, INC.
摘要： A surgical tool tracking array can include a first marker holder, a second marker holder, and a tool holder. The first marker holder is configured to couple a first marker to the surgical tracking array in a first plane. The second marker holder is configured to couple a second marker to the surgical tool tracking array in a second plane that is independent and substantially parallel to the first plane. The tool holder is configured to couple a portion of a surgical tool to the surgical tool tracking array in a third plane that is independent from the first plane and the second plane.
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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
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.
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